episode,segment,total_steps,env,actor_kind,slot,model_name,task,px,py,pz,qw,qx,qy,qz
1,1,5120,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.191170,-0.055237,0.879375,0.952575,0.030422,-0.082787,0.291243
1,1,5120,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085724,-0.075592,0.881638,0.923160,0.010854,-0.037813,0.382396
1,1,5120,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000026
1,1,5120,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,0.075035,0.871211,0.999984,-0.003907,-0.004129,0.000174
1,1,5120,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.190533,-0.046997,0.950617,-0.300235,-0.676593,-0.222077,0.634636
1,1,5120,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.003967,0.163582,0.879089,-0.746711,-0.247903,0.390323,-0.478136
1,1,5120,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205776,0.044426,0.881638,0.923216,0.010857,-0.037841,0.382259
1,1,5120,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084991,0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000127
1,1,5120,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
1,1,5120,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.054630,0.149544,0.931947,0.233636,-0.698269,0.063229,0.673674
1,1,5120,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.076328,-0.058769,0.879089,0.538763,0.366705,-0.282768,0.703778
1,1,5120,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234905,0.046165,0.881642,0.375237,-0.038675,0.010871,0.926058
1,1,5120,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.074997,0.869532,1.000000,-0.000000,0.000000,0.000001
1,1,5120,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
1,1,5120,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.044895,-0.010487,1.000279,-0.025266,-0.708207,-0.021453,0.705227
1,1,5120,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.098307,0.116989,0.878982,-0.625878,0.362038,-0.541162,-0.429358
1,1,5120,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115950,-0.044876,0.881638,0.999226,-0.004470,-0.039086,-0.000533
1,1,5120,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.075005,0.869532,1.000000,0.000000,0.000000,-0.000058
1,1,5120,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235010,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000148
1,1,5120,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.113862,0.089649,0.926707,0.305151,-0.672976,0.111516,0.664493
1,1,5120,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.241872,0.068008,0.879089,0.818745,0.175848,-0.428378,0.339451
1,1,5120,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235754,-0.075577,0.881638,0.923214,0.010860,-0.037841,0.382265
1,1,5120,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000000
1,1,5120,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114991,-0.044998,0.871288,1.000000,-0.000153,-0.001019,-0.000005
1,1,5120,4,gripper,0,"","put ketchup bottle on cloth",-0.202060,0.077377,0.987766,0.107925,-0.640072,0.094870,0.754758
1,1,5120,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.211115,0.087540,0.878981,0.754017,-0.066867,0.647659,0.086744
1,1,5120,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115946,0.045120,0.881638,0.999226,-0.004449,-0.039086,-0.000076
1,1,5120,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
1,1,5120,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001021,-0.000030
1,1,5120,5,gripper,0,"","put ketchup bottle on cloth",-0.208760,0.105957,0.952582,0.044782,-0.737272,-0.044197,0.672659
1,1,5120,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.220604,0.071556,0.879088,0.479851,0.388451,-0.252065,0.745193
1,1,5120,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204391,-0.045715,0.881638,0.382430,0.034415,-0.019075,0.923146
1,1,5120,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
1,1,5120,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000029
1,1,5120,6,gripper,0,"","put ketchup bottle on cloth",-0.111450,0.035858,1.018603,0.043742,-0.652618,-0.014831,0.756278
1,1,5120,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.079880,-0.072327,0.879373,0.888357,-0.100487,0.259469,0.365240
1,1,5120,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.187481,0.066200,0.881656,0.996504,-0.002165,-0.029212,0.078238
1,1,5120,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.177532,-0.047867,0.869752,0.998541,0.003375,0.000884,-0.053888
1,1,5120,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
1,1,5120,7,gripper,0,"","put ketchup bottle on cloth",-0.211454,0.085278,0.941103,0.123063,-0.703980,-0.001854,0.699474
1,1,5120,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.202347,0.068005,0.879089,0.561795,0.356648,-0.294303,0.685984
1,1,5120,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235123,-0.075954,0.881638,0.706647,0.024491,-0.030788,0.706471
1,1,5120,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000036
1,1,5120,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001020,-0.000027
1,1,5120,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.193188,0.068356,0.933264,-0.145409,-0.679803,-0.128512,0.707255
1,1,5120,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.226433,-0.100121,0.879073,0.801446,0.195025,-0.429250,0.367960
1,1,5120,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115765,-0.045601,0.881638,0.923250,0.010843,-0.037814,0.382180
1,1,5120,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
1,1,5120,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
1,1,5120,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.216427,-0.058111,0.977867,-0.077548,-0.677557,0.004161,0.731359
1,1,5120,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.050461,0.103878,0.885369,0.695315,-0.187782,0.205351,0.662651
1,1,5120,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235111,-0.075954,0.881638,0.706642,0.024512,-0.030799,0.706476
1,1,5120,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075008,0.869532,1.000000,0.000000,-0.000002,-0.000002
1,1,5120,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
1,1,5120,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.181398,0.086187,1.006984,-0.069569,-0.645011,-0.105523,0.753648
1,1,5120,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.217381,0.065426,0.879125,0.555633,0.371644,-0.678242,0.305191
1,1,5120,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085743,0.074402,0.881638,0.923228,0.010852,-0.037835,0.382232
1,1,5120,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
1,1,5120,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235010,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000164
1,1,5120,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.216767,0.073381,0.933535,-0.002424,-0.706253,-0.049261,0.706240
1,1,5120,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.206437,-0.087692,0.881561,0.576291,0.345728,-0.348265,0.653508
1,1,5120,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205112,0.074055,0.881638,0.706708,0.024519,-0.030816,0.706409
1,1,5120,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
1,1,5120,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
1,1,5120,12,gripper,0,"","put kitchen shovel on cloth",-0.226764,-0.094080,0.931576,-0.179793,-0.668705,-0.133277,0.709045
1,1,5120,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124756,0.045006,0.879089,0.886321,-0.001257,-0.463069,0.000700
1,1,5120,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.236322,0.077435,0.881638,0.999211,-0.004239,-0.039142,0.005301
1,1,5120,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
1,1,5120,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235010,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000164
1,1,5120,13,gripper,0,"","put kitchen shovel on cloth",-0.202874,0.102472,0.969726,-0.076689,-0.703201,-0.128688,0.695030
1,1,5120,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.001835,0.174911,0.879373,-0.778820,0.158177,-0.228925,-0.562151
1,1,5120,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115112,-0.045959,0.881638,0.706692,0.024512,-0.030807,0.706425
1,1,5120,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000038
1,1,5120,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001018,0.000012
1,1,5120,14,gripper,0,"","put kitchen shovel on cloth",-0.216166,0.043018,0.926403,0.038039,-0.737021,0.036826,0.673793
1,1,5120,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094707,-0.075012,0.879089,0.886323,-0.001391,-0.463065,0.000444
1,1,5120,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.191860,-0.038429,0.883118,0.997944,0.020700,0.055198,0.025149
1,1,5120,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235466,0.082333,0.869532,0.997741,-0.000000,-0.000001,0.067170
1,1,5120,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.045006,0.871289,1.000000,-0.000154,-0.001019,0.000008
1,1,5120,15,gripper,0,"","put kitchen shovel on cloth",-0.082279,-0.051699,0.983861,-0.206474,-0.682207,-0.167035,0.681221
1,1,5120,16,obj,0,"003_bread_1","put bread on newspaper",-0.200569,-0.053875,0.883544,0.999037,0.001300,-0.012593,-0.041998
1,1,5120,16,obj,1,"005_7up can_1","put bread on newspaper",-0.092575,-0.074814,0.885626,0.972476,-0.005035,-0.232946,0.001281
1,1,5120,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
1,1,5120,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
1,1,5120,16,gripper,0,"","put bread on newspaper",-0.170528,-0.025957,1.001661,-0.307457,-0.601762,-0.380445,0.631359
1,1,5120,17,obj,0,"003_bread_1","put bread on newspaper",-0.195160,-0.062500,0.883544,0.449496,0.012007,-0.004000,0.893193
1,1,5120,17,obj,1,"005_7up can_1","put bread on newspaper",-0.080639,-0.079430,0.885673,0.374819,0.175082,-0.073126,0.907474
1,1,5120,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
1,1,5120,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000035
1,1,5120,17,gripper,0,"","put bread on newspaper",-0.095482,-0.077038,0.944133,0.339588,-0.621160,0.263654,0.655230
1,1,5120,18,obj,0,"003_bread_1","put bread on newspaper",-0.235130,0.044437,0.883544,0.709295,0.010123,-0.007604,0.704798
1,1,5120,18,obj,1,"005_7up can_1","put bread on newspaper",-0.107246,-0.040230,0.889103,0.383319,-0.619281,0.483613,0.485464
1,1,5120,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000022
1,1,5120,18,recep,1,"003_carpet_1","put bread on newspaper",-0.080139,-0.072838,0.870447,0.999434,-0.000942,-0.000801,-0.033610
1,1,5120,18,gripper,0,"","put bread on newspaper",-0.115807,-0.014826,1.062828,-0.049521,-0.753840,-0.047955,0.653432
1,1,5120,19,obj,0,"003_bread_1","put bread on newspaper",-0.233757,-0.043846,0.883540,0.349723,0.015237,-0.005002,0.936716
1,1,5120,19,obj,1,"005_7up can_1","put bread on newspaper",-0.201624,0.071335,0.885637,0.377053,0.142063,-0.055641,0.913539
1,1,5120,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000017
1,1,5120,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
1,1,5120,19,gripper,0,"","put bread on newspaper",-0.067043,0.069054,0.941508,0.011826,-0.761980,-0.008577,0.647436
1,1,5120,20,obj,0,"003_bread_1","put bread on carpet",-0.113440,0.045891,0.883544,0.998005,0.001049,-0.012618,-0.061853
1,1,5120,20,obj,1,"005_7up can_1","put bread on carpet",-0.242597,-0.074814,0.885627,0.972474,-0.005078,-0.232954,0.001104
1,1,5120,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
1,1,5120,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
1,1,5120,20,gripper,0,"","put bread on carpet",-0.098796,0.048214,0.992332,-0.031801,-0.775273,-0.060295,0.627938
1,1,5120,21,obj,0,"003_bread_1","put bread on carpet",-0.085487,-0.075512,0.883544,0.924296,0.006463,-0.010886,0.381466
1,1,5120,21,obj,1,"005_7up can_1","put bread on carpet",-0.090504,0.069756,0.885627,0.898067,0.084427,-0.217152,0.373087
1,1,5120,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000006
1,1,5120,21,recep,1,"003_carpet_1","put bread on carpet",-0.234997,0.075008,0.870447,0.999991,-0.003111,-0.002730,-0.000013
1,1,5120,21,gripper,0,"","put bread on carpet",-0.063918,-0.061279,0.959647,0.006381,-0.780523,-0.048967,0.623173
1,1,5120,22,obj,0,"003_bread_1","put bread on carpet",-0.234474,0.074520,0.883544,0.383807,0.012273,-0.003119,0.923327
1,1,5120,22,obj,1,"005_7up can_1","put bread on carpet",-0.229755,-0.080490,0.885627,0.371000,0.213274,-0.093801,0.898930
1,1,5120,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
1,1,5120,22,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000035
1,1,5120,22,gripper,0,"","put bread on carpet",-0.051397,0.038225,0.990732,0.079467,-0.711763,0.034898,0.697037
1,1,5120,23,obj,0,"003_bread_1","put bread on carpet",-0.159096,-0.019005,0.884474,0.460108,0.029491,0.015319,0.887241
1,1,5120,23,obj,1,"005_7up can_1","put bread on carpet",-0.228527,0.068287,0.885636,0.366018,0.261035,-0.113702,0.885982
1,1,5120,23,recep,0,"004_newspaper_1","put bread on carpet",-0.204948,-0.075008,0.869489,1.000000,0.000180,0.000876,-0.000025
1,1,5120,23,recep,1,"003_carpet_1","put bread on carpet",-0.115013,0.045021,0.870447,0.999999,-0.000924,-0.000845,-0.000105
1,1,5120,23,gripper,0,"","put bread on carpet",-0.164398,-0.048384,0.986099,-0.057162,-0.740049,-0.015620,0.669937
1,1,5120,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085121,-0.075531,0.883544,0.709102,0.010120,-0.007602,0.704993
1,1,5120,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.205200,0.067381,0.885626,0.686629,0.161179,-0.168253,0.688660
1,1,5120,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
1,1,5120,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000024
1,1,5120,24,gripper,0,"","put 7up can on newspaper",-0.179527,0.064348,0.982629,-0.241754,-0.633664,-0.235132,0.696231
1,1,5120,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.235477,0.074480,0.883544,0.924278,0.006464,-0.010890,0.381509
1,1,5120,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.071911,-0.035477,0.885929,0.406783,-0.529408,0.669416,0.325788
1,1,5120,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114891,0.045183,0.870442,0.999934,-0.007785,0.000789,0.008418
1,1,5120,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205112,-0.045061,0.870447,1.000000,-0.000125,-0.000158,0.000272
1,1,5120,25,gripper,0,"","put 7up can on newspaper",-0.073244,-0.024507,1.007615,0.002937,-0.718573,0.042392,0.694152
1,1,5120,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205540,-0.074875,0.883544,0.999916,0.001787,-0.012534,-0.002899
1,1,5120,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.086189,-0.076157,0.885707,0.988818,-0.009230,-0.057089,-0.137458
1,1,5120,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235004,0.045000,0.869490,1.000000,0.000180,0.000874,-0.000152
1,1,5120,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.075018,0.870447,0.999999,-0.000922,-0.000845,-0.000021
1,1,5120,26,gripper,0,"","put 7up can on newspaper",-0.081476,-0.064620,0.947798,-0.438801,-0.570023,-0.260083,0.644115
1,1,5120,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.081383,0.072071,0.883577,0.634848,0.014194,-0.009953,0.772443
1,1,5120,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.205185,0.067387,0.885626,0.686637,0.161169,-0.168240,0.688658
1,1,5120,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234999,-0.045000,0.869490,1.000000,0.000180,0.000874,0.000010
1,1,5120,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115000,-0.074982,0.870447,0.999999,-0.000923,-0.000845,-0.000033
1,1,5120,27,gripper,0,"","put 7up can on newspaper",-0.104401,0.055269,0.935362,-0.103406,-0.721188,-0.156616,0.666833
1,1,5120,28,obj,0,"003_bread_1","put 7up can on carpet",-0.232006,0.083015,0.883544,0.367650,0.012315,-0.002914,0.929878
1,1,5120,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.232466,-0.077433,0.885633,0.380306,0.101263,-0.038947,0.918475
1,1,5120,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114998,0.045002,0.869490,1.000000,0.000180,0.000874,0.000006
1,1,5120,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
1,1,5120,28,gripper,0,"","put 7up can on carpet",-0.187104,0.068808,0.966488,0.085396,-0.713026,0.017087,0.695708
1,1,5120,29,obj,0,"003_bread_1","put 7up can on carpet",-0.046770,-0.061686,0.883543,0.404841,0.012319,-0.002551,0.914300
1,1,5120,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.229750,-0.080507,0.885627,0.370782,0.213295,-0.093747,0.899020
1,1,5120,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000874,0.000009
1,1,5120,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
1,1,5120,29,gripper,0,"","put 7up can on carpet",-0.058348,-0.067824,0.935246,-0.424761,-0.641457,-0.362053,0.526335
1,1,5120,30,obj,0,"003_bread_1","put 7up can on carpet",-0.085117,0.074465,0.883544,0.709081,0.010122,-0.007600,0.705013
1,1,5120,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.189854,0.064285,0.885636,0.598962,0.218873,-0.182098,0.748452
1,1,5120,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
1,1,5120,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000020
1,1,5120,30,gripper,0,"","put 7up can on carpet",-0.173983,0.063460,0.953652,-0.191469,-0.678000,-0.140098,0.695721
1,1,5120,31,obj,0,"003_bread_1","put 7up can on carpet",-0.192886,-0.028088,0.886113,0.405584,-0.021633,0.075499,0.910677
1,1,5120,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.079742,-0.080498,0.885626,0.371169,0.213270,-0.093847,0.898856
1,1,5120,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
1,1,5120,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.234978,-0.075024,0.870461,1.000000,0.000019,-0.000159,-0.000250
1,1,5120,31,gripper,0,"","put 7up can on carpet",-0.157640,0.033368,1.012095,-0.028606,-0.715493,-0.014850,0.697876
1,1,5120,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.084999,0.074226,0.887304,0.735183,-0.022579,0.017078,0.677278
1,1,5120,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.114563,-0.074993,0.878547,0.706744,0.007944,0.010856,0.707342
1,1,5120,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
1,1,5120,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
1,1,5120,32,gripper,0,"","put carrot on sheet metal",0.010376,0.014171,0.976501,0.433093,-0.542676,0.478474,0.537583
1,1,5120,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238033,0.039759,0.887359,0.208773,-0.030714,0.002765,0.977478
1,1,5120,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
1,1,5120,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
1,1,5120,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,1,5120,33,gripper,0,"","put carrot on sheet metal",-0.178896,0.042771,0.974699,-0.120548,-0.698773,-0.110527,0.696396
1,1,5120,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117596,0.049503,0.887276,0.996421,-0.009188,0.032836,0.077351
1,1,5120,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013258,0.002051,0.000262
1,1,5120,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
1,1,5120,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
1,1,5120,34,gripper,0,"","put carrot on sheet metal",-0.104845,0.083818,0.993621,-0.077023,-0.681852,-0.110680,0.718954
1,1,5120,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205502,0.076778,0.887528,0.708701,-0.030466,0.030660,0.704184
1,1,5120,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.234562,-0.074994,0.878547,0.706810,0.007934,0.010840,0.707276
1,1,5120,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
1,1,5120,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
1,1,5120,35,gripper,0,"","put carrot on sheet metal",-0.180906,0.029978,0.967447,-0.401129,-0.514079,-0.414581,0.634777
1,1,5120,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087508,-0.074814,0.887392,0.997298,0.000182,0.024079,0.069399
1,1,5120,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.114993,0.074561,0.878547,0.999910,0.013265,0.002053,0.000314
1,1,5120,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
1,1,5120,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
1,1,5120,36,gripper,0,"","put carrot on flat bowl",-0.120638,-0.087743,1.018584,-0.216199,-0.612247,-0.198501,0.734172
1,1,5120,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238169,-0.074634,0.887516,0.832588,-0.012830,0.022492,0.553287
1,1,5120,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234673,0.074692,0.878547,0.923635,0.011504,0.006989,0.383037
1,1,5120,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
1,1,5120,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
1,1,5120,37,gripper,0,"","put carrot on flat bowl",-0.227309,-0.051207,0.968609,0.024565,-0.696174,0.051892,0.715573
1,1,5120,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235226,0.070852,0.887413,0.664789,-0.026464,0.020333,0.746285
1,1,5120,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007969,0.010890,0.707296
1,1,5120,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,1,5120,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,1,5120,38,gripper,0,"","put carrot on flat bowl",-0.158369,0.048416,0.964534,-0.157875,-0.692023,-0.164861,0.684836
1,1,5120,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237125,0.074071,0.887280,0.745340,-0.009996,0.018303,0.666358
1,1,5120,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204563,-0.044995,0.878546,0.706797,0.007936,0.010836,0.707289
1,1,5120,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,1,5120,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,1,5120,39,gripper,0,"","put carrot on flat bowl",-0.131269,0.046006,1.039670,-0.339559,-0.593783,-0.402067,0.608657
1,1,5120,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234657,0.074713,0.887379,0.735446,-0.022360,0.030234,0.676539
1,1,5120,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084557,0.075018,0.878547,0.707275,0.007958,0.010851,0.706810
1,1,5120,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000025
1,1,5120,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
1,1,5120,40,gripper,0,"","put banana on sheet metal",-0.025299,0.076841,0.971144,-0.196877,-0.615197,-0.354188,0.676256
1,1,5120,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207920,0.076738,0.887529,0.719124,-0.030006,0.031110,0.693537
1,1,5120,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
1,1,5120,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
1,1,5120,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
1,1,5120,41,gripper,0,"","put banana on sheet metal",-0.147108,0.028798,0.998865,0.227239,-0.604901,0.107737,0.755546
1,1,5120,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087055,0.073301,0.887070,0.353321,-0.010607,0.015191,0.935319
1,1,5120,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204697,-0.044676,0.878547,0.382771,0.003198,0.013074,0.923745
1,1,5120,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
1,1,5120,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
1,1,5120,42,gripper,0,"","put banana on sheet metal",-0.163588,-0.015300,0.948582,-0.002240,-0.709691,0.030400,0.703853
1,1,5120,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208359,-0.038149,0.887316,0.993136,0.001432,0.023766,0.114512
1,1,5120,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234995,0.074566,0.878547,0.999910,0.013278,0.002044,-0.000292
1,1,5120,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
1,1,5120,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000138
1,1,5120,43,gripper,0,"","put banana on sheet metal",-0.057041,0.055100,1.012064,0.106565,-0.705605,0.071953,0.696841
1,1,5120,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087659,-0.070925,0.887482,0.996777,-0.000823,0.023800,0.076603
1,1,5120,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084989,0.074560,0.878547,0.999910,0.013280,0.002053,0.000309
1,1,5120,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
1,1,5120,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000000
1,1,5120,44,gripper,0,"","put banana on flat bowl",-0.140981,-0.018267,1.009673,-0.134458,-0.627458,-0.220789,0.734486
1,1,5120,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087666,-0.077135,0.887277,0.352488,-0.026592,0.003987,0.935430
1,1,5120,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075331,0.878547,0.382568,0.003214,0.013138,0.923829
1,1,5120,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000040
1,1,5120,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000000,-0.000006
1,1,5120,45,gripper,0,"","put banana on flat bowl",-0.192390,0.077873,0.986243,0.026342,-0.677212,-0.032090,0.734615
1,1,5120,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236378,0.077219,0.887492,0.909963,-0.011506,0.022653,0.413911
1,1,5120,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
1,1,5120,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
1,1,5120,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
1,1,5120,46,gripper,0,"","put banana on flat bowl",-0.152576,-0.059268,0.992371,-0.158468,-0.610713,-0.343028,0.695881
1,1,5120,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087070,-0.071491,0.887503,0.910055,-0.018045,0.038163,0.412333
1,1,5120,47,obj,1,"013_banana_1","put banana on flat bowl",-0.204678,-0.075312,0.878547,0.923801,0.011496,0.006978,0.382636
1,1,5120,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
1,1,5120,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
1,1,5120,47,gripper,0,"","put banana on flat bowl",-0.157688,-0.021305,0.997493,-0.212678,-0.700065,-0.122002,0.670666
1,1,5120,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.054718,-0.094662,0.888306,0.748829,-0.002446,0.053163,0.660623
1,1,5120,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175949,0.075974,0.887027,0.704485,-0.019510,0.709441,0.003634
1,1,5120,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
1,1,5120,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234993,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000022
1,1,5120,48,gripper,0,"","put hamburger on frying pan",-0.085907,-0.103094,0.915988,0.254405,-0.505238,0.062119,0.822286
1,1,5120,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
1,1,5120,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.184990,0.070438,0.887026,0.646263,-0.297014,0.644563,0.280474
1,1,5120,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
1,1,5120,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
1,1,5120,49,gripper,0,"","put hamburger on frying pan",-0.143429,0.066042,0.947584,0.157355,-0.675622,0.121858,0.709877
1,1,5120,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115238,0.076099,0.888112,0.925561,-0.027143,0.004663,0.377594
1,1,5120,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.049484,-0.029072,0.914974,0.637285,-0.004595,-0.055385,0.768622
1,1,5120,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
1,1,5120,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000009
1,1,5120,50,gripper,0,"","put hamburger on frying pan",-0.036428,-0.028624,0.943673,-0.025257,-0.758338,-0.112708,0.641547
1,1,5120,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236000,-0.045170,0.888112,0.387773,-0.022502,-0.015887,0.921343
1,1,5120,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.226357,0.094933,0.887026,0.267702,-0.662333,0.254953,0.651652
1,1,5120,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000012
1,1,5120,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
1,1,5120,51,gripper,0,"","put hamburger on frying pan",-0.098889,-0.104273,0.921231,-0.031598,-0.717103,-0.080785,0.691548
1,1,5120,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.118142,0.023430,0.888112,0.146996,-0.017848,-0.020974,0.988754
1,1,5120,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106393,0.095119,0.887026,0.263563,-0.663932,0.250745,0.653342
1,1,5120,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
1,1,5120,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204992,0.074993,0.870870,1.000000,-0.000000,-0.000001,0.000018
1,1,5120,52,gripper,0,"","put hamburger on cutting board",-0.160978,-0.060753,0.984070,-0.036194,-0.710907,-0.038457,0.701300
1,1,5120,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235189,0.076057,0.888112,0.934679,-0.027019,0.005336,0.354425
1,1,5120,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.181108,-0.026775,0.907383,0.689531,0.018811,0.012829,0.723898
1,1,5120,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084934,-0.074986,0.872199,1.000000,-0.000000,-0.000001,-0.000635
1,1,5120,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
1,1,5120,53,gripper,0,"","put hamburger on cutting board",-0.165719,-0.026115,0.933506,-0.008287,-0.674437,-0.033807,0.737511
1,1,5120,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235985,-0.044392,0.888112,0.713057,-0.026884,-0.005985,0.700565
1,1,5120,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205921,0.104195,0.887026,0.496456,-0.514590,0.488756,0.499846
1,1,5120,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
1,1,5120,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000002
1,1,5120,54,gripper,0,"","put hamburger on cutting board",-0.030674,0.049225,0.976993,-0.014463,-0.763667,-0.058627,0.642780
1,1,5120,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206001,0.045567,0.888112,0.717611,-0.026921,-0.005803,0.695900
1,1,5120,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235806,-0.045109,0.887026,0.500027,-0.511072,0.492437,0.496271
1,1,5120,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
1,1,5120,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
1,1,5120,55,gripper,0,"","put hamburger on cutting board",-0.022209,0.043697,0.956845,-0.097541,-0.750233,-0.062120,0.650982
1,1,5120,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235252,-0.073906,0.888112,0.925386,-0.027146,0.004648,0.378024
1,1,5120,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.355209,1.151806,0.020973,0.029876,0.661178,0.749256,-0.023800
1,1,5120,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.148537,0.082439,0.872199,0.975777,-0.000001,-0.000001,0.218767
1,1,5120,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.258591,0.084408,0.870870,0.999916,0.000000,-0.000000,-0.012925
1,1,5120,56,gripper,0,"","put plastic bottle on frying pan",-0.073177,-0.098124,0.995702,0.076749,-0.674749,0.081814,0.729472
1,1,5120,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086105,-0.075253,0.888112,0.387303,-0.022486,-0.015901,0.921541
1,1,5120,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.107788,0.094810,0.887426,0.252634,-0.679791,0.252341,0.640612
1,1,5120,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
1,1,5120,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.209812,0.076004,0.870870,0.999970,-0.000002,-0.000003,-0.007772
1,1,5120,57,gripper,0,"","put plastic bottle on frying pan",-0.121321,0.066202,0.947940,-0.131749,-0.707311,-0.098050,0.687561
1,1,5120,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115238,0.076099,0.888112,0.925561,-0.027143,0.004663,0.377594
1,1,5120,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.218742,0.069004,0.887026,0.644904,-0.300113,0.643130,0.283577
1,1,5120,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000049
1,1,5120,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
1,1,5120,58,gripper,0,"","put plastic bottle on frying pan",-0.174477,0.057245,0.976490,0.216681,-0.622907,0.116645,0.742583
1,1,5120,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.112345,-0.050819,0.890460,0.373576,-0.145518,0.018150,0.915935
1,1,5120,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256102,-0.055088,0.887026,0.267377,-0.662462,0.254623,0.651783
1,1,5120,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
1,1,5120,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
1,1,5120,59,gripper,0,"","put plastic bottle on frying pan",-0.119161,-0.051193,0.950857,-0.094761,-0.711695,-0.034370,0.695218
1,1,5120,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086163,0.074745,0.888112,0.390566,-0.022542,-0.015822,0.920163
1,1,5120,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.132979,-0.023567,0.887026,0.282541,-0.656327,0.270040,0.645355
1,1,5120,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
1,1,5120,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234988,-0.075012,0.870864,1.000000,0.000056,-0.000001,0.000011
1,1,5120,60,gripper,0,"","put plastic bottle on cutting board",-0.106430,-0.003113,0.983781,-0.260784,-0.564262,-0.337864,0.706717
1,1,5120,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085196,0.076088,0.888112,0.935301,-0.027012,0.005383,0.352780
1,1,5120,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.067225,-0.054581,0.887026,0.644344,-0.301377,0.642539,0.284844
1,1,5120,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
1,1,5120,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000001
1,1,5120,61,gripper,0,"","put plastic bottle on cutting board",-0.030610,-0.035021,0.965856,0.079661,-0.732039,0.089823,0.670601
1,1,5120,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235229,-0.073895,0.888112,0.925612,-0.027142,0.004665,0.377471
1,1,5120,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.067951,-0.055729,0.888430,0.768919,-0.231673,0.473835,0.361348
1,1,5120,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
1,1,5120,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
1,1,5120,62,gripper,0,"","put plastic bottle on cutting board",-0.053936,-0.056545,0.940504,0.085497,-0.730181,0.143726,0.662471
1,1,5120,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235222,0.076099,0.888112,0.925436,-0.027144,0.004652,0.377901
1,1,5120,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
1,1,5120,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000234
1,1,5120,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
1,1,5120,63,gripper,0,"","put plastic bottle on cutting board",-0.060331,-0.061760,0.952634,-0.051930,-0.715949,-0.044812,0.694775
1,2,10240,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.115074,0.194321,0.879106,0.705731,0.281629,-0.376798,0.529766
1,2,10240,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085724,-0.075584,0.881638,0.923126,0.010856,-0.037809,0.382481
1,2,10240,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084991,0.074989,0.869532,1.000000,-0.000000,-0.000001,0.000142
1,2,10240,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.075035,0.871211,0.999984,-0.003908,-0.004129,0.000212
1,2,10240,0,gripper,0,"","put ketchup bottle on cloth",-0.103676,0.186443,0.945023,0.218565,-0.692907,0.106991,0.678721
1,2,10240,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.003963,0.163574,0.879089,-0.746750,-0.247874,0.390353,-0.478066
1,2,10240,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.198608,0.049881,0.881663,0.890046,-0.007307,0.004689,0.455787
1,2,10240,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084991,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000129
1,2,10240,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000040
1,2,10240,1,gripper,0,"","put ketchup bottle on cloth",-0.214767,0.055779,0.930989,0.164752,-0.674191,0.134716,0.707230
1,2,10240,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.076328,-0.058784,0.879089,0.538766,0.366709,-0.282776,0.703771
1,2,10240,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.157124,-0.024597,0.886262,0.650489,-0.043340,0.084608,0.753543
1,2,10240,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000002
1,2,10240,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000453,-0.001266,-0.000023
1,2,10240,2,gripper,0,"","put ketchup bottle on cloth",-0.225357,0.066185,0.963645,0.063534,-0.696555,0.068528,0.711392
1,2,10240,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.077044,0.053398,0.879088,-0.644295,0.323999,-0.592168,-0.359507
1,2,10240,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115946,-0.044876,0.881638,0.999225,-0.004465,-0.039113,-0.000439
1,2,10240,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205004,0.075005,0.869532,1.000000,-0.000001,0.000000,-0.000062
1,2,10240,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.074982,0.871287,0.999999,-0.000153,-0.001019,0.000253
1,2,10240,3,gripper,0,"","put ketchup bottle on cloth",-0.084077,0.046555,0.925450,0.198732,-0.712749,0.158319,0.653781
1,2,10240,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.229840,0.071815,0.879088,0.773487,0.224685,-0.404905,0.432766
1,2,10240,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235753,-0.075577,0.881638,0.923215,0.010848,-0.037817,0.382265
1,2,10240,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
1,2,10240,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114991,-0.044998,0.871288,1.000000,-0.000153,-0.001019,-0.000005
1,2,10240,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.120396,0.032177,0.987976,0.022299,-0.703566,0.030614,0.709620
1,2,10240,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.209877,0.085876,0.878982,0.754256,-0.065156,0.647819,0.084752
1,2,10240,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115942,0.045120,0.881638,0.999225,-0.004443,-0.039117,0.000043
1,2,10240,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000003
1,2,10240,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205004,-0.045006,0.871288,0.999999,-0.000155,-0.001020,-0.000032
1,2,10240,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.179160,0.080406,0.980063,-0.143649,-0.714118,-0.169119,0.663927
1,2,10240,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.060463,-0.043907,0.885088,0.495973,0.382820,-0.260476,0.734583
1,2,10240,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204395,-0.045715,0.881638,0.382340,0.034411,-0.019069,0.923184
1,2,10240,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085022,-0.075012,0.869532,1.000000,0.000001,-0.000001,0.000539
1,2,10240,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000040
1,2,10240,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.117643,-0.031773,1.065512,-0.009080,-0.720750,-0.035590,0.692222
1,2,10240,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.079880,-0.072327,0.879373,0.888355,-0.100489,0.259467,0.365245
1,2,10240,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.181095,0.068665,0.881641,0.998437,-0.005998,0.039711,0.038872
1,2,10240,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.176830,-0.048340,0.869532,0.997716,-0.000000,0.000001,-0.067545
1,2,10240,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
1,2,10240,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.229797,0.079227,0.954036,0.051350,-0.675410,-0.119162,0.725937
1,2,10240,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.044502,0.197205,0.879213,0.200354,0.664332,-0.693686,0.193185
1,2,10240,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235123,-0.075954,0.881638,0.706600,0.024506,-0.030798,0.706518
1,2,10240,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114998,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000032
1,2,10240,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000155,-0.001020,-0.000058
1,2,10240,8,gripper,0,"","put kitchen shovel on cloth",-0.214569,-0.070900,0.933057,-0.106741,-0.655966,-0.028920,0.746645
1,2,10240,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.081200,0.221119,0.010182,0.491355,0.501130,0.415694,-0.578479
1,2,10240,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115765,-0.045597,0.881638,0.923212,0.010847,-0.037812,0.382271
1,2,10240,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
1,2,10240,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000019
1,2,10240,9,gripper,0,"","put kitchen shovel on cloth",-0.179544,0.102983,0.935606,0.185484,-0.677027,0.191847,0.685875
1,2,10240,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.050465,0.103889,0.885369,0.695206,-0.187808,0.205308,0.662771
1,2,10240,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234402,-0.071384,0.881641,0.645769,-0.033337,0.022406,0.762476
1,2,10240,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075008,0.869532,1.000000,0.000000,-0.000001,-0.000009
1,2,10240,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
1,2,10240,10,gripper,0,"","put kitchen shovel on cloth",-0.098366,-0.051683,0.977349,-0.240473,-0.641706,-0.140064,0.714681
1,2,10240,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214600,0.070534,0.879088,0.634604,0.322108,-0.332691,0.618742
1,2,10240,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085741,0.074406,0.881638,0.923197,0.010857,-0.037839,0.382305
1,2,10240,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000017
1,2,10240,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,-0.074989,0.871288,0.999999,-0.000154,-0.001020,0.000216
1,2,10240,11,gripper,0,"","put kitchen shovel on cloth",-0.230362,0.025064,0.976784,0.054670,-0.733720,0.096004,0.670410
1,2,10240,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.210588,-0.062309,0.878984,0.508293,-0.478223,0.439578,0.565431
1,2,10240,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205112,0.074055,0.881638,0.706708,0.024515,-0.030811,0.706409
1,2,10240,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
1,2,10240,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.074993,0.871289,0.999999,-0.000158,-0.001020,-0.000014
1,2,10240,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.221008,-0.053610,0.928048,-0.063597,-0.724426,-0.017807,0.686182
1,2,10240,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.125259,0.045628,0.879120,0.881844,-0.003666,-0.471501,-0.004937
1,2,10240,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.236319,0.077435,0.881638,0.999210,-0.004235,-0.039138,0.005406
1,2,10240,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000017
1,2,10240,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000219
1,2,10240,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.091609,0.050905,0.992963,-0.161027,-0.714023,-0.199113,0.651610
1,2,10240,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.001835,0.174911,0.879373,-0.778798,0.158188,-0.228923,-0.562177
1,2,10240,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.174763,0.081783,0.886778,0.779490,-0.015324,0.013182,0.626088
1,2,10240,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.203087,0.042522,0.869532,0.998763,0.000001,0.000000,-0.049719
1,2,10240,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001018,0.000047
1,2,10240,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.239635,0.090660,0.938505,0.108760,-0.636001,0.126629,0.753418
1,2,10240,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.186230,0.110889,0.884586,0.494729,0.417713,0.423375,-0.633651
1,2,10240,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.191933,-0.038494,0.883118,0.997935,0.020697,0.055293,0.025301
1,2,10240,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235485,0.082333,0.869532,0.997721,0.000001,0.000000,0.067480
1,2,10240,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.045006,0.871289,0.999999,-0.000154,-0.001019,0.000008
1,2,10240,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.164049,0.107901,0.973351,0.080006,-0.697407,0.039170,0.711117
1,2,10240,16,obj,0,"003_bread_1","put bread on carpet",-0.200569,-0.053875,0.883544,0.999038,0.001301,-0.012594,-0.041980
1,2,10240,16,obj,1,"005_7up can_1","put bread on carpet",-0.092575,-0.074814,0.885626,0.972474,-0.005023,-0.232954,0.001331
1,2,10240,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
1,2,10240,16,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
1,2,10240,16,gripper,0,"","put bread on carpet",-0.071121,-0.104204,0.948872,-0.331584,-0.565657,-0.406871,0.636035
1,2,10240,17,obj,0,"003_bread_1","put bread on carpet",-0.195160,-0.062500,0.883544,0.449590,0.012009,-0.004003,0.893145
1,2,10240,17,obj,1,"005_7up can_1","put bread on carpet",-0.075451,-0.084373,0.885687,0.351261,0.373399,-0.151991,0.845037
1,2,10240,17,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
1,2,10240,17,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.045025,0.870447,0.999999,-0.000923,-0.000845,-0.000063
1,2,10240,17,gripper,0,"","put bread on carpet",-0.045456,-0.023752,0.995444,0.212788,-0.715199,0.065380,0.662523
1,2,10240,18,obj,0,"003_bread_1","put bread on carpet",-0.235130,0.044437,0.883544,0.709170,0.010124,-0.007602,0.704924
1,2,10240,18,obj,1,"005_7up can_1","put bread on carpet",-0.090137,-0.045555,0.888784,0.655098,-0.134286,0.119826,0.733795
1,2,10240,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000048
1,2,10240,18,recep,1,"003_carpet_1","put bread on carpet",-0.073891,-0.067158,0.870365,0.996666,-0.000888,-0.001848,-0.081565
1,2,10240,18,gripper,0,"","put bread on carpet",-0.144382,0.033991,1.137575,0.026011,-0.793040,0.072481,0.604283
1,2,10240,19,obj,0,"003_bread_1","put bread on carpet",-0.230095,-0.046463,0.883525,0.380344,0.014513,-0.005561,0.924714
1,2,10240,19,obj,1,"005_7up can_1","put bread on carpet",-0.201624,0.071335,0.885637,0.377042,0.142074,-0.055644,0.913541
1,2,10240,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114992,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000032
1,2,10240,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000071
1,2,10240,19,gripper,0,"","put bread on carpet",-0.056039,0.049877,0.951939,-0.077318,-0.732415,-0.138342,0.662157
1,2,10240,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.113440,0.045891,0.883544,0.998005,0.001048,-0.012620,-0.061853
1,2,10240,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242597,-0.074814,0.885627,0.972474,-0.005078,-0.232952,0.001104
1,2,10240,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
1,2,10240,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000924,-0.000845,-0.000000
1,2,10240,20,gripper,0,"","put 7up can on newspaper",-0.090418,0.053230,1.034950,0.175701,-0.792261,0.180694,0.555699
1,2,10240,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.085487,-0.075512,0.883544,0.924352,0.006461,-0.010887,0.381330
1,2,10240,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.111279,0.065887,0.885626,0.732687,0.144150,-0.172849,0.642272
1,2,10240,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000005
1,2,10240,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234989,0.075008,0.870447,0.999991,-0.003114,-0.002733,-0.000043
1,2,10240,21,gripper,0,"","put 7up can on newspaper",-0.100200,0.066896,0.945335,0.136273,-0.721423,0.082452,0.673928
1,2,10240,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.234474,0.074520,0.883544,0.383760,0.012272,-0.003117,0.923346
1,2,10240,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.226299,-0.083111,0.885675,0.359988,0.335102,-0.137129,0.859832
1,2,10240,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
1,2,10240,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.045025,0.870447,0.999999,-0.000923,-0.000845,-0.000063
1,2,10240,22,gripper,0,"","put 7up can on newspaper",-0.218332,-0.061813,0.947365,-0.007125,-0.694600,0.044319,0.717994
1,2,10240,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.165783,-0.020279,0.884381,0.449795,0.012226,0.028939,0.892579
1,2,10240,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.228527,0.068287,0.885636,0.366015,0.261020,-0.113693,0.885988
1,2,10240,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.210281,-0.084854,0.869490,0.999958,0.000172,0.000876,0.009136
1,2,10240,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115364,0.047955,0.870461,0.999872,0.000016,-0.000158,-0.016008
1,2,10240,23,gripper,0,"","put 7up can on newspaper",-0.147947,0.004009,0.954549,0.003529,-0.721185,0.012214,0.692626
1,2,10240,24,obj,0,"003_bread_1","put 7up can on carpet",-0.085556,-0.072718,0.883544,0.714383,0.010075,-0.007670,0.699641
1,2,10240,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.205200,0.067381,0.885626,0.686622,0.161198,-0.168271,0.688658
1,2,10240,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000036
1,2,10240,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074986,0.870461,1.000000,0.000019,-0.000159,-0.000041
1,2,10240,24,gripper,0,"","put 7up can on carpet",-0.089119,0.051935,0.947627,-0.097897,-0.724369,-0.099159,0.675184
1,2,10240,25,obj,0,"003_bread_1","put 7up can on carpet",-0.235477,0.074480,0.883544,0.924321,0.006463,-0.010888,0.381405
1,2,10240,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.071911,-0.035461,0.885929,0.407177,-0.528582,0.670077,0.325276
1,2,10240,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114891,0.045202,0.870437,0.999933,-0.007742,0.000789,0.008535
1,2,10240,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.205112,-0.045061,0.870447,1.000000,-0.000125,-0.000158,0.000456
1,2,10240,25,gripper,0,"","put 7up can on carpet",-0.081470,-0.034260,1.123345,-0.115447,-0.783299,-0.080194,0.605544
1,2,10240,26,obj,0,"003_bread_1","put 7up can on carpet",-0.189747,-0.082186,0.883544,0.986861,-0.000225,-0.012654,-0.161073
1,2,10240,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.091629,-0.074469,0.885627,0.963344,-0.037142,-0.230018,-0.132971
1,2,10240,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235004,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000288
1,2,10240,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.075033,0.870447,0.999999,-0.000923,-0.000845,-0.000052
1,2,10240,26,gripper,0,"","put 7up can on carpet",-0.180277,-0.064115,0.938148,-0.450460,-0.532715,-0.377235,0.609093
1,2,10240,27,obj,0,"003_bread_1","put 7up can on carpet",-0.100435,-0.028959,0.886385,0.519669,-0.036379,0.076087,0.850195
1,2,10240,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.205185,0.067387,0.885626,0.686628,0.161185,-0.168260,0.688658
1,2,10240,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.045000,0.869490,1.000000,0.000180,0.000874,0.000025
1,2,10240,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.115013,-0.075003,0.870447,0.999999,-0.000923,-0.000845,0.000101
1,2,10240,27,gripper,0,"","put 7up can on carpet",-0.068175,0.014034,0.992885,-0.342939,-0.611060,-0.302783,0.646004
1,2,10240,28,obj,0,"003_bread_1","put bread on newspaper",-0.233024,0.093117,0.883544,0.392417,0.012235,-0.003244,0.919700
1,2,10240,28,obj,1,"005_7up can_1","put bread on newspaper",-0.232466,-0.077433,0.885633,0.380306,0.101261,-0.038947,0.918475
1,2,10240,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.114998,0.045002,0.869490,1.000000,0.000180,0.000874,0.000006
1,2,10240,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
1,2,10240,28,gripper,0,"","put bread on newspaper",-0.098578,0.036817,0.956492,-0.007145,-0.747801,-0.008975,0.663824
1,2,10240,29,obj,0,"003_bread_1","put bread on newspaper",-0.050200,-0.044313,0.883544,0.406681,0.012185,-0.003432,0.913482
1,2,10240,29,obj,1,"005_7up can_1","put bread on newspaper",-0.229753,-0.080507,0.885627,0.370774,0.213315,-0.093754,0.899018
1,2,10240,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.114996,0.045002,0.869490,1.000000,0.000180,0.000874,0.000012
1,2,10240,29,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000041
1,2,10240,29,gripper,0,"","put bread on newspaper",-0.037113,-0.045757,0.936993,-0.088180,-0.686961,-0.112621,0.712478
1,2,10240,30,obj,0,"003_bread_1","put bread on newspaper",-0.084953,0.074221,0.883544,0.710777,0.010110,-0.007622,0.703303
1,2,10240,30,obj,1,"005_7up can_1","put bread on newspaper",-0.183098,-0.011410,0.885637,0.602506,0.122602,-0.090797,0.783397
1,2,10240,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
1,2,10240,30,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.074989,0.870461,1.000000,0.000018,-0.000158,-0.000035
1,2,10240,30,gripper,0,"","put bread on newspaper",-0.082754,0.069252,0.987625,-0.025640,-0.717338,-0.078889,0.691769
1,2,10240,31,obj,0,"003_bread_1","put bread on newspaper",-0.192886,-0.028088,0.886113,0.405585,-0.021632,0.075499,0.910677
1,2,10240,31,obj,1,"005_7up can_1","put bread on newspaper",-0.093082,-0.067909,0.885615,0.627960,-0.122906,0.094406,0.762658
1,2,10240,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
1,2,10240,31,recep,1,"003_carpet_1","put bread on newspaper",-0.234978,-0.075024,0.870461,1.000000,0.000019,-0.000158,-0.000251
1,2,10240,31,gripper,0,"","put bread on newspaper",-0.071554,-0.036670,0.967431,-0.173690,-0.726261,-0.084260,0.659756
1,2,10240,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086708,0.073674,0.887555,0.741361,-0.019485,0.024779,0.670365
1,2,10240,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.114563,-0.074993,0.878547,0.706743,0.007965,0.010881,0.707341
1,2,10240,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
1,2,10240,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
1,2,10240,32,gripper,0,"","put carrot on flat bowl",-0.070175,0.096797,1.000071,0.155516,-0.690395,0.153239,0.689700
1,2,10240,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237068,0.040562,0.887047,0.200230,-0.020586,-0.007483,0.979504
1,2,10240,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
1,2,10240,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
1,2,10240,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
1,2,10240,33,gripper,0,"","put carrot on flat bowl",-0.176910,0.045241,0.965759,-0.220520,-0.645863,-0.254832,0.685049
1,2,10240,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118546,0.049923,0.887522,0.997051,-0.004039,0.023013,0.073103
1,2,10240,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013278,0.002053,0.000262
1,2,10240,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
1,2,10240,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
1,2,10240,34,gripper,0,"","put carrot on flat bowl",-0.130791,0.079322,1.034385,-0.142443,-0.685775,-0.247587,0.669420
1,2,10240,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207436,0.077193,0.887529,0.711507,-0.030346,0.030783,0.701348
1,2,10240,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.234562,-0.074993,0.878547,0.706843,0.007937,0.010844,0.707243
1,2,10240,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
1,2,10240,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
1,2,10240,35,gripper,0,"","put carrot on flat bowl",-0.074718,0.077312,0.980890,-0.079129,-0.606295,-0.266771,0.744969
1,2,10240,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087858,-0.074821,0.887380,0.997030,-0.005291,0.030561,0.070488
1,2,10240,36,obj,1,"013_banana_1","put banana on sheet metal",-0.114993,0.074561,0.878547,0.999910,0.013291,0.002055,0.000314
1,2,10240,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
1,2,10240,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
1,2,10240,36,gripper,0,"","put banana on sheet metal",-0.078826,0.051307,0.976552,0.039222,-0.730575,-0.110425,0.672702
1,2,10240,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237041,-0.075921,0.887381,0.830642,-0.018067,0.022038,0.556077
1,2,10240,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234673,0.074692,0.878547,0.923635,0.011503,0.006989,0.383037
1,2,10240,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
1,2,10240,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
1,2,10240,37,gripper,0,"","put banana on sheet metal",-0.099068,0.042409,1.030645,-0.272845,-0.630227,-0.371298,0.624906
1,2,10240,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.235012,0.070272,0.887353,0.656661,-0.017467,0.011871,0.753890
1,2,10240,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007966,0.010887,0.707296
1,2,10240,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,2,10240,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
1,2,10240,38,gripper,0,"","put banana on sheet metal",-0.189764,-0.044200,0.976365,-0.020753,-0.681801,-0.031395,0.730569
1,2,10240,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241375,0.074334,0.887500,0.755331,-0.028135,0.031350,0.653989
1,2,10240,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204563,-0.044995,0.878547,0.706797,0.007959,0.010863,0.707288
1,2,10240,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,2,10240,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
1,2,10240,39,gripper,0,"","put banana on sheet metal",-0.182253,-0.011808,0.963942,0.176870,-0.694093,0.201432,0.668114
1,2,10240,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234924,0.073458,0.887518,0.741419,-0.021047,0.024644,0.670259
1,2,10240,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084549,0.075024,0.878547,0.707745,0.007955,0.010834,0.706340
1,2,10240,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074974,0.871344,0.999999,-0.000157,0.001164,-0.000050
1,2,10240,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
1,2,10240,40,gripper,0,"","put banana on flat bowl",-0.055992,-0.038824,0.994595,-0.031136,-0.682148,-0.035993,0.729664
1,2,10240,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207920,0.076744,0.887529,0.719033,-0.030011,0.031110,0.693631
1,2,10240,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
1,2,10240,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
1,2,10240,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
1,2,10240,41,gripper,0,"","put banana on flat bowl",-0.018642,0.069748,1.024550,0.270588,-0.645516,-0.125270,0.703134
1,2,10240,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088219,0.070267,0.887451,0.367790,-0.014219,0.004022,0.929791
1,2,10240,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204700,-0.044670,0.878547,0.383261,0.003195,0.013045,0.923542
1,2,10240,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
1,2,10240,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
1,2,10240,42,gripper,0,"","put banana on flat bowl",-0.095619,-0.008562,0.998353,-0.006401,-0.735867,0.001897,0.677094
1,2,10240,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208532,-0.036978,0.887477,0.991365,-0.003792,0.031333,0.127274
1,2,10240,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234993,0.074564,0.878547,0.999910,0.013278,0.002039,-0.000609
1,2,10240,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
1,2,10240,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000311
1,2,10240,43,gripper,0,"","put banana on flat bowl",-0.169100,0.074618,0.970106,-0.121042,-0.607829,-0.140927,0.772031
1,2,10240,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087891,-0.069801,0.887546,0.996380,-0.004146,0.035812,0.076981
1,2,10240,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084986,0.074560,0.878547,0.999910,0.013263,0.002051,0.000203
1,2,10240,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
1,2,10240,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000001
1,2,10240,44,gripper,0,"","put carrot on sheet metal",0.001125,-0.031490,0.954699,0.161012,-0.744418,-0.091939,0.641455
1,2,10240,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089258,-0.079844,0.887407,0.363787,-0.031443,0.015332,0.930825
1,2,10240,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075335,0.878547,0.382925,0.003214,0.013121,0.923681
1,2,10240,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,0.044992,0.871345,0.999999,-0.000157,0.001164,-0.000045
1,2,10240,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000001,-0.000005
1,2,10240,45,gripper,0,"","put carrot on sheet metal",-0.063141,-0.065227,0.984204,-0.025851,-0.761319,0.015245,0.647683
1,2,10240,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240082,0.078983,0.887531,0.915292,-0.003876,0.017420,0.402395
1,2,10240,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
1,2,10240,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
1,2,10240,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
1,2,10240,46,gripper,0,"","put carrot on sheet metal",-0.186523,0.068498,0.981550,-0.165023,-0.731837,-0.144515,0.645211
1,2,10240,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090816,-0.069616,0.887508,0.916704,-0.010119,0.026217,0.398578
1,2,10240,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.204670,-0.075312,0.878547,0.923971,0.011484,0.006966,0.382226
1,2,10240,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
1,2,10240,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
1,2,10240,47,gripper,0,"","put carrot on sheet metal",-0.066841,0.071055,0.992536,-0.057313,-0.715946,-0.044161,0.694397
1,2,10240,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.056091,-0.095924,0.888112,0.733913,-0.027051,-0.005163,0.678685
1,2,10240,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175606,0.076042,0.887026,0.704452,-0.023860,0.709306,0.007954
1,2,10240,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
1,2,10240,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000036
1,2,10240,48,gripper,0,"","put hamburger on cutting board",-0.151054,0.033541,1.014558,0.096497,-0.630375,0.003051,0.770264
1,2,10240,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085213,0.076092,0.888113,0.925030,-0.027149,0.004624,0.378895
1,2,10240,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.184288,0.072598,0.887916,0.609169,-0.313964,0.676275,0.270171
1,2,10240,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
1,2,10240,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
1,2,10240,49,gripper,0,"","put hamburger on cutting board",-0.168087,0.075541,0.948037,0.086497,-0.692235,0.040817,0.715306
1,2,10240,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115238,0.076099,0.888112,0.925114,-0.027149,0.004631,0.378689
1,2,10240,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.043247,-0.076878,0.886788,0.440256,0.546905,-0.438973,0.560689
1,2,10240,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
1,2,10240,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000017
1,2,10240,50,gripper,0,"","put hamburger on cutting board",-0.038834,-0.070982,0.934383,-0.141885,-0.758177,-0.058029,0.633773
1,2,10240,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235218,-0.045021,0.888112,0.360391,-0.022014,-0.016545,0.932395
1,2,10240,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226357,0.094933,0.887026,0.267703,-0.662332,0.254953,0.651652
1,2,10240,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000019
1,2,10240,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000006
1,2,10240,51,gripper,0,"","put hamburger on cutting board",-0.124077,-0.044680,0.990635,-0.098375,-0.701659,-0.087386,0.700257
1,2,10240,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.118142,0.023430,0.888112,0.146996,-0.017848,-0.020975,0.988754
1,2,10240,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.204522,0.138844,0.887026,-0.092207,-0.701352,-0.108580,0.698437
1,2,10240,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
1,2,10240,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.258215,0.062378,0.870870,0.963710,0.000000,-0.000001,0.266951
1,2,10240,52,gripper,0,"","put plastic bottle on frying pan",-0.106471,0.109928,0.942062,0.271441,-0.571717,0.098711,0.767930
1,2,10240,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235153,0.076054,0.888112,0.943664,-0.026875,0.006044,0.329757
1,2,10240,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.136589,-0.006363,0.895921,0.478715,0.389134,-0.340581,0.709515
1,2,10240,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084934,-0.074986,0.872199,1.000000,-0.000000,-0.000001,-0.000716
1,2,10240,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.109842,0.059124,0.870870,1.000000,-0.000000,-0.000001,0.000284
1,2,10240,53,gripper,0,"","put plastic bottle on frying pan",-0.139567,-0.011818,0.946002,-0.096170,-0.730758,-0.157298,0.657268
1,2,10240,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235985,-0.044392,0.888112,0.713379,-0.026887,-0.005974,0.700237
1,2,10240,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205921,0.104195,0.887026,0.496247,-0.514794,0.488541,0.500054
1,2,10240,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000004
1,2,10240,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083183,0.045490,0.870870,0.999993,0.000000,-0.000000,-0.003677
1,2,10240,54,gripper,0,"","put plastic bottle on frying pan",-0.046986,0.039303,0.936291,0.171965,-0.767902,-0.028607,0.616390
1,2,10240,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206001,0.045567,0.888112,0.717295,-0.026919,-0.005812,0.696225
1,2,10240,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235828,-0.045116,0.887026,0.499916,-0.511181,0.492318,0.496388
1,2,10240,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
1,2,10240,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
1,2,10240,55,gripper,0,"","put plastic bottle on frying pan",-0.185085,-0.027184,0.987017,-0.037311,-0.692689,-0.061759,0.717618
1,2,10240,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235191,-0.073841,0.888112,0.922897,-0.027176,0.004472,0.384062
1,2,10240,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.355209,1.151802,0.020973,0.029876,0.661162,0.749270,-0.023799
1,2,10240,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.148537,0.082439,0.872199,0.975777,-0.000001,-0.000001,0.218767
1,2,10240,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.258591,0.084408,0.870870,0.999916,0.000000,-0.000000,-0.012925
1,2,10240,56,gripper,0,"","put plastic bottle on cutting board",-0.096188,0.007235,1.010740,0.002087,-0.695217,-0.006872,0.718764
1,2,10240,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.247677,0.091347,0.894964,-0.193943,-0.804600,-0.232050,-0.511036
1,2,10240,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115932,0.096638,0.887026,0.185610,-0.688636,0.171645,0.679608
1,2,10240,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
1,2,10240,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.209812,0.076015,0.870870,0.999970,-0.000000,-0.000000,-0.007797
1,2,10240,57,gripper,0,"","put plastic bottle on cutting board",-0.083456,0.114180,0.953202,0.112205,-0.721722,0.072231,0.679198
1,2,10240,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.182297,-0.007450,0.888663,0.924559,-0.063134,0.003633,0.375754
1,2,10240,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.218742,0.069004,0.887026,0.644888,-0.300146,0.643115,0.283610
1,2,10240,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,0.000001,-0.000001,-0.000095
1,2,10240,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204983,-0.075031,0.870870,1.000000,0.000000,-0.000000,-0.000114
1,2,10240,58,gripper,0,"","put plastic bottle on cutting board",-0.167959,0.090361,0.952988,0.243285,-0.619254,0.164770,0.728140
1,2,10240,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.093393,-0.048275,0.888112,0.184146,-0.018627,-0.020285,0.982513
1,2,10240,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256067,-0.055088,0.887026,0.267304,-0.662489,0.254548,0.651814
1,2,10240,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
1,2,10240,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
1,2,10240,59,gripper,0,"","put plastic bottle on cutting board",-0.083008,-0.005081,0.973122,0.304975,-0.604908,0.272442,0.683266
1,2,10240,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086163,0.074745,0.888112,0.390566,-0.022541,-0.015823,0.920163
1,2,10240,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.132979,-0.023567,0.887026,0.282541,-0.656327,0.270040,0.645356
1,2,10240,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
1,2,10240,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234988,-0.075012,0.870864,1.000000,0.000056,-0.000001,0.000011
1,2,10240,60,gripper,0,"","put hamburger on frying pan",-0.010949,0.005997,0.922425,-0.223997,-0.700570,-0.136912,0.663538
1,2,10240,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085161,0.076084,0.888112,0.944299,-0.026859,0.006095,0.327936
1,2,10240,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.042860,-0.035831,0.887026,0.607045,-0.373722,0.603338,0.357508
1,2,10240,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
1,2,10240,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000006
1,2,10240,61,gripper,0,"","put hamburger on frying pan",-0.031091,-0.002478,0.982689,0.284987,-0.625482,0.130167,0.714570
1,2,10240,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236099,-0.072823,0.888112,0.928640,-0.027105,0.004887,0.369959
1,2,10240,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.062763,-0.049126,0.887027,0.639574,-0.311900,0.637497,0.295400
1,2,10240,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
1,2,10240,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000001,-0.000001,0.000020
1,2,10240,62,gripper,0,"","put hamburger on frying pan",-0.190161,-0.047867,0.981771,-0.205336,-0.670837,-0.123247,0.701873
1,2,10240,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235226,0.076099,0.888112,0.924834,-0.027151,0.004609,0.379373
1,2,10240,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.068554,0.099617,0.887041,0.647688,-0.301746,0.635519,0.292515
1,2,10240,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000393
1,2,10240,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
1,2,10240,63,gripper,0,"","put hamburger on frying pan",-0.021959,0.065704,0.934353,0.048537,-0.634290,-0.144676,0.757884
1,3,15360,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.115021,0.194466,0.879088,0.708822,0.276702,-0.371291,0.532119
1,3,15360,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.079247,-0.083229,0.881638,0.903013,0.012729,-0.037249,0.427807
1,3,15360,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084991,0.074989,0.869532,1.000000,0.000001,-0.000001,0.000156
1,3,15360,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,0.075035,0.871211,0.999984,-0.003907,-0.004129,0.000253
1,3,15360,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.099289,0.046803,0.950707,0.003083,-0.712567,-0.018898,0.701343
1,3,15360,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.003963,0.163574,0.879089,-0.746789,-0.247839,0.390362,-0.478016
1,3,15360,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.180042,0.044632,0.885136,0.958796,0.058689,-0.016572,0.277474
1,3,15360,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084991,0.074989,0.869532,1.000000,0.000000,-0.000001,0.000071
1,3,15360,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.110199,-0.054337,0.872066,0.999625,0.008382,0.000972,0.026051
1,3,15360,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.196121,0.036201,0.939497,-0.099053,-0.721084,-0.101886,0.678119
1,3,15360,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.076328,-0.058792,0.879089,0.538749,0.366707,-0.282757,0.703793
1,3,15360,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.154510,-0.025307,0.886538,0.670913,-0.053107,0.092136,0.733871
1,3,15360,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.074997,0.869532,1.000000,-0.000001,0.000000,0.000003
1,3,15360,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204281,-0.073296,0.871288,0.999887,-0.000169,-0.001016,-0.015030
1,3,15360,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.273827,-0.116035,0.939413,-0.066811,-0.741854,-0.051136,0.665262
1,3,15360,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.077385,0.052887,0.878982,-0.661092,0.313234,-0.570791,-0.372879
1,3,15360,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115944,-0.044876,0.881638,0.999225,-0.004462,-0.039114,-0.000359
1,3,15360,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205004,0.075005,0.869532,1.000000,-0.000001,0.000000,-0.000077
1,3,15360,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,-0.074982,0.871287,0.999999,-0.000153,-0.001018,0.000362
1,3,15360,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.197622,-0.052242,0.982451,-0.135091,-0.663938,-0.142288,0.721590
1,3,15360,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.079126,-0.021751,0.887579,0.638986,0.322214,-0.324482,0.618535
1,3,15360,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235753,-0.075577,0.881638,0.923215,0.010845,-0.037811,0.382266
1,3,15360,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
1,3,15360,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114991,-0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000005
1,3,15360,4,gripper,0,"","put kitchen shovel on cloth",-0.155944,-0.011059,1.033096,0.085626,-0.751204,0.048131,0.652720
1,3,15360,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200638,0.097931,0.879703,0.462937,-0.182729,0.862747,0.089259
1,3,15360,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115938,0.045120,0.881638,0.999225,-0.004438,-0.039120,0.000154
1,3,15360,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000004
1,3,15360,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001022,-0.000046
1,3,15360,5,gripper,0,"","put kitchen shovel on cloth",-0.189710,0.097641,1.001151,0.103565,-0.664799,0.032863,0.739078
1,3,15360,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.060482,-0.043900,0.885088,0.495690,0.382924,-0.260331,0.734771
1,3,15360,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.182510,-0.060539,0.893305,0.658340,-0.028993,0.034539,0.751369
1,3,15360,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085022,-0.075035,0.869532,0.999999,0.000001,-0.000001,0.001096
1,3,15360,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000040
1,3,15360,6,gripper,0,"","put kitchen shovel on cloth",-0.261965,-0.069088,0.930512,-0.056348,-0.734968,-0.024911,0.675297
1,3,15360,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.079880,-0.072327,0.879373,0.888373,-0.100477,0.259475,0.365199
1,3,15360,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.174690,0.068779,0.881641,0.998935,-0.003540,0.040014,-0.022705
1,3,15360,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.176830,-0.048340,0.869532,0.997716,0.000001,-0.000000,-0.067540
1,3,15360,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
1,3,15360,7,gripper,0,"","put kitchen shovel on cloth",-0.070623,0.138203,1.008702,0.010119,-0.653910,-0.061500,0.754001
1,3,15360,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.044502,0.197205,0.879213,0.200358,0.664328,-0.693688,0.193187
1,3,15360,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.139931,-0.008503,0.972272,0.588696,0.059981,-0.000875,0.806126
1,3,15360,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114975,-0.045109,0.869532,0.999998,0.000001,-0.000001,0.001799
1,3,15360,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,-0.000093
1,3,15360,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.160881,-0.020142,1.007861,-0.060111,-0.675044,-0.148330,0.720208
1,3,15360,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.081200,0.221119,0.010182,0.491357,0.501128,0.415696,-0.578477
1,3,15360,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.101757,-0.034111,0.881676,0.929763,-0.001816,-0.007513,0.368078
1,3,15360,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000036
1,3,15360,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
1,3,15360,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.103045,-0.014927,0.934893,0.019177,-0.725109,0.028233,0.687788
1,3,15360,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.050465,0.103889,0.885369,0.695169,-0.187831,0.205310,0.662803
1,3,15360,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.229149,-0.067760,0.881638,0.572052,0.029527,-0.026039,0.819272
1,3,15360,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075008,0.869532,1.000000,0.000000,-0.000002,-0.000032
1,3,15360,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
1,3,15360,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.256466,0.012835,0.927524,0.058804,-0.708151,0.060069,0.701040
1,3,15360,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091949,-0.069218,0.885085,0.581567,0.348315,-0.304968,0.668918
1,3,15360,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085737,0.074409,0.881638,0.923155,0.010864,-0.037846,0.382406
1,3,15360,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,-0.000002
1,3,15360,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.074993,0.871288,0.999999,-0.000153,-0.001020,0.000275
1,3,15360,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.104986,-0.005642,1.122834,-0.010538,-0.711169,0.020474,0.702644
1,3,15360,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.070838,-0.194286,0.879804,0.708856,0.136492,-0.143677,0.676941
1,3,15360,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.070817,-0.024624,0.888621,0.705038,-0.160128,0.155111,0.673217
1,3,15360,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
1,3,15360,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000024
1,3,15360,12,gripper,0,"","put ketchup bottle on cloth",-0.092219,-0.048784,1.026313,-0.060283,-0.716623,-0.029072,0.694242
1,3,15360,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.120695,0.052814,0.879881,0.772419,0.002799,-0.635062,0.007559
1,3,15360,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.236315,0.077435,0.881638,0.999210,-0.004232,-0.039139,0.005492
1,3,15360,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000001,-0.000000,0.000012
1,3,15360,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000274
1,3,15360,13,gripper,0,"","put ketchup bottle on cloth",-0.136282,0.057791,0.932603,-0.089528,-0.693734,-0.080440,0.710104
1,3,15360,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.001835,0.174911,0.879373,-0.778795,0.158187,-0.228919,-0.562184
1,3,15360,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.174747,0.081646,0.886760,0.779069,-0.007515,0.003849,0.626881
1,3,15360,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.203087,0.042522,0.869532,0.998764,0.000000,-0.000000,-0.049708
1,3,15360,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,1.000000,-0.000153,-0.001019,0.000090
1,3,15360,14,gripper,0,"","put ketchup bottle on cloth",-0.173737,-0.022694,1.024820,0.092714,-0.681848,0.138827,0.712190
1,3,15360,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.201546,0.163460,0.878982,-0.573943,-0.431760,-0.487348,0.496653
1,3,15360,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.145039,-0.068447,0.883911,0.964607,0.010776,-0.063595,-0.255682
1,3,15360,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.233921,0.069416,0.869532,0.972708,0.000000,-0.000001,0.232033
1,3,15360,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114838,0.044930,0.871289,0.999999,-0.000152,-0.001019,0.001400
1,3,15360,15,gripper,0,"","put ketchup bottle on cloth",-0.190645,-0.125282,0.915134,-0.081779,-0.785142,-0.086668,0.607744
1,3,15360,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.199600,-0.050137,0.883544,0.999050,0.001302,-0.012590,-0.041699
1,3,15360,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092575,-0.074814,0.885626,0.972472,-0.005031,-0.232961,0.001299
1,3,15360,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
1,3,15360,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075043,0.870448,0.999999,-0.000923,-0.000845,-0.000084
1,3,15360,16,gripper,0,"","put 7up can on newspaper",-0.179085,-0.036016,0.966083,0.099610,-0.722034,0.124868,0.673166
1,3,15360,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.195160,-0.062500,0.883544,0.449684,0.012007,-0.004003,0.893098
1,3,15360,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.067749,-0.078064,0.885633,-0.572052,-0.090261,0.060142,-0.813015
1,3,15360,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
1,3,15360,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114979,0.045063,0.870461,1.000000,0.000018,-0.000158,0.000025
1,3,15360,17,gripper,0,"","put 7up can on newspaper",-0.169100,-0.044159,0.963437,-0.080271,-0.679308,-0.025328,0.729010
1,3,15360,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.235130,0.044437,0.883544,0.709046,0.010125,-0.007600,0.705049
1,3,15360,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.066498,-0.029831,0.888731,0.691242,-0.113172,0.107533,0.705559
1,3,15360,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000076
1,3,15360,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.067104,-0.064968,0.870447,0.994674,-0.000998,-0.000744,-0.103064
1,3,15360,18,gripper,0,"","put 7up can on newspaper",-0.190357,0.047110,0.984614,0.092383,-0.636845,0.091688,0.759926
1,3,15360,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.222998,-0.049606,0.883544,0.407884,0.012181,-0.003452,0.912946
1,3,15360,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.201624,0.071335,0.885637,0.377051,0.142056,-0.055637,0.913541
1,3,15360,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114983,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000029
1,3,15360,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084963,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000109
1,3,15360,19,gripper,0,"","put 7up can on newspaper",-0.051506,-0.146090,0.946223,-0.388375,-0.671849,-0.242734,0.582120
1,3,15360,20,obj,0,"003_bread_1","put 7up can on carpet",-0.109685,0.057850,0.883544,0.996598,0.000797,-0.012638,-0.081442
1,3,15360,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.242597,-0.074814,0.885627,0.972473,-0.005078,-0.232957,0.001104
1,3,15360,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
1,3,15360,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000844,-0.000001
1,3,15360,20,gripper,0,"","put 7up can on carpet",-0.091499,0.064878,0.955573,-0.051411,-0.661653,-0.057320,0.745846
1,3,15360,21,obj,0,"003_bread_1","put 7up can on carpet",-0.085487,-0.075512,0.883544,0.924408,0.006459,-0.010885,0.381194
1,3,15360,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.162498,0.099300,0.886421,0.868904,0.061752,-0.074816,0.485382
1,3,15360,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000004
1,3,15360,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235426,0.075462,0.870372,0.999987,-0.000400,-0.001524,0.004795
1,3,15360,21,gripper,0,"","put 7up can on carpet",-0.140204,0.070885,1.105948,0.110482,-0.715065,0.136774,0.676586
1,3,15360,22,obj,0,"003_bread_1","put 7up can on carpet",-0.234474,0.074520,0.883544,0.383706,0.012267,-0.003113,0.923369
1,3,15360,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.226303,-0.083111,0.885675,0.359970,0.335112,-0.137126,0.859836
1,3,15360,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
1,3,15360,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.045040,0.870447,0.999999,-0.000924,-0.000846,-0.000099
1,3,15360,22,gripper,0,"","put 7up can on carpet",-0.079342,-0.085358,0.945399,-0.273578,-0.662442,-0.160275,0.678702
1,3,15360,23,obj,0,"003_bread_1","put 7up can on carpet",-0.165768,-0.020267,0.884380,0.451595,0.012278,0.028855,0.891672
1,3,15360,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.248016,0.049515,0.891895,0.355168,0.101688,-0.234406,0.899205
1,3,15360,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.210281,-0.084850,0.869490,0.999956,0.000172,0.000876,0.009350
1,3,15360,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.115364,0.047951,0.870461,0.999872,0.000016,-0.000158,-0.015996
1,3,15360,23,gripper,0,"","put 7up can on carpet",-0.238892,0.045006,0.940967,0.275188,-0.540252,0.193865,0.771243
1,3,15360,24,obj,0,"003_bread_1","put bread on newspaper",-0.145370,-0.080734,0.960549,0.747772,0.029250,-0.109820,0.654157
1,3,15360,24,obj,1,"005_7up can_1","put bread on newspaper",-0.205200,0.067381,0.885626,0.686622,0.161175,-0.168241,0.688671
1,3,15360,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000058
1,3,15360,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.074978,0.870461,1.000000,0.000019,-0.000158,-0.000066
1,3,15360,24,gripper,0,"","put bread on newspaper",-0.145107,-0.079689,1.006044,-0.103571,-0.718178,-0.106333,0.679843
1,3,15360,25,obj,0,"003_bread_1","put bread on newspaper",-0.235477,0.074480,0.883544,0.924364,0.006461,-0.010889,0.381300
1,3,15360,25,obj,1,"005_7up can_1","put bread on newspaper",-0.136024,-0.047268,0.887199,0.752795,-0.191003,0.311436,0.547563
1,3,15360,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.116058,0.048471,0.870115,0.999513,-0.005077,0.000706,0.030781
1,3,15360,25,recep,1,"003_carpet_1","put bread on newspaper",-0.205112,-0.045006,0.870448,1.000000,-0.000218,-0.000238,0.000424
1,3,15360,25,gripper,0,"","put bread on newspaper",-0.146301,-0.035354,0.985590,0.067642,-0.702784,0.137221,0.694759
1,3,15360,26,obj,0,"003_bread_1","put bread on newspaper",-0.086380,0.089590,0.886462,0.955082,-0.002612,-0.009365,-0.296181
1,3,15360,26,obj,1,"005_7up can_1","put bread on newspaper",-0.042576,-0.083841,0.885958,0.487225,0.076357,0.869027,-0.039661
1,3,15360,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235004,0.044996,0.869490,1.000000,0.000180,0.000874,-0.000430
1,3,15360,26,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.075068,0.870447,0.999998,-0.001372,-0.001230,-0.000039
1,3,15360,26,gripper,0,"","put bread on newspaper",-0.121204,-0.064389,0.914081,0.088866,-0.649951,0.067635,0.751726
1,3,15360,27,obj,0,"003_bread_1","put bread on newspaper",-0.100208,-0.033634,0.886633,0.570997,0.011480,-0.005843,0.820851
1,3,15360,27,obj,1,"005_7up can_1","put bread on newspaper",-0.217228,-0.001638,0.887892,0.658773,0.127415,-0.088739,0.736145
1,3,15360,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.235989,-0.044966,0.869491,0.999991,0.000240,0.000987,0.004144
1,3,15360,27,recep,1,"003_carpet_1","put bread on newspaper",-0.115095,-0.075020,0.870448,0.999999,-0.000925,-0.000850,-0.000268
1,3,15360,27,gripper,0,"","put bread on newspaper",-0.179250,0.001182,1.060201,0.015833,-0.689645,-0.022996,0.723609
1,3,15360,28,obj,0,"003_bread_1","put bread on carpet",-0.232956,0.093454,0.883544,0.388956,0.012254,-0.003190,0.921169
1,3,15360,28,obj,1,"005_7up can_1","put bread on carpet",-0.232466,-0.077433,0.885633,0.380306,0.101258,-0.038945,0.918476
1,3,15360,28,recep,0,"004_newspaper_1","put bread on carpet",-0.114998,0.045002,0.869490,1.000000,0.000180,0.000874,0.000006
1,3,15360,28,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
1,3,15360,28,gripper,0,"","put bread on carpet",-0.210448,0.088000,0.963888,0.076569,-0.701725,0.042419,0.707050
1,3,15360,29,obj,0,"003_bread_1","put bread on carpet",-0.040903,-0.030855,0.883544,0.229772,0.012604,-0.001115,0.973162
1,3,15360,29,obj,1,"005_7up can_1","put bread on carpet",-0.229752,-0.080507,0.885627,0.370751,0.213296,-0.093739,0.899034
1,3,15360,29,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000875,0.000028
1,3,15360,29,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
1,3,15360,29,gripper,0,"","put bread on carpet",-0.036332,-0.029605,0.958108,-0.038870,-0.737618,-0.037756,0.673041
1,3,15360,30,obj,0,"003_bread_1","put bread on carpet",-0.084953,0.074221,0.883544,0.710671,0.010108,-0.007617,0.703411
1,3,15360,30,obj,1,"005_7up can_1","put bread on carpet",-0.183098,-0.011410,0.885637,0.602828,0.122571,-0.090853,0.783148
1,3,15360,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
1,3,15360,30,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.074982,0.870461,1.000000,0.000019,-0.000158,-0.000053
1,3,15360,30,gripper,0,"","put bread on carpet",-0.084663,-0.089777,0.948093,-0.177105,-0.750300,-0.125148,0.624517
1,3,15360,31,obj,0,"003_bread_1","put bread on carpet",-0.192886,-0.028088,0.886112,0.405620,-0.021625,0.075485,0.910663
1,3,15360,31,obj,1,"005_7up can_1","put bread on carpet",-0.093082,-0.067902,0.885615,0.629770,-0.122682,0.094700,0.761164
1,3,15360,31,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
1,3,15360,31,recep,1,"003_carpet_1","put bread on carpet",-0.234978,-0.075026,0.870461,1.000000,0.000019,-0.000159,-0.000253
1,3,15360,31,gripper,0,"","put bread on carpet",-0.086973,0.013036,1.062084,0.186703,-0.658787,0.224331,0.693409
1,3,15360,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088577,0.072906,0.887444,0.748206,-0.016035,0.017783,0.663034
1,3,15360,32,obj,1,"013_banana_1","put banana on sheet metal",-0.114563,-0.074993,0.878547,0.706743,0.007960,0.010875,0.707341
1,3,15360,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
1,3,15360,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
1,3,15360,32,gripper,0,"","put banana on sheet metal",-0.066742,-0.032576,1.021782,0.000225,-0.649141,0.008917,0.760616
1,3,15360,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234715,0.048182,0.887246,0.195436,-0.030160,0.013713,0.980157
1,3,15360,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003189,0.013068,0.923940
1,3,15360,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
1,3,15360,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
1,3,15360,33,gripper,0,"","put banana on sheet metal",-0.047722,0.089249,0.956395,0.251392,-0.645687,0.253677,0.674935
1,3,15360,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118793,0.050859,0.887435,0.997084,-0.003470,0.030033,0.070071
1,3,15360,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013262,0.002052,0.000263
1,3,15360,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001163,-0.000009
1,3,15360,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
1,3,15360,34,gripper,0,"","put banana on sheet metal",-0.060150,0.028418,1.026760,-0.279845,-0.579750,-0.181923,0.743290
1,3,15360,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207436,0.077193,0.887529,0.711507,-0.030345,0.030782,0.701348
1,3,15360,35,obj,1,"013_banana_1","put banana on sheet metal",-0.234562,-0.074992,0.878547,0.706877,0.007923,0.010827,0.707209
1,3,15360,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
1,3,15360,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
1,3,15360,35,gripper,0,"","put banana on sheet metal",-0.021070,0.083269,0.994122,0.040484,-0.705494,0.040138,0.706419
1,3,15360,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088506,-0.073249,0.887465,0.997149,-0.002227,0.028624,0.069778
1,3,15360,36,obj,1,"013_banana_1","put banana on flat bowl",-0.114993,0.074561,0.878547,0.999910,0.013289,0.002055,0.000314
1,3,15360,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
1,3,15360,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,-0.000000,0.000001,0.000001
1,3,15360,36,gripper,0,"","put banana on flat bowl",-0.180918,-0.063739,0.975028,-0.037144,-0.682643,-0.045401,0.728394
1,3,15360,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237179,-0.077059,0.887339,0.830462,-0.009035,0.018829,0.556683
1,3,15360,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,0.074692,0.878547,0.923635,0.011509,0.006992,0.383037
1,3,15360,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
1,3,15360,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
1,3,15360,37,gripper,0,"","put banana on flat bowl",-0.114141,0.025852,1.042018,-0.213309,-0.691138,-0.293097,0.625237
1,3,15360,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234928,0.070253,0.887519,0.656282,-0.023288,0.021633,0.753846
1,3,15360,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007953,0.010872,0.707296
1,3,15360,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,3,15360,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
1,3,15360,38,gripper,0,"","put banana on flat bowl",-0.160563,-0.052232,1.004560,-0.245679,-0.629532,-0.180047,0.714783
1,3,15360,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243217,0.073253,0.887310,0.763570,-0.017933,0.030302,0.644764
1,3,15360,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204563,-0.044995,0.878547,0.706797,0.007958,0.010862,0.707288
1,3,15360,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,3,15360,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
1,3,15360,39,gripper,0,"","put banana on flat bowl",-0.153961,-0.026843,0.981183,-0.346840,-0.506387,-0.347839,0.708719
1,3,15360,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237503,0.072935,0.887272,0.747534,-0.016155,0.028238,0.663427
1,3,15360,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084549,0.075027,0.878547,0.708186,0.007957,0.010824,0.705898
1,3,15360,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000073
1,3,15360,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
1,3,15360,40,gripper,0,"","put carrot on sheet metal",-0.200104,0.060548,0.972961,-0.058779,-0.696173,-0.025646,0.715004
1,3,15360,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207916,0.076725,0.887529,0.718949,-0.030015,0.031103,0.693717
1,3,15360,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
1,3,15360,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
1,3,15360,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
1,3,15360,41,gripper,0,"","put carrot on sheet metal",-0.172707,0.088964,0.964022,-0.069816,-0.669872,-0.068316,0.736023
1,3,15360,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091068,0.067528,0.887555,0.379115,-0.040516,0.016618,0.924313
1,3,15360,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204700,-0.044664,0.878547,0.383764,0.003210,0.013067,0.923333
1,3,15360,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
1,3,15360,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
1,3,15360,42,gripper,0,"","put carrot on sheet metal",-0.007952,0.048295,1.008600,0.150896,-0.674809,0.036855,0.721461
1,3,15360,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210926,-0.029793,0.887245,0.986727,0.002322,0.033039,0.158973
1,3,15360,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234991,0.074562,0.878547,0.999909,0.013285,0.002036,-0.000891
1,3,15360,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
1,3,15360,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000484
1,3,15360,43,gripper,0,"","put carrot on sheet metal",-0.045338,0.055038,1.015907,0.197146,-0.689471,0.087021,0.691513
1,3,15360,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088838,-0.069090,0.887519,0.996638,-0.001364,0.031734,0.075521
1,3,15360,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999910,0.013264,0.002050,0.000101
1,3,15360,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
1,3,15360,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000002
1,3,15360,44,gripper,0,"","put carrot on flat bowl",-0.126882,-0.045557,0.993656,-0.469099,-0.604738,-0.305686,0.566387
1,3,15360,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091162,-0.083624,0.887560,0.378759,-0.022575,0.012604,0.925134
1,3,15360,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075338,0.878547,0.383278,0.003224,0.013134,0.923534
1,3,15360,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,0.044991,0.871345,0.999999,-0.000157,0.001164,-0.000051
1,3,15360,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000001,-0.000006
1,3,15360,45,gripper,0,"","put carrot on flat bowl",-0.070214,-0.061657,0.975675,0.038380,-0.731114,0.079915,0.676471
1,3,15360,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243324,0.081636,0.887522,0.921629,-0.010574,0.028560,0.386874
1,3,15360,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
1,3,15360,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
1,3,15360,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
1,3,15360,46,gripper,0,"","put carrot on flat bowl",-0.206421,0.062000,0.995297,-0.349606,-0.603991,-0.296835,0.651813
1,3,15360,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094589,-0.067108,0.887426,0.922456,-0.010889,0.023445,0.385237
1,3,15360,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.204666,-0.075312,0.878547,0.924149,0.011506,0.006970,0.381794
1,3,15360,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
1,3,15360,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
1,3,15360,47,gripper,0,"","put carrot on flat bowl",-0.110708,0.075083,1.010972,-0.142366,-0.686370,-0.052093,0.711276
1,3,15360,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.056084,-0.095921,0.888112,0.735032,-0.027060,-0.005119,0.677473
1,3,15360,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.174866,0.076595,0.887026,0.704423,-0.026115,0.709226,0.010193
1,3,15360,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
1,3,15360,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,-0.045002,0.870862,1.000000,0.000074,-0.000001,0.000051
1,3,15360,48,gripper,0,"","put plastic bottle on frying pan",-0.148064,0.096119,0.981622,0.115530,-0.718037,0.039540,0.685209
1,3,15360,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085217,0.076092,0.888113,0.924629,-0.027154,0.004595,0.379871
1,3,15360,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.185863,0.071701,0.887026,0.644654,-0.300674,0.642869,0.284140
1,3,15360,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
1,3,15360,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
1,3,15360,49,gripper,0,"","put plastic bottle on frying pan",-0.157633,0.093252,0.994327,0.229391,-0.664556,0.234734,0.671301
1,3,15360,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115242,0.076099,0.888112,0.924657,-0.027155,0.004596,0.379804
1,3,15360,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.042336,-0.078346,0.886140,0.411562,0.545166,-0.336866,0.648022
1,3,15360,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
1,3,15360,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000034
1,3,15360,50,gripper,0,"","put plastic bottle on frying pan",-0.026108,-0.072542,0.946876,-0.434484,-0.564984,-0.385898,0.585747
1,3,15360,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235218,-0.045021,0.888112,0.360420,-0.022013,-0.016544,0.932384
1,3,15360,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.226357,0.094933,0.887026,0.267703,-0.662332,0.254953,0.651652
1,3,15360,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000044
1,3,15360,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000017
1,3,15360,51,gripper,0,"","put plastic bottle on frying pan",-0.083019,-0.080006,0.989842,-0.323786,-0.656279,-0.202062,0.650870
1,3,15360,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.118142,0.023430,0.888112,0.146996,-0.017847,-0.020975,0.988754
1,3,15360,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.204522,0.138844,0.887026,-0.092207,-0.701352,-0.108580,0.698436
1,3,15360,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
1,3,15360,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.258215,0.062378,0.870870,0.963710,-0.000000,-0.000001,0.266951
1,3,15360,52,gripper,0,"","put plastic bottle on cutting board",-0.011564,-0.180719,0.912722,-0.281192,-0.646187,-0.278836,0.652399
1,3,15360,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235106,0.076046,0.888111,0.950013,-0.026735,0.006587,0.310995
1,3,15360,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.089457,0.143330,0.889773,0.022050,-0.785903,0.617169,0.031189
1,3,15360,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084904,-0.074978,0.872199,0.999999,-0.000001,-0.000000,-0.001168
1,3,15360,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.107176,0.059063,0.870870,0.999854,-0.000000,-0.000000,0.017060
1,3,15360,53,gripper,0,"","put plastic bottle on cutting board",-0.077914,0.052477,0.945560,-0.097983,-0.761373,-0.082760,0.635501
1,3,15360,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235985,-0.044388,0.888112,0.713658,-0.026889,-0.005963,0.699953
1,3,15360,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.099598,0.056652,0.889682,0.502800,-0.508782,0.492777,0.495483
1,3,15360,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
1,3,15360,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083271,0.045902,0.870870,0.999997,0.000000,0.000003,-0.002514
1,3,15360,54,gripper,0,"","put plastic bottle on cutting board",-0.098383,0.056166,1.150383,0.046394,-0.699966,0.040002,0.711544
1,3,15360,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206001,0.045567,0.888112,0.716797,-0.026916,-0.005833,0.696738
1,3,15360,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.236160,-0.044716,0.887027,0.497861,-0.513209,0.490209,0.498444
1,3,15360,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
1,3,15360,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
1,3,15360,55,gripper,0,"","put plastic bottle on cutting board",-0.028883,0.079094,0.980092,0.034563,-0.732821,0.000970,0.679542
1,3,15360,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235191,-0.073841,0.888112,0.922364,-0.027183,0.004434,0.385339
1,3,15360,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.355209,1.151802,0.020973,0.029877,0.661128,0.749300,-0.023797
1,3,15360,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.148537,0.082439,0.872199,0.975777,-0.000000,-0.000001,0.218767
1,3,15360,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.258591,0.084408,0.870870,0.999916,0.000000,-0.000000,-0.012926
1,3,15360,56,gripper,0,"","put hamburger on frying pan",-0.195389,-0.066936,0.978382,0.014466,-0.674360,-0.004572,0.738247
1,3,15360,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.247673,0.091290,0.894965,-0.210953,-0.811792,-0.205120,-0.504399
1,3,15360,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.115932,0.096642,0.887026,0.185620,-0.688632,0.171654,0.679607
1,3,15360,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
1,3,15360,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.209812,0.076019,0.870870,0.999969,0.000001,-0.000000,-0.007835
1,3,15360,57,gripper,0,"","put hamburger on frying pan",-0.114704,-0.081963,1.005241,-0.181270,-0.764219,-0.073580,0.614570
1,3,15360,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.188835,0.001865,0.888112,0.881041,-0.027482,0.001800,0.472237
1,3,15360,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.216908,0.073410,0.887026,0.624735,-0.341992,0.621875,0.325607
1,3,15360,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000143
1,3,15360,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205528,-0.075394,0.870870,0.999995,-0.000000,-0.000001,0.003176
1,3,15360,58,gripper,0,"","put hamburger on frying pan",-0.143303,-0.006292,1.009020,-0.054647,-0.687740,-0.083761,0.719035
1,3,15360,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.093393,-0.048271,0.888112,0.185912,-0.018663,-0.020252,0.982180
1,3,15360,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256029,-0.055088,0.887026,0.267232,-0.662518,0.254476,0.651843
1,3,15360,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
1,3,15360,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
1,3,15360,59,gripper,0,"","put hamburger on frying pan",-0.193369,-0.004694,1.005204,0.040645,-0.692650,0.080200,0.715648
1,3,15360,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086163,0.074745,0.888112,0.390566,-0.022541,-0.015823,0.920163
1,3,15360,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.134579,-0.017471,0.887026,0.226845,-0.676842,0.213459,0.666979
1,3,15360,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000000,0.000000
1,3,15360,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234988,-0.075012,0.870864,1.000000,0.000056,-0.000001,0.000011
1,3,15360,60,gripper,0,"","put hamburger on cutting board",-0.159034,-0.022923,1.027930,-0.001113,-0.596410,-0.164726,0.785594
1,3,15360,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085123,0.076077,0.888112,0.950372,-0.026741,0.006605,0.309896
1,3,15360,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.181814,-0.046841,0.889115,0.337401,-0.605080,0.348165,0.631523
1,3,15360,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
1,3,15360,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.248278,-0.070526,0.870884,0.999926,0.000709,0.000714,-0.012101
1,3,15360,61,gripper,0,"","put hamburger on cutting board",-0.167447,-0.038975,1.024943,-0.059821,-0.647686,-0.138623,0.746799
1,3,15360,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236099,-0.072811,0.888112,0.927714,-0.027116,0.004817,0.372276
1,3,15360,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.062374,-0.048801,0.887026,0.637250,-0.316865,0.635044,0.300381
1,3,15360,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
1,3,15360,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000002,0.000001,0.000024
1,3,15360,62,gripper,0,"","put hamburger on cutting board",-0.074596,0.006765,0.978664,0.033574,-0.709137,0.034962,0.703402
1,3,15360,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.128811,-0.044365,0.979335,0.789314,0.039009,-0.031709,0.611928
1,3,15360,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.069439,0.099907,0.887026,0.641723,-0.307214,0.639771,0.290696
1,3,15360,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000539
1,3,15360,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
1,3,15360,63,gripper,0,"","put hamburger on cutting board",-0.123692,-0.041197,1.036144,-0.287404,-0.674230,-0.340308,0.589070
1,4,20480,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.115021,0.194458,0.879088,0.708834,0.276693,-0.371294,0.532105
1,4,20480,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.079239,-0.083229,0.881638,0.902988,0.012719,-0.037226,0.427861
1,4,20480,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084991,0.074989,0.869532,1.000000,-0.000000,-0.000001,0.000170
1,4,20480,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234962,0.075104,0.871211,0.999984,-0.003907,-0.004129,0.000263
1,4,20480,0,gripper,0,"","put kitchen shovel on cloth",-0.213539,0.060047,0.942063,0.072123,-0.692782,0.026582,0.717039
1,4,20480,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.003963,0.163574,0.879089,-0.746854,-0.247787,0.390397,-0.477914
1,4,20480,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.195492,0.042862,0.881641,0.852534,-0.024615,0.031738,0.521126
1,4,20480,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084991,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000129
1,4,20480,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.110207,-0.054306,0.871282,0.999658,-0.000419,-0.001277,0.026108
1,4,20480,1,gripper,0,"","put kitchen shovel on cloth",-0.142414,-0.013008,0.976625,-0.034546,-0.683710,-0.077001,0.724857
1,4,20480,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.076328,-0.058807,0.879089,0.538762,0.366709,-0.282772,0.703776
1,4,20480,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.154495,-0.025307,0.886537,0.670958,-0.053075,0.092117,0.733835
1,4,20480,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000004
1,4,20480,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.204269,-0.073296,0.871288,0.999886,-0.000169,-0.001016,-0.015085
1,4,20480,2,gripper,0,"","put kitchen shovel on cloth",-0.291725,-0.015942,0.918761,-0.124597,-0.638739,-0.181217,0.737325
1,4,20480,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.068474,0.058533,0.878982,-0.650842,0.328434,-0.562204,-0.390464
1,4,20480,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.128599,-0.033119,0.881638,0.997565,-0.002185,-0.039276,0.057585
1,4,20480,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205004,0.075005,0.869532,1.000000,-0.000000,0.000000,-0.000082
1,4,20480,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,-0.074989,0.871287,0.999999,-0.000153,-0.001019,0.000472
1,4,20480,3,gripper,0,"","put kitchen shovel on cloth",-0.053386,0.066528,0.940279,0.292112,-0.703685,0.232497,0.604519
1,4,20480,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.083202,0.032928,0.884977,0.564120,-0.429925,0.488963,0.507787
1,4,20480,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235753,-0.075577,0.881638,0.923215,0.010848,-0.037816,0.382265
1,4,20480,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000000
1,4,20480,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114228,-0.041931,0.871288,0.999970,-0.000162,-0.001018,-0.007692
1,4,20480,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.256845,-0.049400,0.933176,0.036698,-0.671372,0.028091,0.739679
1,4,20480,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.195444,0.094559,0.879704,0.457216,-0.230682,0.851184,0.115001
1,4,20480,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115934,0.045120,0.881638,0.999226,-0.004435,-0.039092,0.000276
1,4,20480,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000005
1,4,20480,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001022,-0.000056
1,4,20480,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.188966,0.110172,0.933654,0.109092,-0.675002,0.021939,0.729376
1,4,20480,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.060429,-0.043770,0.885088,0.496359,0.382797,-0.260785,0.734224
1,4,20480,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.184990,-0.058922,0.883412,0.656281,-0.047252,0.022246,0.752707
1,4,20480,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085022,-0.075035,0.869532,0.999999,0.000000,-0.000001,0.001148
1,4,20480,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000040
1,4,20480,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.141745,0.036934,1.055420,-0.016287,-0.868235,0.086933,0.488207
1,4,20480,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.079880,-0.072327,0.879373,0.888382,-0.100470,0.259478,0.365176
1,4,20480,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.174686,0.068771,0.881641,0.998937,-0.003544,0.040025,-0.022596
1,4,20480,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.176830,-0.048340,0.869532,0.997717,0.000001,-0.000001,-0.067531
1,4,20480,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
1,4,20480,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.160566,-0.043098,1.003783,-0.170688,-0.615713,-0.091535,0.763796
1,4,20480,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.044502,0.197205,0.879213,0.200352,0.664341,-0.693677,0.193188
1,4,20480,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.129311,0.002213,0.886997,0.600847,-0.081972,0.034085,0.794419
1,4,20480,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114670,-0.045002,0.869533,0.999987,-0.000061,0.000018,0.005110
1,4,20480,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000127
1,4,20480,8,gripper,0,"","put ketchup bottle on cloth",-0.229370,0.002810,0.926922,-0.040948,-0.767927,-0.056745,0.636704
1,4,20480,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.081200,0.221119,0.010182,0.491359,0.501127,0.415698,-0.578475
1,4,20480,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.102345,-0.034649,0.881638,0.929098,0.010262,-0.038000,0.367732
1,4,20480,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.236336,0.078411,0.869532,0.995658,-0.000000,0.000000,0.093086
1,4,20480,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000019
1,4,20480,9,gripper,0,"","put ketchup bottle on cloth",-0.239223,-0.032423,0.914387,-0.014133,-0.740274,-0.017607,0.671926
1,4,20480,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.050465,0.103886,0.885369,0.695178,-0.187824,0.205306,0.662796
1,4,20480,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.229149,-0.067768,0.881638,0.572282,0.029498,-0.026034,0.819113
1,4,20480,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075008,0.869532,1.000000,0.000000,-0.000001,-0.000035
1,4,20480,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
1,4,20480,10,gripper,0,"","put ketchup bottle on cloth",-0.225773,0.015312,0.983754,-0.087792,-0.665888,-0.073424,0.737221
1,4,20480,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091949,-0.069298,0.885084,0.581772,0.348205,-0.305038,0.668765
1,4,20480,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085735,0.074409,0.881638,0.923104,0.010869,-0.037843,0.382529
1,4,20480,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000001,-0.000000,-0.000020
1,4,20480,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000326
1,4,20480,11,gripper,0,"","put ketchup bottle on cloth",-0.084343,0.073565,0.966149,0.126870,-0.727877,0.117306,0.663580
1,4,20480,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.070631,-0.192070,0.879375,0.720564,0.064333,-0.060321,0.687757
1,4,20480,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.070817,-0.024624,0.888621,0.705038,-0.160127,0.155109,0.673218
1,4,20480,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
1,4,20480,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000024
1,4,20480,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.292857,-0.034365,0.914837,-0.050674,-0.685890,-0.010237,0.725866
1,4,20480,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.038929,-0.085670,0.886265,0.008086,0.561163,0.820672,-0.107372
1,4,20480,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.236313,0.077435,0.881638,0.999210,-0.004231,-0.039113,0.005564
1,4,20480,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,-0.075016,0.869532,1.000000,-0.000000,-0.000002,0.000783
1,4,20480,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000327
1,4,20480,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.101181,-0.049694,1.004009,-0.271328,-0.686788,-0.225495,0.635496
1,4,20480,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.001835,0.174911,0.879373,-0.778790,0.158190,-0.228920,-0.562189
1,4,20480,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.174751,0.081604,0.886752,0.779191,-0.004018,-0.000332,0.626773
1,4,20480,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203087,0.042522,0.869532,0.998763,0.000000,-0.000001,-0.049727
1,4,20480,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001018,0.000123
1,4,20480,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.280666,-0.071737,0.923373,-0.029341,-0.703575,0.021240,0.709697
1,4,20480,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.201546,0.163460,0.878982,-0.573919,-0.431784,-0.487339,0.496669
1,4,20480,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.128956,-0.057884,0.883078,0.940992,0.040653,0.049824,-0.332263
1,4,20480,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.233921,0.069416,0.869532,0.972706,-0.000000,-0.000001,0.232042
1,4,20480,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.105247,0.049980,0.871282,0.997274,-0.000358,-0.001296,0.073778
1,4,20480,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.227385,0.026934,0.978895,0.054705,-0.659609,0.039438,0.748578
1,4,20480,16,obj,0,"003_bread_1","put 7up can on carpet",-0.199600,-0.050137,0.883544,0.999053,0.001302,-0.012594,-0.041613
1,4,20480,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.073280,-0.076897,0.885610,0.984094,0.010038,0.105740,-0.142396
1,4,20480,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
1,4,20480,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.077492,0.870350,0.999976,-0.000089,-0.001456,0.006723
1,4,20480,16,gripper,0,"","put 7up can on carpet",-0.092255,-0.005323,0.968744,-0.054878,-0.716453,-0.028076,0.694906
1,4,20480,17,obj,0,"003_bread_1","put 7up can on carpet",-0.195160,-0.062500,0.883544,0.449780,0.012006,-0.004004,0.893050
1,4,20480,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.064175,-0.087570,0.885687,-0.524270,-0.332125,0.228509,-0.750079
1,4,20480,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
1,4,20480,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.119469,0.035442,0.870447,0.999913,-0.003148,-0.002694,-0.012482
1,4,20480,17,gripper,0,"","put 7up can on carpet",-0.049295,0.012697,0.949400,-0.233639,-0.656411,-0.099466,0.710383
1,4,20480,18,obj,0,"003_bread_1","put 7up can on carpet",-0.235130,0.044437,0.883544,0.708923,0.010126,-0.007597,0.705172
1,4,20480,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.048107,-0.027985,0.888690,0.718194,-0.107435,0.109009,0.678802
1,4,20480,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000069
1,4,20480,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.055668,-0.063763,0.870420,0.986336,-0.000958,-0.001205,-0.164740
1,4,20480,18,gripper,0,"","put 7up can on carpet",-0.118465,-0.023077,1.028881,-0.019060,-0.726396,-0.034847,0.686127
1,4,20480,19,obj,0,"003_bread_1","put 7up can on carpet",-0.221228,-0.050690,0.883544,0.386469,0.012263,-0.003163,0.922215
1,4,20480,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.201624,0.071335,0.885637,0.377078,0.142067,-0.055647,0.913528
1,4,20480,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114975,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000050
1,4,20480,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.083549,0.077812,0.870448,0.999991,-0.000818,-0.000763,0.004022
1,4,20480,19,gripper,0,"","put 7up can on carpet",-0.189769,-0.020868,0.967061,0.019333,-0.667434,0.081942,0.739894
1,4,20480,20,obj,0,"003_bread_1","put bread on newspaper",-0.109685,0.057850,0.883544,0.996598,0.000798,-0.012634,-0.081441
1,4,20480,20,obj,1,"005_7up can_1","put bread on newspaper",-0.242597,-0.074814,0.885627,0.972474,-0.005078,-0.232953,0.001104
1,4,20480,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
1,4,20480,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
1,4,20480,20,gripper,0,"","put bread on newspaper",-0.053992,-0.003386,0.998696,0.122785,-0.675702,0.010206,0.726806
1,4,20480,21,obj,0,"003_bread_1","put bread on newspaper",-0.075022,-0.083755,0.883544,0.907938,0.006908,-0.010612,0.418913
1,4,20480,21,obj,1,"005_7up can_1","put bread on newspaper",-0.163855,0.101746,0.886698,0.864659,0.068289,-0.072440,0.492395
1,4,20480,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
1,4,20480,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235424,0.075462,0.870450,0.999989,-0.000921,-0.000872,0.004397
1,4,20480,21,gripper,0,"","put bread on newspaper",-0.104633,-0.081635,0.977863,-0.197478,-0.780136,-0.191728,0.561810
1,4,20480,22,obj,0,"003_bread_1","put bread on newspaper",-0.227345,0.078499,0.883544,0.246844,0.012592,-0.001321,0.968973
1,4,20480,22,obj,1,"005_7up can_1","put bread on newspaper",-0.226303,-0.083111,0.885675,0.359917,0.335119,-0.137104,0.859859
1,4,20480,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
1,4,20480,22,recep,1,"003_carpet_1","put bread on newspaper",-0.113052,0.046974,0.870448,0.999999,-0.000927,-0.000852,-0.000078
1,4,20480,22,gripper,0,"","put bread on newspaper",-0.210072,0.070374,0.940022,0.089166,-0.712636,0.017624,0.695621
1,4,20480,23,obj,0,"003_bread_1","put bread on newspaper",-0.164410,-0.020897,0.884359,0.474730,0.012954,0.027694,0.879600
1,4,20480,23,obj,1,"005_7up can_1","put bread on newspaper",-0.214046,0.012611,0.886107,0.019517,0.771795,-0.635346,0.016964
1,4,20480,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.210251,-0.084846,0.869490,0.999957,0.000172,0.000876,0.009285
1,4,20480,23,recep,1,"003_carpet_1","put bread on newspaper",-0.115364,0.047947,0.870461,0.999872,0.000016,-0.000158,-0.015986
1,4,20480,23,gripper,0,"","put bread on newspaper",-0.066936,0.023407,0.965258,0.046145,-0.740051,-0.022666,0.670582
1,4,20480,24,obj,0,"003_bread_1","put bread on carpet",-0.140076,-0.082993,0.883545,0.693131,0.010283,-0.007375,0.720700
1,4,20480,24,obj,1,"005_7up can_1","put bread on carpet",-0.260582,0.115976,0.885935,-0.242575,0.739781,-0.537305,-0.324322
1,4,20480,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000075
1,4,20480,24,recep,1,"003_carpet_1","put bread on carpet",-0.234962,-0.075207,0.870460,1.000000,0.000019,-0.000158,-0.000334
1,4,20480,24,gripper,0,"","put bread on carpet",-0.073872,0.063793,0.953041,0.065833,-0.715774,0.039601,0.694093
1,4,20480,25,obj,0,"003_bread_1","put bread on carpet",-0.235477,0.074480,0.883544,0.924409,0.006459,-0.010886,0.381193
1,4,20480,25,obj,1,"005_7up can_1","put bread on carpet",-0.136089,-0.047314,0.887197,0.751753,-0.191612,0.310986,0.549036
1,4,20480,25,recep,0,"004_newspaper_1","put bread on carpet",-0.116047,0.049118,0.870001,0.999387,-0.004114,0.000721,0.034761
1,4,20480,25,recep,1,"003_carpet_1","put bread on carpet",-0.205112,-0.045008,0.870447,1.000000,-0.000127,-0.000158,0.000221
1,4,20480,25,gripper,0,"","put bread on carpet",-0.114973,-0.116954,1.032477,0.189514,-0.682163,0.196952,0.678195
1,4,20480,26,obj,0,"003_bread_1","put bread on carpet",-0.086315,0.089533,0.886408,0.956093,-0.000742,-0.006661,-0.292987
1,4,20480,26,obj,1,"005_7up can_1","put bread on carpet",-0.042179,-0.083908,0.885946,0.476857,0.077058,0.874733,-0.038882
1,4,20480,26,recep,0,"004_newspaper_1","put bread on carpet",-0.235008,0.044994,0.869490,0.999999,0.000180,0.000874,-0.000561
1,4,20480,26,recep,1,"003_carpet_1","put bread on carpet",-0.114998,0.075104,0.870449,0.999998,0.001527,0.001266,-0.000158
1,4,20480,26,gripper,0,"","put bread on carpet",-0.202694,0.028453,0.953081,-0.019943,-0.708839,-0.042949,0.703779
1,4,20480,27,obj,0,"003_bread_1","put bread on carpet",-0.094690,-0.039061,0.886507,0.702012,0.012035,-0.005932,0.712038
1,4,20480,27,obj,1,"005_7up can_1","put bread on carpet",-0.217205,-0.001715,0.887885,0.657834,0.129024,-0.090084,0.736541
1,4,20480,27,recep,0,"004_newspaper_1","put bread on carpet",-0.235901,-0.044973,0.869489,0.999990,0.000176,0.000876,0.004489
1,4,20480,27,recep,1,"003_carpet_1","put bread on carpet",-0.114996,-0.075001,0.870412,0.999998,-0.000636,-0.001316,0.001045
1,4,20480,27,gripper,0,"","put bread on carpet",-0.180231,0.004756,1.010994,0.077796,-0.714833,0.134126,0.681889
1,4,20480,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.232956,0.093454,0.883544,0.388956,0.012254,-0.003191,0.921169
1,4,20480,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.230491,-0.079367,0.885681,0.551641,0.147404,-0.099470,0.814905
1,4,20480,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114998,0.045002,0.869490,1.000000,0.000180,0.000874,0.000006
1,4,20480,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.074997,0.870448,0.999999,-0.000923,-0.000845,0.000005
1,4,20480,28,gripper,0,"","put 7up can on newspaper",-0.179628,-0.047515,0.964918,0.112495,-0.649621,0.117359,0.742674
1,4,20480,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.035948,-0.034489,0.883544,0.246813,0.012593,-0.001317,0.968980
1,4,20480,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.229752,-0.080507,0.885627,0.370717,0.213319,-0.093740,0.899042
1,4,20480,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114996,0.045002,0.869490,1.000000,0.000180,0.000875,0.000025
1,4,20480,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
1,4,20480,29,gripper,0,"","put 7up can on newspaper",-0.030039,-0.051003,0.948930,-0.265767,-0.668731,-0.251274,0.647323
1,4,20480,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.084988,0.074234,0.883544,0.711004,0.010104,-0.007621,0.703074
1,4,20480,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.183102,-0.011406,0.885637,0.603170,0.122528,-0.090903,0.782885
1,4,20480,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
1,4,20480,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074972,0.870461,1.000000,0.000019,-0.000158,-0.000074
1,4,20480,30,gripper,0,"","put 7up can on newspaper",-0.078548,0.069211,0.954334,-0.135386,-0.717605,-0.141924,0.668260
1,4,20480,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.192886,-0.028088,0.886112,0.405621,-0.021625,0.075485,0.910662
1,4,20480,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.086521,-0.016716,0.885987,0.119427,-0.653189,0.741235,0.098240
1,4,20480,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
1,4,20480,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234978,-0.075026,0.870461,1.000000,0.000019,-0.000159,-0.000253
1,4,20480,31,gripper,0,"","put 7up can on newspaper",-0.088724,-0.037366,0.950486,-0.305690,-0.643280,-0.398517,0.577866
1,4,20480,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091309,0.072617,0.887395,0.751739,-0.016207,0.016167,0.659063
1,4,20480,32,obj,1,"013_banana_1","put banana on flat bowl",-0.114563,-0.074993,0.878547,0.706743,0.007966,0.010881,0.707341
1,4,20480,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
1,4,20480,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
1,4,20480,32,gripper,0,"","put banana on flat bowl",-0.060520,-0.039074,0.982441,0.048114,-0.683847,0.145489,0.713352
1,4,20480,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.231853,0.055885,0.887345,0.226804,-0.025362,0.009762,0.973561
1,4,20480,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075314,0.878547,0.382300,0.003199,0.013098,0.923940
1,4,20480,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
1,4,20480,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,4,20480,33,gripper,0,"","put banana on flat bowl",-0.014868,0.013695,1.010402,0.043338,-0.668824,0.030838,0.741516
1,4,20480,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118954,0.050711,0.887369,0.996684,-0.006881,0.036600,0.072345
1,4,20480,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013282,0.002053,0.000263
1,4,20480,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
1,4,20480,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
1,4,20480,34,gripper,0,"","put banana on flat bowl",-0.058462,-0.038443,1.000453,-0.281995,-0.608889,-0.199841,0.714000
1,4,20480,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207436,0.077193,0.887529,0.711507,-0.030345,0.030782,0.701348
1,4,20480,35,obj,1,"013_banana_1","put banana on flat bowl",-0.234562,-0.074992,0.878547,0.706908,0.007934,0.010837,0.707177
1,4,20480,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
1,4,20480,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
1,4,20480,35,gripper,0,"","put banana on flat bowl",-0.034266,0.056530,0.989239,0.387058,-0.588400,0.158207,0.692057
1,4,20480,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088771,-0.071777,0.887359,0.997037,-0.005955,0.030702,0.070279
1,4,20480,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.114993,0.074561,0.878547,0.999910,0.013265,0.002053,0.000314
1,4,20480,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
1,4,20480,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
1,4,20480,36,gripper,0,"","put carrot on sheet metal",-0.066554,-0.045460,0.981857,-0.342505,-0.607514,-0.256312,0.669269
1,4,20480,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.239746,-0.076570,0.887337,0.836877,-0.015178,0.032619,0.546207
1,4,20480,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,0.074692,0.878547,0.923635,0.011506,0.006990,0.383037
1,4,20480,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
1,4,20480,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
1,4,20480,37,gripper,0,"","put carrot on sheet metal",-0.081541,0.072984,1.049555,0.026187,-0.696195,-0.117007,0.707768
1,4,20480,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236076,0.069203,0.887372,0.654634,-0.022939,0.024866,0.755188
1,4,20480,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007963,0.010884,0.707296
1,4,20480,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000024
1,4,20480,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,4,20480,38,gripper,0,"","put carrot on sheet metal",-0.166965,0.052912,1.007565,-0.107223,-0.722074,-0.257375,0.633143
1,4,20480,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245739,0.073092,0.887543,0.771327,-0.023805,0.027694,0.635390
1,4,20480,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204563,-0.044995,0.878547,0.706797,0.007940,0.010841,0.707289
1,4,20480,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
1,4,20480,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
1,4,20480,39,gripper,0,"","put carrot on sheet metal",-0.222443,0.062698,0.955950,-0.078320,-0.694443,-0.032707,0.714525
1,4,20480,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.239738,0.072111,0.887472,0.753271,-0.023165,0.025414,0.656811
1,4,20480,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084541,0.075033,0.878547,0.708624,0.007964,0.010818,0.705458
1,4,20480,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000107
1,4,20480,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
1,4,20480,40,gripper,0,"","put carrot on flat bowl",-0.196850,0.052642,0.999458,-0.296798,-0.649252,-0.375437,0.591126
1,4,20480,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207916,0.076704,0.887529,0.718878,-0.030019,0.031103,0.693790
1,4,20480,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
1,4,20480,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
1,4,20480,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
1,4,20480,41,gripper,0,"","put carrot on flat bowl",-0.173843,0.092469,0.962538,-0.134823,-0.637082,-0.169723,0.739692
1,4,20480,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092041,0.064711,0.887525,0.392331,-0.026656,0.012999,0.919346
1,4,20480,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204700,-0.044659,0.878547,0.384264,0.003217,0.013064,0.923125
1,4,20480,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
1,4,20480,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
1,4,20480,42,gripper,0,"","put carrot on flat bowl",-0.027100,-0.036662,1.027059,0.023102,-0.693422,-0.033118,0.719399
1,4,20480,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.219164,-0.030470,0.887345,0.997374,0.002847,0.036239,0.062635
1,4,20480,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234989,0.074562,0.878547,0.999909,0.013284,0.002032,-0.001167
1,4,20480,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
1,4,20480,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000658
1,4,20480,43,gripper,0,"","put carrot on flat bowl",-0.071182,0.013555,1.015668,0.166640,-0.726677,0.099484,0.658995
1,4,20480,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089408,-0.068308,0.887260,0.996869,0.004782,0.033254,0.071580
1,4,20480,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084981,0.074558,0.878547,0.999910,0.013275,0.002048,-0.000019
1,4,20480,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000031
1,4,20480,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000003
1,4,20480,44,gripper,0,"","put banana on sheet metal",-0.191921,-0.021738,0.986582,-0.107555,-0.699176,-0.106847,0.698690
1,4,20480,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092457,-0.086380,0.887507,0.390356,-0.013799,0.009067,0.920516
1,4,20480,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075342,0.878547,0.383609,0.003229,0.013136,0.923396
1,4,20480,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,0.044989,0.871345,0.999999,-0.000158,0.001164,-0.000058
1,4,20480,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874362,1.000000,0.000000,-0.000001,-0.000005
1,4,20480,45,gripper,0,"","put banana on sheet metal",-0.161580,-0.097280,0.954000,0.290346,-0.594934,0.249155,0.706877
1,4,20480,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246204,0.083101,0.887492,0.925539,-0.009324,0.025174,0.377700
1,4,20480,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
1,4,20480,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
1,4,20480,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
1,4,20480,46,gripper,0,"","put banana on sheet metal",-0.053434,0.031631,1.012718,-0.136769,-0.621183,-0.093028,0.766010
1,4,20480,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097263,-0.065550,0.887077,0.926789,-0.019972,0.018792,0.374581
1,4,20480,47,obj,1,"013_banana_1","put banana on sheet metal",-0.204662,-0.075310,0.878547,0.924333,0.011505,0.006962,0.381351
1,4,20480,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
1,4,20480,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
1,4,20480,47,gripper,0,"","put banana on sheet metal",-0.156719,-0.004428,1.009567,-0.303163,-0.659356,-0.240550,0.644576
1,4,20480,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.056084,-0.095917,0.888112,0.738205,-0.027083,-0.004997,0.674014
1,4,20480,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175102,0.076797,0.887026,0.704426,-0.025878,0.709236,0.009957
1,4,20480,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
1,4,20480,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234993,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000065
1,4,20480,48,gripper,0,"","put plastic bottle on cutting board",-0.158234,0.092890,0.968863,0.076770,-0.742486,0.027582,0.664877
1,4,20480,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085217,0.076092,0.888113,0.924175,-0.027159,0.004564,0.380975
1,4,20480,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186241,0.073795,0.887027,0.638711,-0.313965,0.636281,0.297690
1,4,20480,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
1,4,20480,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
1,4,20480,49,gripper,0,"","put plastic bottle on cutting board",-0.167814,0.078367,0.957994,0.166163,-0.691697,0.094924,0.696372
1,4,20480,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115242,0.076099,0.888112,0.924226,-0.027159,0.004567,0.380852
1,4,20480,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.032059,-0.040695,0.885999,0.428151,0.544987,-0.365501,0.621358
1,4,20480,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000008
1,4,20480,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000051
1,4,20480,50,gripper,0,"","put plastic bottle on cutting board",-0.032116,-0.038555,0.942507,0.062433,-0.739472,0.103523,0.662244
1,4,20480,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235218,-0.045021,0.888112,0.360411,-0.022014,-0.016543,0.932387
1,4,20480,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.226198,0.095020,0.887026,0.267851,-0.662269,0.255102,0.651597
1,4,20480,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000072
1,4,20480,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000028
1,4,20480,51,gripper,0,"","put plastic bottle on cutting board",-0.177484,0.089880,1.011950,0.138478,-0.608633,0.098219,0.775076
1,4,20480,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.118142,0.023430,0.888112,0.146996,-0.017849,-0.020974,0.988754
1,4,20480,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.204522,0.138844,0.887026,-0.092207,-0.701353,-0.108580,0.698436
1,4,20480,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
1,4,20480,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.258215,0.062378,0.870870,0.963710,-0.000000,-0.000001,0.266951
1,4,20480,52,gripper,0,"","put hamburger on frying pan",-0.024413,-0.174517,0.913899,-0.274613,-0.697389,-0.185515,0.635470
1,4,20480,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.188643,0.043381,0.888192,0.941265,-0.023857,-0.002205,0.336818
1,4,20480,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.089457,0.143330,0.889773,0.022054,-0.785827,0.617265,0.031187
1,4,20480,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084904,-0.074978,0.872199,0.999999,-0.000000,-0.000001,-0.001263
1,4,20480,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.107178,0.059063,0.870870,0.999855,0.000000,-0.000000,0.017053
1,4,20480,53,gripper,0,"","put hamburger on frying pan",-0.190284,0.038317,0.970807,-0.074900,-0.705124,-0.110686,0.696375
1,4,20480,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235985,-0.044388,0.888112,0.713941,-0.026893,-0.005951,0.699664
1,4,20480,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.099491,0.056736,0.889706,0.500416,-0.510678,0.492913,0.495811
1,4,20480,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
1,4,20480,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083294,0.045940,0.870871,0.999997,0.000000,-0.000009,-0.002308
1,4,20480,54,gripper,0,"","put hamburger on frying pan",-0.142469,-0.155632,0.973993,-0.269154,-0.660566,-0.310037,0.628558
1,4,20480,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206005,0.045563,0.888112,0.716382,-0.026910,-0.005848,0.697165
1,4,20480,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.230392,-0.051140,0.887026,0.515024,-0.495714,0.507892,0.480691
1,4,20480,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
1,4,20480,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
1,4,20480,55,gripper,0,"","put hamburger on frying pan",-0.157560,-0.060572,0.989371,-0.186393,-0.564069,-0.251369,0.764132
1,4,20480,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235199,-0.073841,0.888112,0.921860,-0.027187,0.004401,0.386543
1,4,20480,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.355209,1.151802,0.020973,0.029878,0.661111,0.749315,-0.023797
1,4,20480,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.148537,0.082439,0.872199,0.975777,-0.000001,-0.000001,0.218767
1,4,20480,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.258591,0.084408,0.870870,0.999916,0.000000,-0.000001,-0.012926
1,4,20480,56,gripper,0,"","put hamburger on cutting board",-0.105602,-0.195383,0.972751,-0.328546,-0.585946,-0.257563,0.694540
1,4,20480,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.247669,0.091236,0.894965,-0.227593,-0.818040,-0.178150,-0.497267
1,4,20480,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115932,0.096642,0.887026,0.185619,-0.688632,0.171654,0.679607
1,4,20480,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
1,4,20480,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.209812,0.076035,0.870870,0.999969,0.000000,-0.000000,-0.007878
1,4,20480,57,gripper,0,"","put hamburger on cutting board",-0.188202,-0.042397,0.988253,-0.019645,-0.699361,-0.097299,0.707842
1,4,20480,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.188820,0.001923,0.888112,0.884359,-0.027468,0.001995,0.465995
1,4,20480,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.216908,0.073406,0.887026,0.624732,-0.341998,0.621871,0.325613
1,4,20480,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,0.000001,-0.000001,-0.000189
1,4,20480,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205528,-0.075394,0.870870,0.999995,0.000000,-0.000000,0.003189
1,4,20480,58,gripper,0,"","put hamburger on cutting board",0.003016,0.097107,0.954929,0.012219,-0.739802,-0.064472,0.669617
1,4,20480,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.093395,-0.048271,0.888112,0.187568,-0.018695,-0.020222,0.981866
1,4,20480,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255993,-0.055084,0.887026,0.267155,-0.662547,0.254397,0.651876
1,4,20480,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
1,4,20480,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
1,4,20480,59,gripper,0,"","put hamburger on cutting board",-0.183974,0.014095,1.008814,-0.057887,-0.639442,-0.045116,0.765328
1,4,20480,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086163,0.074745,0.888112,0.390566,-0.022542,-0.015823,0.920163
1,4,20480,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.135668,-0.016724,0.887026,0.235692,-0.673945,0.222437,0.663904
1,4,20480,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
1,4,20480,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234988,-0.075012,0.870864,1.000000,0.000057,-0.000000,0.000011
1,4,20480,60,gripper,0,"","put plastic bottle on frying pan",-0.116666,-0.032778,0.970078,-0.286792,-0.698032,-0.230906,0.614153
1,4,20480,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085087,0.076073,0.888112,0.952889,-0.026683,0.006823,0.302068
1,4,20480,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.181858,-0.046932,0.889116,0.335698,-0.605828,0.346444,0.632658
1,4,20480,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
1,4,20480,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.248301,-0.070522,0.870884,0.999920,0.000710,0.000709,-0.012620
1,4,20480,61,gripper,0,"","put plastic bottle on frying pan",-0.024623,-0.079645,0.946640,0.003581,-0.690510,-0.079147,0.718971
1,4,20480,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236099,-0.072811,0.888112,0.927068,-0.027123,0.004771,0.373881
1,4,20480,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060627,-0.048943,0.887027,0.631007,-0.329716,0.628469,0.313279
1,4,20480,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
1,4,20480,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000002,0.000001,0.000028
1,4,20480,62,gripper,0,"","put plastic bottle on frying pan",-0.044514,0.009836,1.021508,0.087976,-0.653295,0.079874,0.747720
1,4,20480,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.124519,-0.050709,0.890780,0.633005,-0.026738,-0.008221,0.773642
1,4,20480,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.080387,0.119560,0.887386,0.582773,-0.400162,0.602793,0.369981
1,4,20480,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000709
1,4,20480,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084995,-0.074993,0.870870,1.000000,-0.000000,-0.000001,-0.000179
1,4,20480,63,gripper,0,"","put plastic bottle on frying pan",-0.071268,0.105999,0.944688,0.210902,-0.707184,0.104812,0.666653
2,1,25600,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.203087,-0.077728,0.883355,0.562906,0.353654,-0.279799,0.692660
2,1,25600,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085732,0.074417,0.881638,0.923121,0.010853,-0.037812,0.382492
2,1,25600,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000023
2,1,25600,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,-0.044991,0.871288,0.999999,-0.000153,-0.001019,0.000005
2,1,25600,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.236382,-0.084732,0.923934,-0.069509,-0.726737,-0.077785,0.678949
2,1,25600,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.213135,0.095268,0.884978,-0.514825,0.473197,-0.446931,-0.557935
2,1,25600,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085110,0.074020,0.881638,0.706832,0.024504,-0.030812,0.706285
2,1,25600,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075005,0.869532,1.000000,-0.000000,-0.000001,-0.000020
2,1,25600,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
2,1,25600,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.186836,0.068733,1.036504,0.028198,-0.690939,-0.092558,0.716408
2,1,25600,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085732,0.036758,0.885209,0.211149,0.623240,-0.730834,0.181301
2,1,25600,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085114,-0.075981,0.881638,0.706743,0.024495,-0.030795,0.706375
2,1,25600,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,0.045006,0.869532,1.000000,0.000000,-0.000001,0.000024
2,1,25600,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
2,1,25600,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.126564,0.013500,1.143737,0.053421,-0.703615,0.064612,0.705618
2,1,25600,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.180336,-0.030220,0.879125,-0.629237,-0.092957,0.767801,-0.076823
2,1,25600,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204063,0.075142,0.881641,0.999191,-0.004493,0.039934,0.001244
2,1,25600,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000008
2,1,25600,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
2,1,25600,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.250753,-0.036991,0.913197,0.069026,-0.720951,0.071375,0.685836
2,1,25600,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.236404,0.077034,0.879385,0.995766,0.004729,-0.091637,0.005508
2,1,25600,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205952,-0.044884,0.881638,0.999225,-0.004450,-0.039108,-0.000194
2,1,25600,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
2,1,25600,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114992,0.044998,0.871288,0.999999,-0.000157,-0.001019,-0.000005
2,1,25600,4,gripper,0,"","put ketchup bottle on cloth",-0.238573,0.082218,0.932120,-0.079597,-0.698590,-0.086588,0.705790
2,1,25600,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.135258,0.089371,0.886824,-0.591092,0.362866,0.293236,0.657990
2,1,25600,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085752,-0.075554,0.881638,0.923181,0.010859,-0.037836,0.382345
2,1,25600,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.079113,0.077751,0.869532,0.999699,0.000001,-0.000001,-0.024513
2,1,25600,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.191301,0.071342,0.871232,0.987964,0.000449,0.000240,0.154683
2,1,25600,5,gripper,0,"","put ketchup bottle on cloth",-0.243180,-0.008362,0.983235,-0.121332,-0.669310,0.001316,0.733008
2,1,25600,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085041,-0.084686,0.879089,0.626265,0.326577,-0.328415,0.627123
2,1,25600,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205997,0.076141,0.889745,0.765774,-0.016368,0.011614,0.642797
2,1,25600,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114990,0.044983,0.869532,1.000000,0.000001,-0.000001,0.000271
2,1,25600,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000110
2,1,25600,6,gripper,0,"","put ketchup bottle on cloth",-0.214733,0.078953,0.942131,0.049721,-0.727612,0.030541,0.683503
2,1,25600,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.203835,-0.042610,0.885084,0.537618,0.367171,-0.282170,0.704651
2,1,25600,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
2,1,25600,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205059,-0.075020,0.869532,1.000000,0.000000,-0.000002,0.000419
2,1,25600,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000154,-0.001020,0.000044
2,1,25600,7,gripper,0,"","put ketchup bottle on cloth",-0.173555,0.056725,1.025823,0.008486,-0.709774,-0.013402,0.704251
2,1,25600,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.064789,0.011337,0.881883,0.558964,-0.106790,0.163880,0.805790
2,1,25600,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234451,-0.075760,0.881638,0.382484,0.034427,-0.019078,0.923123
2,1,25600,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115005,-0.045002,0.869532,1.000000,-0.000000,-0.000001,0.000075
2,1,25600,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001019,-0.000026
2,1,25600,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.325577,-0.050560,0.914890,-0.231793,-0.614193,-0.151126,0.739053
2,1,25600,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078060,0.068161,0.879089,0.338011,0.427454,-0.178098,0.819337
2,1,25600,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231251,-0.081039,0.881637,0.349347,0.039436,-0.019194,0.935966
2,1,25600,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
2,1,25600,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
2,1,25600,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.246750,-0.102842,0.914101,-0.150665,-0.658633,-0.173951,0.716410
2,1,25600,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.045315,0.103310,0.884977,0.581054,-0.413054,0.503218,0.488399
2,1,25600,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205112,-0.045956,0.881638,0.706722,0.024492,-0.030794,0.706396
2,1,25600,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085011,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000078
2,1,25600,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
2,1,25600,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.269474,0.074423,0.923251,0.008383,-0.689566,0.019507,0.723912
2,1,25600,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.162197,-0.014946,0.885083,0.655699,0.309999,-0.343047,0.596891
2,1,25600,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234863,0.076302,0.881641,0.708372,-0.031327,0.025186,0.704694
2,1,25600,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205019,-0.044983,0.869532,1.000000,0.000000,-0.000002,0.000278
2,1,25600,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084978,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000040
2,1,25600,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.222864,-0.010914,0.945409,0.068991,-0.703604,0.043931,0.705869
2,1,25600,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.062923,0.093319,0.931180,0.567523,0.303308,-0.745813,0.172292
2,1,25600,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085952,-0.074886,0.881638,0.999225,-0.004452,-0.039117,-0.000205
2,1,25600,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,-0.075001,0.869532,1.000000,-0.000000,-0.000000,-0.000000
2,1,25600,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235013,0.075027,0.871210,0.999984,-0.003909,-0.004129,0.000111
2,1,25600,12,gripper,0,"","put kitchen shovel on cloth",-0.046754,0.070827,0.962682,0.329114,-0.617243,0.239306,0.673371
2,1,25600,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.207413,0.072582,0.879667,0.897899,0.094711,-0.356851,0.239718
2,1,25600,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085743,0.074402,0.881638,0.923228,0.010852,-0.037835,0.382232
2,1,25600,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000019
2,1,25600,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001018,0.000050
2,1,25600,13,gripper,0,"","put kitchen shovel on cloth",-0.243256,0.063721,0.918357,-0.032973,-0.713132,-0.103860,0.692509
2,1,25600,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.119137,-0.097977,0.924754,0.175138,0.775650,-0.578587,0.181468
2,1,25600,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084530,0.074341,0.883240,0.707092,0.035165,-0.002511,0.706242
2,1,25600,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204945,0.044960,0.869532,1.000000,0.000000,-0.000001,-0.000711
2,1,25600,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
2,1,25600,14,gripper,0,"","put kitchen shovel on cloth",-0.110567,-0.094997,0.962984,-0.100205,-0.729298,-0.093907,0.670272
2,1,25600,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.105114,-0.053814,0.879088,0.414919,0.408433,-0.218213,0.783204
2,1,25600,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234394,-0.075771,0.881638,0.382653,0.034429,-0.019085,0.923053
2,1,25600,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
2,1,25600,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
2,1,25600,15,gripper,0,"","put kitchen shovel on cloth",-0.180790,0.009554,0.995674,-0.001854,-0.644522,0.029356,0.764020
2,1,25600,16,obj,0,"003_bread_1","put bread on newspaper",-0.085136,-0.075550,0.883544,0.709175,0.010119,-0.007601,0.704919
2,1,25600,16,obj,1,"005_7up can_1","put bread on newspaper",-0.091484,0.069275,0.885675,0.575946,0.286487,-0.221407,0.732933
2,1,25600,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000057
2,1,25600,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075001,0.870367,0.999997,0.000177,-0.001144,0.002090
2,1,25600,16,gripper,0,"","put bread on newspaper",-0.135834,-0.026323,1.005550,-0.353111,-0.572569,-0.330731,0.661887
2,1,25600,17,obj,0,"003_bread_1","put bread on newspaper",-0.235535,0.075123,0.883544,0.999916,0.001781,-0.012532,-0.002812
2,1,25600,17,obj,1,"005_7up can_1","put bread on newspaper",-0.092609,-0.074829,0.885627,0.972478,-0.005044,-0.232936,0.001243
2,1,25600,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
2,1,25600,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
2,1,25600,17,gripper,0,"","put bread on newspaper",-0.234287,0.068668,0.951102,0.023161,-0.693833,-0.014271,0.719622
2,1,25600,18,obj,0,"003_bread_1","put bread on newspaper",-0.077164,-0.070385,0.883544,0.922787,0.006512,-0.010856,0.385102
2,1,25600,18,obj,1,"005_7up can_1","put bread on newspaper",-0.210682,0.039963,0.885627,0.897762,0.084603,-0.217072,0.373824
2,1,25600,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
2,1,25600,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
2,1,25600,18,gripper,0,"","put bread on newspaper",-0.075476,-0.059874,0.987197,-0.190831,-0.695360,-0.178362,0.669511
2,1,25600,19,obj,0,"003_bread_1","put bread on newspaper",-0.235128,0.044456,0.883544,0.709080,0.010135,-0.007595,0.705014
2,1,25600,19,obj,1,"005_7up can_1","put bread on newspaper",-0.077784,-0.001682,0.885756,0.627940,-0.349007,0.381445,0.581709
2,1,25600,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.115829,0.075939,0.869490,0.999988,0.000184,0.000873,-0.004814
2,1,25600,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
2,1,25600,19,gripper,0,"","put bread on newspaper",-0.062926,0.023502,0.952313,0.166637,-0.641279,-0.031953,0.748313
2,1,25600,20,obj,0,"003_bread_1","put bread on carpet",-0.066865,0.072266,0.886481,0.778861,0.013091,-0.007862,0.627011
2,1,25600,20,obj,1,"005_7up can_1","put bread on carpet",-0.084524,-0.058304,0.885762,0.614373,-0.361506,0.381063,0.588770
2,1,25600,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
2,1,25600,20,recep,1,"003_carpet_1","put bread on carpet",-0.085034,0.075199,0.870460,1.000000,0.000018,-0.000158,-0.000801
2,1,25600,20,gripper,0,"","put bread on carpet",-0.075683,-0.052658,0.966589,-0.050643,-0.700094,-0.007309,0.712215
2,1,25600,21,obj,0,"003_bread_1","put bread on carpet",-0.205120,0.074528,0.883545,0.705126,0.010165,-0.007538,0.708969
2,1,25600,21,obj,1,"005_7up can_1","put bread on carpet",-0.085176,0.067406,0.885627,0.686668,0.161169,-0.168255,0.688623
2,1,25600,21,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000017
2,1,25600,21,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000009
2,1,25600,21,gripper,0,"","put bread on carpet",-0.054159,-0.075890,0.940321,-0.219083,-0.610714,-0.267757,0.712276
2,1,25600,22,obj,0,"003_bread_1","put bread on carpet",-0.235264,-0.045341,0.883544,0.924409,0.006460,-0.010893,0.381192
2,1,25600,22,obj,1,"005_7up can_1","put bread on carpet",-0.090523,0.069721,0.885627,0.897921,0.084514,-0.217131,0.373429
2,1,25600,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
2,1,25600,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000026
2,1,25600,22,gripper,0,"","put bread on carpet",-0.063269,-0.081165,0.953705,-0.310664,-0.660412,-0.192384,0.655997
2,1,25600,23,obj,0,"003_bread_1","put bread on carpet",-0.172897,0.039673,0.886036,0.995152,0.016777,-0.014172,-0.095867
2,1,25600,23,obj,1,"005_7up can_1","put bread on carpet",-0.124332,-0.044838,0.885636,0.958614,-0.005475,-0.284657,-0.000195
2,1,25600,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
2,1,25600,23,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
2,1,25600,23,gripper,0,"","put bread on carpet",-0.188931,0.036123,0.924516,-0.069085,-0.798948,-0.096337,0.589600
2,1,25600,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085556,0.075121,0.883544,0.999916,0.001784,-0.012533,-0.002854
2,1,25600,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.244301,-0.074831,0.885636,0.958610,-0.005180,-0.284674,0.000803
2,1,25600,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205132,0.045069,0.869490,0.999999,0.000547,0.001425,-0.000157
2,1,25600,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115051,-0.044878,0.871111,0.999983,0.000058,0.005815,0.000553
2,1,25600,24,gripper,0,"","put 7up can on newspaper",-0.089470,-0.053392,0.952333,-0.395969,-0.633157,-0.322150,0.581841
2,1,25600,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
2,1,25600,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.199772,-0.080505,0.885627,0.371266,0.213250,-0.093864,0.898819
2,1,25600,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
2,1,25600,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000025
2,1,25600,25,gripper,0,"","put 7up can on newspaper",-0.083334,0.094671,0.982355,0.086610,-0.702594,0.069356,0.702887
2,1,25600,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.115479,0.074488,0.883544,0.924470,0.006460,-0.010886,0.381043
2,1,25600,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.049255,0.002790,0.885987,0.129555,-0.567433,0.808764,0.084480
2,1,25600,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
2,1,25600,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000025
2,1,25600,26,gripper,0,"","put 7up can on newspaper",-0.028461,0.018195,0.947480,0.082723,-0.745907,0.117416,0.650380
2,1,25600,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.085117,-0.045534,0.883544,0.709050,0.010124,-0.007603,0.705045
2,1,25600,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132231,0.088488,0.885830,0.553694,-0.441576,0.529736,0.466704
2,1,25600,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204967,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000041
2,1,25600,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000022
2,1,25600,27,gripper,0,"","put 7up can on newspaper",-0.079815,0.060771,0.945865,0.269838,-0.564200,-0.111312,0.772318
2,1,25600,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085492,-0.075512,0.883544,0.924243,0.006464,-0.010884,0.381593
2,1,25600,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.077330,0.116314,0.886003,0.098840,-0.559422,0.820702,0.061044
2,1,25600,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.045002,0.869489,1.000000,0.000180,0.000874,-0.000004
2,1,25600,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.235000,-0.075001,0.870461,1.000000,0.000019,-0.000158,-0.000000
2,1,25600,28,gripper,0,"","put 7up can on carpet",-0.067804,0.108446,0.944812,0.152734,-0.724346,0.107694,0.663624
2,1,25600,29,obj,0,"003_bread_1","put 7up can on carpet",-0.085522,0.075109,0.883544,0.999916,0.001785,-0.012529,-0.002770
2,1,25600,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.242554,-0.074718,0.885627,0.972468,-0.004467,-0.232967,0.003649
2,1,25600,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
2,1,25600,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
2,1,25600,29,gripper,0,"","put 7up can on carpet",-0.228705,-0.046020,0.953626,0.062858,-0.674638,0.017686,0.735255
2,1,25600,30,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
2,1,25600,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.075737,0.076014,0.885642,0.857862,0.103285,-0.202194,0.461002
2,1,25600,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
2,1,25600,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.045000,0.870403,1.000000,0.000065,-0.000723,-0.000046
2,1,25600,30,gripper,0,"","put 7up can on carpet",-0.073704,0.069592,0.929588,0.255935,-0.576667,0.070510,0.772645
2,1,25600,31,obj,0,"003_bread_1","put 7up can on carpet",-0.225956,0.088224,0.883544,0.184962,0.012648,-0.000532,0.982664
2,1,25600,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.079742,-0.080498,0.885626,0.371169,0.213270,-0.093847,0.898856
2,1,25600,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
2,1,25600,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
2,1,25600,31,gripper,0,"","put 7up can on carpet",-0.192087,0.089260,0.969456,0.050855,-0.721769,0.006654,0.690231
2,1,25600,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240311,-0.079981,0.887339,0.994461,-0.001410,0.036191,-0.098664
2,1,25600,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.085007,-0.075436,0.878547,0.999910,0.013270,0.002053,0.000424
2,1,25600,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
2,1,25600,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
2,1,25600,32,gripper,0,"","put carrot on sheet metal",-0.206799,-0.036040,0.988671,-0.161461,-0.631042,-0.086602,0.753802
2,1,25600,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238037,-0.067912,0.887536,0.999601,0.002285,0.027466,-0.006142
2,1,25600,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,0.074515,0.878547,0.999909,0.013286,0.002053,0.000547
2,1,25600,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,1,25600,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,1,25600,33,gripper,0,"","put carrot on sheet metal",-0.198275,-0.061369,0.971457,-0.200864,-0.566025,-0.315434,0.734691
2,1,25600,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.206734,-0.072131,0.887525,0.909114,-0.010612,0.027070,0.415531
2,1,25600,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383052
2,1,25600,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,1,25600,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,1,25600,34,gripper,0,"","put carrot on sheet metal",-0.021551,-0.065639,0.996914,0.110179,-0.705680,0.069934,0.696409
2,1,25600,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087420,-0.040016,0.887527,0.996238,-0.000823,0.029427,0.081502
2,1,25600,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.114998,0.074566,0.878547,0.999910,0.013279,0.002051,0.000309
2,1,25600,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.045001,0.871345,0.999999,-0.000158,0.001164,-0.000003
2,1,25600,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
2,1,25600,35,gripper,0,"","put carrot on sheet metal",-0.071047,-0.017101,0.999401,-0.192927,-0.671794,-0.123112,0.704497
2,1,25600,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235991,0.076470,0.887516,0.997012,-0.001422,0.032415,0.070108
2,1,25600,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084993,-0.075440,0.878547,0.999909,0.013331,0.002052,0.000315
2,1,25600,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000016
2,1,25600,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000000
2,1,25600,36,gripper,0,"","put carrot on flat bowl",-0.088768,0.069383,0.986908,0.208408,-0.670867,0.191994,0.685305
2,1,25600,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087528,0.072630,0.887292,0.345239,-0.014832,0.009611,0.938348
2,1,25600,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204695,0.075317,0.878547,0.382300,0.003195,0.013090,0.923940
2,1,25600,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
2,1,25600,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
2,1,25600,37,gripper,0,"","put carrot on flat bowl",-0.038522,-0.070010,1.007154,-0.044185,-0.677514,-0.012855,0.734069
2,1,25600,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238186,-0.077666,0.887249,0.952110,-0.002770,0.033136,0.303943
2,1,25600,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383052
2,1,25600,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,1,25600,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,1,25600,38,gripper,0,"","put carrot on flat bowl",-0.223051,-0.104997,0.952344,-0.268217,-0.538234,-0.451613,0.659098
2,1,25600,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088146,0.074459,0.887552,0.744262,-0.022015,0.022300,0.667152
2,1,25600,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007969,0.010890,0.707296
2,1,25600,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
2,1,25600,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
2,1,25600,39,gripper,0,"","put carrot on flat bowl",-0.004753,0.061895,1.000249,0.171375,-0.670967,0.151547,0.705313
2,1,25600,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086884,0.079914,0.887454,0.996106,-0.001140,0.040313,0.078400
2,1,25600,40,obj,1,"013_banana_1","put banana on sheet metal",-0.205009,-0.075436,0.878547,0.999909,0.013302,0.002047,0.000048
2,1,25600,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075012,0.871344,0.999999,-0.000158,0.001164,-0.000064
2,1,25600,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000000,-0.000002
2,1,25600,40,gripper,0,"","put banana on sheet metal",-0.199860,-0.024054,0.974678,-0.161981,-0.683712,-0.205381,0.681263
2,1,25600,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
2,1,25600,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234680,0.074686,0.878547,0.923800,0.011561,0.007013,0.382637
2,1,25600,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
2,1,25600,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000001
2,1,25600,41,gripper,0,"","put banana on sheet metal",-0.202974,0.052817,0.985944,-0.244062,-0.655300,-0.261906,0.665147
2,1,25600,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207233,-0.071217,0.887486,0.996500,-0.001867,0.028829,0.078437
2,1,25600,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.075434,0.878546,0.999910,0.013237,0.002048,-0.000197
2,1,25600,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
2,1,25600,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
2,1,25600,42,gripper,0,"","put banana on sheet metal",-0.174574,0.015022,0.991339,-0.373567,-0.661164,-0.316191,0.568624
2,1,25600,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
2,1,25600,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204996,-0.045433,0.878547,0.999910,0.013291,0.002050,-0.000041
2,1,25600,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
2,1,25600,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
2,1,25600,43,gripper,0,"","put banana on sheet metal",-0.146914,-0.002710,1.006258,-0.226979,-0.687218,-0.175215,0.667466
2,1,25600,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236880,0.077633,0.887363,0.909643,-0.008338,0.025956,0.414495
2,1,25600,44,obj,1,"013_banana_1","put banana on flat bowl",-0.114683,0.044689,0.878547,0.923614,0.011502,0.006990,0.383088
2,1,25600,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
2,1,25600,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
2,1,25600,44,gripper,0,"","put banana on flat bowl",-0.142097,-0.065778,0.978239,-0.348145,-0.658517,-0.249145,0.618932
2,1,25600,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086878,-0.073093,0.887265,0.996354,0.004186,0.029482,0.079949
2,1,25600,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204988,0.074512,0.878547,0.999909,0.013327,0.002061,0.000427
2,1,25600,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
2,1,25600,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
2,1,25600,45,gripper,0,"","put banana on flat bowl",-0.044564,0.054976,0.994293,0.021216,-0.748743,-0.065917,0.659234
2,1,25600,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087616,-0.069841,0.887288,0.996615,0.003864,0.034284,0.074621
2,1,25600,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
2,1,25600,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
2,1,25600,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
2,1,25600,46,gripper,0,"","put banana on flat bowl",-0.041269,-0.065049,0.991652,0.003043,-0.718661,-0.094558,0.688895
2,1,25600,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236378,0.077219,0.887492,0.909963,-0.011506,0.022653,0.413911
2,1,25600,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
2,1,25600,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
2,1,25600,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000000,-0.000000,0.000140
2,1,25600,47,gripper,0,"","put banana on flat bowl",-0.039343,0.016887,1.008285,0.100637,-0.695025,0.055540,0.709738
2,1,25600,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116898,0.090008,0.888112,0.703495,-0.026799,-0.006350,0.710167
2,1,25600,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.236336,0.104488,0.889773,0.025175,-0.717571,0.695436,0.028736
2,1,25600,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000011
2,1,25600,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,-0.000000,0.000032
2,1,25600,48,gripper,0,"","put hamburger on frying pan",-0.085373,-0.032129,1.001563,-0.117927,-0.695296,-0.040542,0.707823
2,1,25600,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086109,0.076012,0.888112,0.710323,-0.026859,-0.006089,0.703337
2,1,25600,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085838,-0.045677,0.887026,0.497251,-0.513810,0.489576,0.499054
2,1,25600,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
2,1,25600,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
2,1,25600,49,gripper,0,"","put hamburger on frying pan",-0.087709,-0.054089,0.966768,-0.214063,-0.708781,-0.138263,0.657791
2,1,25600,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.137619,0.040333,0.888113,0.716437,-0.026912,-0.005855,0.697108
2,1,25600,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235748,0.104263,0.887026,0.497362,-0.513701,0.489691,0.498944
2,1,25600,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
2,1,25600,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
2,1,25600,50,gripper,0,"","put hamburger on frying pan",-0.122252,0.037550,0.975598,0.029647,-0.724209,-0.096110,0.682206
2,1,25600,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205961,-0.074383,0.888112,0.712673,-0.026880,-0.006001,0.700956
2,1,25600,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.211979,0.115211,0.887026,0.449506,-0.556448,0.440517,0.542453
2,1,25600,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
2,1,25600,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
2,1,25600,51,gripper,0,"","put hamburger on frying pan",-0.140333,0.110207,0.983158,-0.169429,-0.663912,-0.233467,0.689933
2,1,25600,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206059,0.074791,0.888112,0.389637,-0.022530,-0.015839,0.920557
2,1,25600,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.257796,-0.028648,0.887026,0.262116,-0.664492,0.249278,0.653916
2,1,25600,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
2,1,25600,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
2,1,25600,52,gripper,0,"","put hamburger on cutting board",-0.236508,-0.110842,0.948331,-0.147114,-0.605659,-0.145506,0.768350
2,1,25600,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.204315,0.076099,0.888112,0.999386,-0.023050,0.015073,-0.021673
2,1,25600,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055599,-0.074188,0.887027,0.704495,-0.016892,0.709507,0.001034
2,1,25600,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
2,1,25600,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
2,1,25600,53,gripper,0,"","put hamburger on cutting board",-0.018538,0.052820,0.942192,-0.038351,-0.801751,-0.127066,0.582733
2,1,25600,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116116,-0.045269,0.888112,0.386811,-0.022480,-0.015915,0.921748
2,1,25600,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
2,1,25600,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
2,1,25600,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
2,1,25600,54,gripper,0,"","put hamburger on cutting board",-0.093224,-0.010597,1.011294,0.053132,-0.708527,0.054958,0.701531
2,1,25600,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235222,0.076099,0.888112,0.925436,-0.027144,0.004652,0.377901
2,1,25600,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
2,1,25600,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
2,1,25600,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
2,1,25600,55,gripper,0,"","put hamburger on cutting board",-0.042515,0.083794,0.959118,-0.277438,-0.657577,-0.307527,0.629323
2,1,25600,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236130,-0.075195,0.888112,0.410773,-0.022888,-0.015320,0.911322
2,1,25600,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256409,0.094910,0.887026,0.266631,-0.662748,0.253863,0.652094
2,1,25600,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
2,1,25600,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,0.044998,0.870871,1.000000,0.000000,-0.000001,0.000007
2,1,25600,56,gripper,0,"","put plastic bottle on frying pan",-0.064476,0.065866,0.958670,0.049388,-0.740664,0.009884,0.669985
2,1,25600,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116108,0.044739,0.888112,0.386899,-0.022483,-0.015912,0.921711
2,1,25600,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.075706,-0.059700,0.894611,0.162830,-0.678606,0.270257,0.663281
2,1,25600,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
2,1,25600,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204277,-0.046509,0.870870,0.999929,0.000000,0.000000,-0.011912
2,1,25600,57,gripper,0,"","put plastic bottle on frying pan",-0.091640,-0.085325,0.941362,-0.300432,-0.612168,-0.372744,0.629327
2,1,25600,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235229,-0.073895,0.888112,0.925612,-0.027142,0.004665,0.377471
2,1,25600,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094990,0.066597,0.887026,0.649673,-0.289036,0.648183,0.272474
2,1,25600,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
2,1,25600,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085030,-0.074982,0.870870,1.000000,0.000000,-0.000001,-0.000029
2,1,25600,58,gripper,0,"","put plastic bottle on frying pan",-0.043659,-0.083876,0.992645,-0.029440,-0.711194,-0.059270,0.699874
2,1,25600,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205196,-0.073914,0.888112,0.934043,-0.027030,0.005284,0.356097
2,1,25600,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.081663,-0.060410,0.887026,0.633878,-0.323894,0.631483,0.307441
2,1,25600,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
2,1,25600,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000004
2,1,25600,59,gripper,0,"","put plastic bottle on frying pan",-0.057852,-0.061428,0.958701,-0.047215,-0.746509,0.043227,0.662289
2,1,25600,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086098,-0.075245,0.888112,0.388789,-0.022512,-0.015866,0.920915
2,1,25600,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.123158,0.122570,0.887052,0.015160,-0.701264,0.002487,0.712736
2,1,25600,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
2,1,25600,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204096,0.076237,0.870870,0.999261,0.000001,-0.000000,0.038442
2,1,25600,60,gripper,0,"","put plastic bottle on cutting board",-0.095485,0.108377,0.939121,0.154032,-0.740102,0.108188,0.645615
2,1,25600,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085178,-0.073895,0.888112,0.934416,-0.027024,0.005316,0.355116
2,1,25600,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.215014,-0.053391,0.887026,0.648736,-0.291257,0.647187,0.274700
2,1,25600,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
2,1,25600,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
2,1,25600,61,gripper,0,"","put plastic bottle on cutting board",-0.123565,0.019178,0.994238,0.153385,-0.681845,0.054811,0.713131
2,1,25600,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.076771,0.100006,0.890496,0.997999,-0.024973,0.016522,-0.055697
2,1,25600,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.185368,-0.044132,0.891016,0.269990,-0.016817,0.962656,0.010735
2,1,25600,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000034
2,1,25600,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
2,1,25600,62,gripper,0,"","put plastic bottle on cutting board",-0.072632,0.083570,1.058035,0.048766,-0.764158,0.032928,0.642340
2,1,25600,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115784,-0.043381,0.888112,0.930833,-0.027074,0.005046,0.364405
2,1,25600,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.196369,-0.025681,0.892075,0.020737,-0.744848,0.666250,0.029695
2,1,25600,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
2,1,25600,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.240261,-0.070805,0.870871,0.999202,-0.000011,-0.000009,0.039934
2,1,25600,63,gripper,0,"","put plastic bottle on cutting board",-0.140137,-0.034103,1.010769,0.025431,-0.757286,-0.040552,0.651327
2,2,30720,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202980,-0.077332,0.879088,0.560782,0.357565,-0.294240,0.686363
2,2,30720,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.077805,-0.017250,0.888695,0.629696,-0.022769,0.029193,0.775959
2,2,30720,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000045
2,2,30720,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114983,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000030
2,2,30720,0,gripper,0,"","put ketchup bottle on cloth",-0.189751,-0.032177,0.976020,-0.019336,-0.704945,0.004229,0.708985
2,2,30720,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.213131,0.095268,0.884978,-0.514822,0.473219,-0.447053,-0.557822
2,2,30720,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085110,0.074020,0.881638,0.706862,0.024503,-0.030812,0.706256
2,2,30720,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.075005,0.869532,1.000000,-0.000000,-0.000002,-0.000092
2,2,30720,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000040
2,2,30720,1,gripper,0,"","put ketchup bottle on cloth",-0.214312,0.099140,0.953089,0.062179,-0.714662,0.007011,0.696665
2,2,30720,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085739,0.036713,0.885210,0.211288,0.623192,-0.730795,0.181461
2,2,30720,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085114,-0.075981,0.881638,0.706760,0.024506,-0.030807,0.706357
2,2,30720,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115005,0.045006,0.869532,1.000000,0.000000,-0.000001,-0.000005
2,2,30720,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000236
2,2,30720,2,gripper,0,"","put ketchup bottle on cloth",-0.140793,0.045353,1.012618,0.015049,-0.861439,0.084483,0.500559
2,2,30720,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.180338,-0.030228,0.879125,-0.629258,-0.092825,0.767810,-0.076718
2,2,30720,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.203943,0.075134,0.881641,0.999192,-0.004475,0.039944,0.000675
2,2,30720,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000024
2,2,30720,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
2,2,30720,3,gripper,0,"","put ketchup bottle on cloth",-0.176208,0.021862,0.942434,0.247515,-0.605840,0.220455,0.723252
2,2,30720,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.186586,0.086884,0.879212,-0.277154,-0.084340,0.956780,-0.025376
2,2,30720,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204993,-0.044815,0.881638,0.998657,-0.005761,-0.038917,-0.033722
2,2,30720,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000000
2,2,30720,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114991,0.044998,0.871288,1.000000,-0.000154,-0.001019,-0.000005
2,2,30720,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.192575,0.062347,0.954213,-0.030480,-0.664580,-0.008852,0.746543
2,2,30720,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.135256,0.089378,0.886823,-0.590734,0.363016,0.293037,0.658317
2,2,30720,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085749,-0.075546,0.881638,0.923134,0.010852,-0.037810,0.382461
2,2,30720,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.079113,0.077751,0.869532,0.999699,0.000001,-0.000001,-0.024512
2,2,30720,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.191301,0.071342,0.871232,0.987964,0.000449,0.000240,0.154683
2,2,30720,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.295388,-0.092419,0.940123,0.023918,-0.704104,0.067356,0.706490
2,2,30720,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085041,-0.084686,0.879089,0.626351,0.326407,-0.328247,0.627213
2,2,30720,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.129482,-0.207390,0.881638,0.267845,0.036468,-0.014760,0.962658
2,2,30720,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114990,0.044983,0.869532,1.000000,0.000001,-0.000001,0.000296
2,2,30720,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.292408,0.162575,0.871288,0.800606,-0.000733,-0.000724,-0.599190
2,2,30720,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.263187,-0.048267,0.949077,0.002049,-0.684850,-0.056753,0.726468
2,2,30720,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.198246,-0.054504,0.885123,0.330710,0.659510,-0.404401,0.540498
2,2,30720,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
2,2,30720,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205059,-0.075020,0.869532,1.000000,-0.000000,-0.000001,0.000293
2,2,30720,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235260,0.044968,0.871210,0.999982,-0.003916,-0.004121,-0.001777
2,2,30720,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.295012,-0.012459,0.936229,0.030219,-0.641495,0.021497,0.766231
2,2,30720,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.064789,0.011337,0.881883,0.558968,-0.106767,0.163868,0.805793
2,2,30720,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.208542,-0.110691,0.881636,0.120484,0.049170,-0.009847,0.991448
2,2,30720,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115005,-0.045002,0.869532,1.000000,-0.000000,-0.000002,0.000075
2,2,30720,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,1.000000,-0.000154,-0.001020,-0.000059
2,2,30720,8,gripper,0,"","put kitchen shovel on cloth",-0.248005,-0.104128,0.915767,-0.118678,-0.759335,-0.080660,0.634681
2,2,30720,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078060,0.068161,0.879089,0.338009,0.427438,-0.178088,0.819348
2,2,30720,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.201458,-0.108322,0.881641,0.151307,-0.040144,0.001649,0.987670
2,2,30720,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.227283,0.089081,0.869532,0.984694,-0.000000,-0.000002,0.174290
2,2,30720,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000001
2,2,30720,9,gripper,0,"","put kitchen shovel on cloth",-0.219376,-0.054880,0.922760,-0.082105,-0.715096,-0.099978,0.686951
2,2,30720,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.045322,0.103168,0.884977,0.583107,-0.410936,0.504980,0.485914
2,2,30720,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.102505,-0.071346,0.888995,0.633780,-0.069888,-0.003367,0.770343
2,2,30720,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085011,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000221
2,2,30720,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000013
2,2,30720,10,gripper,0,"","put kitchen shovel on cloth",-0.278545,-0.057919,0.925835,-0.068825,-0.703329,-0.027491,0.706990
2,2,30720,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.162249,-0.014946,0.885083,0.655756,0.309967,-0.343080,0.596825
2,2,30720,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234877,0.074909,0.881638,0.709505,0.024380,-0.030898,0.703600
2,2,30720,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205055,-0.044983,0.869532,1.000000,-0.000000,-0.000001,0.000391
2,2,30720,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084965,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000073
2,2,30720,11,gripper,0,"","put kitchen shovel on cloth",-0.165491,-0.009964,0.982414,0.041830,-0.693980,0.075103,0.714844
2,2,30720,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.053040,0.098137,0.879089,0.845734,0.136981,-0.442339,0.265155
2,2,30720,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085952,-0.074886,0.881638,0.999225,-0.004452,-0.039114,-0.000205
2,2,30720,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,-0.075001,0.869532,1.000000,0.000000,-0.000000,-0.000000
2,2,30720,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.229346,0.068146,0.871288,0.997899,-0.000086,-0.001030,0.064783
2,2,30720,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.247373,0.002851,0.920947,-0.080818,-0.740677,-0.019016,0.666711
2,2,30720,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202469,0.083267,0.879088,0.820564,0.173619,-0.428569,0.335947
2,2,30720,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085741,0.074406,0.881638,0.923197,0.010857,-0.037839,0.382305
2,2,30720,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000009
2,2,30720,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001018,0.000051
2,2,30720,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.188938,0.084778,0.937410,0.022788,-0.730266,-0.025952,0.682289
2,2,30720,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.179287,0.056099,0.885369,0.705096,-0.184691,0.208148,0.652230
2,2,30720,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084530,0.074333,0.883239,0.707226,0.035186,-0.002541,0.706107
2,2,30720,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204948,0.044960,0.869532,1.000000,0.000001,-0.000001,-0.000722
2,2,30720,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.239971,-0.078030,0.871288,0.999999,-0.000153,-0.001019,0.001309
2,2,30720,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.206230,0.062452,1.097791,0.079050,-0.713494,0.110289,0.687396
2,2,30720,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.199463,0.066814,0.885084,0.701386,0.281552,-0.366812,0.542434
2,2,30720,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234394,-0.075768,0.881638,0.382582,0.034426,-0.019081,0.923083
2,2,30720,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234997,0.075001,0.869532,1.000000,-0.000000,-0.000000,-0.000014
2,2,30720,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
2,2,30720,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.188471,0.045530,1.122247,0.093159,-0.692791,0.182154,0.691507
2,2,30720,16,obj,0,"003_bread_1","put bread on carpet",-0.085136,-0.075550,0.883544,0.709056,0.010122,-0.007603,0.705038
2,2,30720,16,obj,1,"005_7up can_1","put bread on carpet",-0.093170,0.076092,0.885637,0.609634,0.121770,-0.091915,0.777862
2,2,30720,16,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000089
2,2,30720,16,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.074997,0.870447,0.999991,-0.000539,-0.000513,0.004043
2,2,30720,16,gripper,0,"","put bread on carpet",-0.074665,-0.085865,0.954724,-0.259151,-0.698932,-0.279045,0.605367
2,2,30720,17,obj,0,"003_bread_1","put bread on carpet",-0.235535,0.075123,0.883544,0.999916,0.001783,-0.012534,-0.002607
2,2,30720,17,obj,1,"005_7up can_1","put bread on carpet",-0.092609,-0.074829,0.885627,0.972472,-0.005041,-0.232961,0.001257
2,2,30720,17,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000018
2,2,30720,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
2,2,30720,17,gripper,0,"","put bread on carpet",-0.175409,-0.014906,0.968789,-0.091267,-0.707219,-0.076374,0.696907
2,2,30720,18,obj,0,"003_bread_1","put bread on carpet",-0.077164,-0.070385,0.883544,0.922796,0.006512,-0.010857,0.385080
2,2,30720,18,obj,1,"005_7up can_1","put bread on carpet",-0.148621,0.087132,0.887767,0.637402,-0.412537,0.495558,0.421847
2,2,30720,18,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
2,2,30720,18,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075024,0.870447,0.999999,-0.000923,-0.000844,-0.000071
2,2,30720,18,gripper,0,"","put bread on carpet",-0.120461,0.071995,1.016469,0.204241,-0.615877,-0.000094,0.760908
2,2,30720,19,obj,0,"003_bread_1","put bread on carpet",-0.235128,0.044456,0.883544,0.708929,0.010137,-0.007593,0.705166
2,2,30720,19,obj,1,"005_7up can_1","put bread on carpet",-0.180288,-0.059303,0.888609,0.640571,-0.271227,0.257556,0.670649
2,2,30720,19,recep,0,"004_newspaper_1","put bread on carpet",-0.115843,0.075939,0.869490,0.999988,0.000184,0.000873,-0.004785
2,2,30720,19,recep,1,"003_carpet_1","put bread on carpet",-0.205067,-0.074802,0.870448,0.999996,-0.000126,-0.000158,0.002752
2,2,30720,19,gripper,0,"","put bread on carpet",-0.181255,-0.040508,0.991883,-0.085190,-0.712802,-0.064472,0.693181
2,2,30720,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.065863,0.072685,0.886475,0.763095,0.013327,-0.005860,0.646123
2,2,30720,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.118636,-0.060566,0.885929,-0.403487,0.536108,-0.664064,-0.329857
2,2,30720,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000875,0.000010
2,2,30720,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084777,0.075432,0.870461,1.000000,0.000018,-0.000158,-0.000052
2,2,30720,20,gripper,0,"","put 7up can on newspaper",-0.086129,0.020252,0.954378,0.019153,-0.760563,-0.003969,0.648969
2,2,30720,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.205120,0.074528,0.883545,0.705113,0.010167,-0.007543,0.708981
2,2,30720,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.076345,0.054977,0.885675,0.422040,0.324156,-0.161324,0.831131
2,2,30720,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114992,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000032
2,2,30720,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001046,0.000005
2,2,30720,21,gripper,0,"","put 7up can on newspaper",-0.094731,0.071638,0.988037,-0.194501,-0.685317,-0.210444,0.669495
2,2,30720,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.249542,-0.052540,0.883544,0.896599,0.007181,-0.010426,0.442661
2,2,30720,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090523,0.069725,0.885627,0.897913,0.084519,-0.217128,0.373450
2,2,30720,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
2,2,30720,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000047
2,2,30720,22,gripper,0,"","put 7up can on newspaper",-0.215073,-0.039101,0.972448,0.113077,-0.686963,0.107196,0.709792
2,2,30720,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.169704,0.049732,0.883544,0.991347,0.000165,-0.012655,-0.130659
2,2,30720,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.124329,-0.044838,0.885636,0.958612,-0.005650,-0.284659,-0.000781
2,2,30720,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
2,2,30720,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
2,2,30720,23,gripper,0,"","put 7up can on newspaper",-0.162136,0.042820,0.945490,0.008911,-0.701158,-0.051964,0.711054
2,2,30720,24,obj,0,"003_bread_1","put 7up can on carpet",-0.085556,0.075121,0.883544,0.999916,0.001787,-0.012534,-0.002621
2,2,30720,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.244301,-0.074831,0.885636,0.958613,-0.005218,-0.284664,0.000675
2,2,30720,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205132,0.045069,0.869490,0.999999,0.000547,0.001424,-0.000171
2,2,30720,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.115051,-0.044878,0.871111,0.999983,0.000057,0.005815,0.000546
2,2,30720,24,gripper,0,"","put 7up can on carpet",-0.190662,0.041749,0.973318,0.042983,-0.667489,0.019871,0.743112
2,2,30720,25,obj,0,"003_bread_1","put 7up can on carpet",-0.067402,0.062412,0.883545,0.329397,0.012427,-0.002406,0.944106
2,2,30720,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.199772,-0.080505,0.885627,0.371253,0.213257,-0.093864,0.898822
2,2,30720,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
2,2,30720,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000045
2,2,30720,25,gripper,0,"","put 7up can on carpet",-0.067097,0.064289,0.971559,-0.272964,-0.708892,-0.287141,0.583535
2,2,30720,26,obj,0,"003_bread_1","put 7up can on carpet",-0.115479,0.074488,0.883544,0.924578,0.006458,-0.010887,0.380782
2,2,30720,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.169903,0.040207,0.887709,0.085948,-0.694345,0.702816,0.128635
2,2,30720,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
2,2,30720,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.045006,0.870460,1.000000,0.000019,-0.000158,0.000036
2,2,30720,26,gripper,0,"","put 7up can on carpet",-0.190088,0.052608,1.001004,-0.068450,-0.683132,-0.019507,0.726818
2,2,30720,27,obj,0,"003_bread_1","put 7up can on carpet",-0.095236,-0.020840,0.883544,0.857042,0.008018,-0.009802,0.515091
2,2,30720,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.132231,0.088486,0.885830,0.553700,-0.441570,0.529737,0.466702
2,2,30720,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204929,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000001
2,2,30720,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000047
2,2,30720,27,gripper,0,"","put 7up can on carpet",-0.085412,-0.025807,0.954914,0.040217,-0.759270,0.027943,0.648931
2,2,30720,28,obj,0,"003_bread_1","put bread on newspaper",-0.085493,-0.075512,0.883544,0.924243,0.006466,-0.010888,0.381593
2,2,30720,28,obj,1,"005_7up can_1","put bread on newspaper",-0.077811,0.109339,0.885987,0.119796,-0.650476,0.743615,0.097810
2,2,30720,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.045002,0.869489,1.000000,0.000180,0.000874,-0.000004
2,2,30720,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235000,-0.075001,0.870461,1.000000,0.000019,-0.000158,-0.000000
2,2,30720,28,gripper,0,"","put bread on newspaper",-0.075784,0.099055,0.964030,-0.064706,-0.779840,-0.103125,0.614025
2,2,30720,29,obj,0,"003_bread_1","put bread on newspaper",-0.079693,0.090267,0.883544,0.993091,0.000349,-0.012655,-0.116664
2,2,30720,29,obj,1,"005_7up can_1","put bread on newspaper",-0.242554,-0.074718,0.885627,0.972477,-0.004461,-0.232929,0.003671
2,2,30720,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
2,2,30720,29,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000041
2,2,30720,29,gripper,0,"","put bread on newspaper",-0.083225,0.065253,0.937317,0.069305,-0.677938,-0.149315,0.716450
2,2,30720,30,obj,0,"003_bread_1","put bread on newspaper",-0.085476,-0.075518,0.883544,0.924574,0.006456,-0.010890,0.380791
2,2,30720,30,obj,1,"005_7up can_1","put bread on newspaper",-0.050747,0.079977,0.904479,0.830678,0.044042,-0.064499,0.551247
2,2,30720,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
2,2,30720,30,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,-0.044998,0.870448,1.000000,-0.000374,-0.000373,-0.000099
2,2,30720,30,gripper,0,"","put bread on newspaper",-0.050508,0.052942,0.945066,0.335161,-0.618152,-0.076349,0.706913
2,2,30720,31,obj,0,"003_bread_1","put bread on newspaper",-0.225956,0.088224,0.883544,0.185139,0.012643,-0.000533,0.982631
2,2,30720,31,obj,1,"005_7up can_1","put bread on newspaper",-0.209515,-0.060181,0.887564,0.684306,0.144615,-0.115768,0.705272
2,2,30720,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235016,-0.074997,0.869489,0.999999,0.000544,0.001420,-0.000399
2,2,30720,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
2,2,30720,31,gripper,0,"","put bread on newspaper",-0.139271,0.036059,1.024710,0.060095,-0.697455,0.091267,0.708248
2,2,30720,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.245331,-0.080195,0.887378,0.995432,-0.000947,0.037408,-0.087832
2,2,30720,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.085007,-0.075437,0.878547,0.999909,0.013300,0.002055,0.000424
2,2,30720,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
2,2,30720,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
2,2,30720,32,gripper,0,"","put carrot on flat bowl",-0.195389,0.018399,0.985512,-0.185683,-0.678092,-0.222345,0.675482
2,2,30720,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.256638,-0.048322,0.887529,0.957349,0.012358,0.041416,-0.285682
2,2,30720,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,0.074515,0.878547,0.999909,0.013306,0.002055,0.000547
2,2,30720,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,2,30720,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
2,2,30720,33,gripper,0,"","put carrot on flat bowl",-0.197001,-0.070981,0.994322,-0.333867,-0.503585,-0.410852,0.682741
2,2,30720,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208805,-0.070592,0.887631,0.912180,-0.018526,0.041493,0.407261
2,2,30720,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011509,0.006993,0.383052
2,2,30720,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,2,30720,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
2,2,30720,34,gripper,0,"","put carrot on flat bowl",-0.053816,-0.043923,1.000178,-0.063139,-0.700715,-0.025062,0.710200
2,2,30720,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088470,-0.039142,0.887472,0.996770,-0.002638,0.022242,0.077120
2,2,30720,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.114998,0.074566,0.878547,0.999910,0.013285,0.002052,0.000309
2,2,30720,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.045001,0.871345,0.999999,-0.000158,0.001163,-0.000003
2,2,30720,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
2,2,30720,35,gripper,0,"","put carrot on flat bowl",-0.158540,-0.094651,0.986630,-0.412934,-0.529698,-0.332658,0.662000
2,2,30720,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236378,0.075817,0.887270,0.996909,0.004514,0.033616,0.070863
2,2,30720,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084993,-0.075439,0.878547,0.999909,0.013300,0.002050,0.000315
2,2,30720,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000016
2,2,30720,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,-0.000001,0.000000
2,2,30720,36,gripper,0,"","put banana on sheet metal",-0.101087,-0.043903,0.991262,-0.469312,-0.490536,-0.236181,0.695226
2,2,30720,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.090101,0.068939,0.887482,0.361289,-0.030957,0.011721,0.931866
2,2,30720,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204695,0.075317,0.878547,0.382300,0.003193,0.013082,0.923940
2,2,30720,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
2,2,30720,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
2,2,30720,37,gripper,0,"","put banana on sheet metal",-0.154854,0.088057,0.993063,0.054151,-0.711574,0.050324,0.698712
2,2,30720,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242535,-0.076279,0.887465,0.957368,-0.007577,0.024315,0.287746
2,2,30720,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011509,0.006993,0.383052
2,2,30720,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,2,30720,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
2,2,30720,38,gripper,0,"","put banana on sheet metal",-0.192183,0.070293,0.954822,-0.117256,-0.765391,-0.047257,0.631026
2,2,30720,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092281,0.073701,0.887491,0.753248,-0.021251,0.024469,0.656937
2,2,30720,39,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007966,0.010887,0.707296
2,2,30720,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
2,2,30720,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
2,2,30720,39,gripper,0,"","put banana on sheet metal",-0.175152,-0.054509,0.999824,-0.197816,-0.526539,-0.286831,0.775470
2,2,30720,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087318,0.080017,0.887528,0.996168,-0.003264,0.043068,0.076053
2,2,30720,40,obj,1,"013_banana_1","put banana on flat bowl",-0.205009,-0.075438,0.878547,0.999910,0.013285,0.002043,-0.000234
2,2,30720,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075026,0.871344,0.999999,-0.000158,0.001164,-0.000088
2,2,30720,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000005
2,2,30720,40,gripper,0,"","put banana on flat bowl",-0.179173,-0.053308,0.967703,-0.154246,-0.693440,-0.094381,0.697453
2,2,30720,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091896,0.080746,0.887091,0.917644,-0.020425,0.019122,0.396417
2,2,30720,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,0.074686,0.878547,0.923977,0.011546,0.006999,0.382210
2,2,30720,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
2,2,30720,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000001
2,2,30720,41,gripper,0,"","put banana on flat bowl",-0.202684,0.085653,0.982471,-0.098934,-0.703822,-0.157671,0.685555
2,2,30720,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207771,-0.069273,0.887494,0.996809,-0.003333,0.038919,0.069619
2,2,30720,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075436,0.878547,0.999910,0.013264,0.002045,-0.000548
2,2,30720,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
2,2,30720,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
2,2,30720,42,gripper,0,"","put banana on flat bowl",-0.128700,0.052867,0.998376,-0.154873,-0.656413,-0.189373,0.713635
2,2,30720,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
2,2,30720,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204994,-0.045435,0.878547,0.999909,0.013295,0.002045,-0.000404
2,2,30720,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
2,2,30720,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
2,2,30720,43,gripper,0,"","put banana on flat bowl",-0.087515,-0.025663,1.011645,-0.302973,-0.554102,-0.315678,0.708185
2,2,30720,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.239764,0.079161,0.887550,0.912883,-0.010242,0.028308,0.407109
2,2,30720,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.114684,0.044689,0.878547,0.923614,0.011475,0.006976,0.383088
2,2,30720,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
2,2,30720,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000003
2,2,30720,44,gripper,0,"","put carrot on sheet metal",-0.208314,0.072911,1.005761,-0.084625,-0.709008,-0.081762,0.695313
2,2,30720,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087862,-0.073347,0.887471,0.996757,-0.000530,0.020912,0.077703
2,2,30720,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204987,0.074518,0.878548,0.999909,0.013341,0.002061,0.000302
2,2,30720,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
2,2,30720,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
2,2,30720,45,gripper,0,"","put carrot on sheet metal",-0.033092,0.069436,0.983736,0.154194,-0.730775,0.005181,0.664955
2,2,30720,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088287,-0.068514,0.887297,0.996871,0.003843,0.034530,0.070996
2,2,30720,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
2,2,30720,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
2,2,30720,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
2,2,30720,46,gripper,0,"","put carrot on sheet metal",-0.033258,0.064672,0.996383,0.215614,-0.751829,0.082701,0.617596
2,2,30720,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240082,0.078983,0.887531,0.915292,-0.003876,0.017420,0.402395
2,2,30720,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
2,2,30720,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
2,2,30720,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000287
2,2,30720,47,gripper,0,"","put carrot on sheet metal",-0.043045,-0.062639,0.993757,-0.042176,-0.688649,-0.153786,0.707343
2,2,30720,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.118996,0.095371,0.888138,0.683914,-0.028149,-0.007706,0.728979
2,2,30720,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.236336,0.104488,0.889773,0.025176,-0.717521,0.695488,0.028734
2,2,30720,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000015
2,2,30720,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204987,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000046
2,2,30720,48,gripper,0,"","put hamburger on cutting board",-0.122204,0.095352,0.941134,-0.020880,-0.720341,-0.014506,0.693154
2,2,30720,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086109,0.076015,0.888112,0.710550,-0.026859,-0.006080,0.703107
2,2,30720,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085243,-0.045177,0.887026,0.495504,-0.515519,0.487778,0.500789
2,2,30720,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
2,2,30720,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
2,2,30720,49,gripper,0,"","put hamburger on cutting board",-0.017431,-0.046127,0.972055,-0.004395,-0.686144,0.032107,0.726744
2,2,30720,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084927,-0.045372,0.890487,0.524910,-0.025266,-0.009753,0.850727
2,2,30720,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235748,0.104263,0.887026,0.497461,-0.513605,0.489793,0.498844
2,2,30720,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
2,2,30720,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084988,-0.074936,0.870870,1.000000,0.000000,-0.000000,-0.000063
2,2,30720,50,gripper,0,"","put hamburger on cutting board",-0.114422,0.002752,1.033040,-0.070148,-0.740252,-0.077735,0.664126
2,2,30720,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205961,-0.074383,0.888112,0.713260,-0.026884,-0.005979,0.700358
2,2,30720,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.211979,0.115211,0.887026,0.449534,-0.556425,0.440545,0.542430
2,2,30720,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
2,2,30720,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
2,2,30720,51,gripper,0,"","put hamburger on cutting board",-0.036549,-0.063684,1.001917,-0.204873,-0.704561,-0.150791,0.662482
2,2,30720,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206059,0.074791,0.888112,0.389637,-0.022532,-0.015821,0.920557
2,2,30720,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.257796,-0.028648,0.887026,0.262117,-0.664492,0.249277,0.653916
2,2,30720,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
2,2,30720,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114968,-0.074818,0.870870,0.999999,-0.000000,-0.000001,0.001072
2,2,30720,52,gripper,0,"","put plastic bottle on frying pan",-0.101782,-0.080721,0.935415,-0.163817,-0.683075,-0.151355,0.695460
2,2,30720,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204315,0.076099,0.888112,0.999350,-0.023023,0.015112,-0.023274
2,2,30720,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.070112,-0.078571,0.887829,0.804966,0.006700,0.593216,-0.008942
2,2,30720,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000329
2,2,30720,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
2,2,30720,53,gripper,0,"","put plastic bottle on frying pan",-0.055595,-0.081915,0.948366,-0.157130,-0.638539,-0.191727,0.728573
2,2,30720,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116116,-0.045273,0.888112,0.385340,-0.022456,-0.015950,0.922364
2,2,30720,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926623,0.366099,-0.071020
2,2,30720,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
2,2,30720,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
2,2,30720,54,gripper,0,"","put plastic bottle on frying pan",-0.090469,-0.055382,0.983307,-0.116477,-0.724454,-0.105099,0.671233
2,2,30720,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235226,0.076099,0.888112,0.924834,-0.027151,0.004609,0.379373
2,2,30720,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.063751,0.099216,0.887027,0.647828,-0.293381,0.646230,0.276826
2,2,30720,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
2,2,30720,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
2,2,30720,55,gripper,0,"","put plastic bottle on frying pan",-0.068462,0.037073,0.912591,0.465175,-0.479280,0.115507,0.735229
2,2,30720,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236122,-0.075161,0.888112,0.432258,-0.023246,-0.014766,0.901329
2,2,30720,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256775,0.094524,0.887026,0.266761,-0.662699,0.253997,0.652038
2,2,30720,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
2,2,30720,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000004
2,2,30720,56,gripper,0,"","put plastic bottle on cutting board",-0.241543,0.094885,0.952251,-0.028107,-0.683608,-0.091265,0.723575
2,2,30720,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116108,0.044735,0.888112,0.385407,-0.022456,-0.015948,0.922336
2,2,30720,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.051140,-0.042866,0.925749,0.203339,-0.644316,0.280240,0.681891
2,2,30720,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
2,2,30720,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204277,-0.046509,0.870870,0.999929,0.000001,0.000001,-0.011889
2,2,30720,57,gripper,0,"","put plastic bottle on cutting board",-0.071493,-0.040203,0.975976,-0.411832,-0.629414,-0.167429,0.637338
2,2,30720,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235229,-0.073895,0.888112,0.925090,-0.027149,0.004628,0.378747
2,2,30720,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.051136,0.041550,0.907651,0.026410,-0.682917,0.729444,0.028956
2,2,30720,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
2,2,30720,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085030,-0.074982,0.870870,1.000000,-0.000000,-0.000001,-0.000026
2,2,30720,58,gripper,0,"","put plastic bottle on cutting board",-0.066502,0.039930,0.936266,0.051672,-0.766156,0.005805,0.640547
2,2,30720,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205162,-0.073921,0.888112,0.942753,-0.026886,0.005968,0.332353
2,2,30720,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.083149,-0.060040,0.887026,0.636275,-0.318956,0.633961,0.302513
2,2,30720,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
2,2,30720,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204992,0.074993,0.870870,1.000000,0.000002,0.000002,0.000004
2,2,30720,59,gripper,0,"","put plastic bottle on cutting board",-0.042117,-0.038586,0.946556,0.252766,-0.556922,0.155071,0.775822
2,2,30720,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085810,-0.075123,0.888112,0.382757,-0.022408,-0.016011,0.923438
2,2,30720,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.123577,0.122501,0.887027,0.016617,-0.709709,0.000889,0.704299
2,2,30720,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
2,2,30720,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204096,0.076237,0.870870,0.999261,0.000000,-0.000000,0.038442
2,2,30720,60,gripper,0,"","put hamburger on frying pan",-0.076803,-0.054255,0.995816,0.036553,-0.674190,0.016791,0.737462
2,2,30720,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.067066,-0.052502,0.888113,0.901584,-0.027374,0.003047,0.431726
2,2,30720,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215014,-0.053391,0.887026,0.648737,-0.291255,0.647187,0.274699
2,2,30720,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
2,2,30720,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
2,2,30720,61,gripper,0,"","put hamburger on frying pan",-0.150693,-0.043282,0.978376,0.200415,-0.625444,0.279945,0.700203
2,2,30720,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.076771,0.100006,0.890496,0.997993,-0.024989,0.016528,-0.055797
2,2,30720,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.207298,-0.041134,0.887026,0.702768,-0.065494,0.706678,0.049331
2,2,30720,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.116817,-0.044994,0.872199,0.989805,-0.000001,-0.000001,0.142432
2,2,30720,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
2,2,30720,62,gripper,0,"","put hamburger on frying pan",-0.191441,-0.052258,0.948125,-0.067044,-0.720895,-0.056637,0.687465
2,2,30720,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115692,-0.040928,0.888112,0.913892,-0.027270,0.003851,0.405022
2,2,30720,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.195038,-0.025631,0.892072,0.020651,-0.745196,0.665865,0.029673
2,2,30720,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
2,2,30720,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.239990,-0.070698,0.870871,0.999131,-0.000002,0.000009,0.041683
2,2,30720,63,gripper,0,"","put hamburger on frying pan",-0.088190,-0.035652,0.973672,-0.010015,-0.721357,0.013495,0.692360
2,3,35840,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.163879,0.159004,0.931108,0.195149,0.654283,-0.724162,0.097058
2,3,35840,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.077805,-0.017250,0.888695,0.629788,-0.022769,0.029201,0.775884
2,3,35840,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235207,0.074982,0.869532,1.000000,0.000000,-0.000001,0.000113
2,3,35840,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114983,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000053
2,3,35840,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.155567,0.156116,0.975695,0.058629,-0.660898,0.026442,0.747715
2,3,35840,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.213123,0.095253,0.884978,-0.514874,0.473169,-0.447038,-0.557829
2,3,35840,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085110,0.074020,0.881638,0.706906,0.024481,-0.030796,0.706212
2,3,35840,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234997,0.075005,0.869532,1.000000,-0.000000,-0.000001,-0.000125
2,3,35840,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000154,-0.001019,-0.000040
2,3,35840,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.235077,0.004208,0.979795,0.002127,-0.701427,-0.047633,0.711144
2,3,35840,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085743,0.036690,0.885210,0.211393,0.623097,-0.730825,0.181540
2,3,35840,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083805,-0.075966,0.881637,0.708631,0.024404,-0.030855,0.704482
2,3,35840,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115009,0.045006,0.869532,1.000000,0.000000,-0.000001,-0.000064
2,3,35840,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234264,0.073799,0.871288,0.999946,-0.000143,-0.001021,0.010343
2,3,35840,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.250811,0.019073,0.937882,0.013563,-0.659410,-0.050320,0.749975
2,3,35840,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.136646,-0.031319,0.879123,-0.727845,-0.076774,-0.677158,0.076192
2,3,35840,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.172112,0.062431,0.881637,0.977934,-0.014956,0.055535,0.200843
2,3,35840,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000038
2,3,35840,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
2,3,35840,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.199391,0.031612,0.971610,0.022156,-0.699998,0.059793,0.711292
2,3,35840,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.186556,0.086876,0.879212,-0.277164,-0.084048,0.956805,-0.025293
2,3,35840,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.201527,-0.045090,0.881637,0.996575,-0.000055,0.057518,-0.059405
2,3,35840,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
2,3,35840,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114991,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000006
2,3,35840,4,gripper,0,"","put kitchen shovel on cloth",-0.217884,0.044464,0.913162,-0.023496,-0.719194,-0.018171,0.694175
2,3,35840,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.135256,0.089394,0.886823,-0.590352,0.363194,0.292858,0.658642
2,3,35840,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085747,-0.075546,0.881638,0.923083,0.010872,-0.037840,0.382580
2,3,35840,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.079113,0.077751,0.869532,0.999698,0.000001,-0.000001,-0.024568
2,3,35840,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.191301,0.071342,0.871232,0.987964,0.000449,0.000240,0.154683
2,3,35840,5,gripper,0,"","put kitchen shovel on cloth",-0.258954,-0.027065,0.927584,-0.010712,-0.720740,-0.042300,0.691831
2,3,35840,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085041,-0.084686,0.879089,0.626314,0.326428,-0.328229,0.627250
2,3,35840,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.129482,-0.207390,0.881638,0.267788,0.036495,-0.014764,0.962673
2,3,35840,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114990,0.044983,0.869532,1.000000,0.000001,-0.000001,0.000255
2,3,35840,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.292408,0.162575,0.871288,0.800581,-0.000732,-0.000724,-0.599224
2,3,35840,6,gripper,0,"","put kitchen shovel on cloth",-0.274733,-0.124886,0.952466,-0.034004,-0.711198,-0.132600,0.689535
2,3,35840,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.197159,-0.056229,0.885118,0.304441,0.677483,-0.371139,0.557304
2,3,35840,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
2,3,35840,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204735,-0.075523,0.869532,0.999961,0.000001,-0.000001,0.008853
2,3,35840,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235260,0.044968,0.871210,0.999982,-0.003916,-0.004121,-0.001804
2,3,35840,7,gripper,0,"","put kitchen shovel on cloth",-0.296358,-0.123505,0.914866,-0.196184,-0.609021,-0.145627,0.754585
2,3,35840,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067207,0.012955,0.881720,0.524602,-0.306486,0.315719,0.728821
2,3,35840,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.199684,-0.119320,0.881638,0.042520,0.038879,-0.006102,0.998320
2,3,35840,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.113434,-0.045368,0.869532,0.999936,0.000000,-0.000001,0.011335
2,3,35840,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001020,-0.000071
2,3,35840,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.240452,-0.222105,1.007641,-0.215564,-0.637504,-0.145082,0.725308
2,3,35840,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078060,0.068161,0.879089,0.338010,0.427427,-0.178082,0.819354
2,3,35840,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.188831,-0.097389,0.883434,0.545426,0.002041,-0.017488,0.837974
2,3,35840,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.227283,0.089081,0.869532,0.984693,-0.000000,-0.000002,0.174296
2,3,35840,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.106789,-0.040043,0.871288,0.998155,-0.000096,-0.001027,0.060700
2,3,35840,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.260166,-0.121803,0.922694,-0.192519,-0.731354,-0.098810,0.646757
2,3,35840,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.045330,0.103073,0.884977,0.584870,-0.409084,0.506533,0.483738
2,3,35840,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.102509,-0.071339,0.888995,0.633638,-0.069876,-0.003390,0.770460
2,3,35840,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085011,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000247
2,3,35840,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000032
2,3,35840,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.159025,0.008711,1.085856,0.156210,-0.794555,0.036325,0.585629
2,3,35840,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.162285,-0.014927,0.885083,0.656084,0.309800,-0.342959,0.596621
2,3,35840,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234877,0.074909,0.881638,0.709468,0.024386,-0.030900,0.703637
2,3,35840,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205082,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000520
2,3,35840,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084953,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000104
2,3,35840,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.170498,0.085907,0.987051,0.021192,-0.705726,-0.041759,0.706935
2,3,35840,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.019694,0.132416,0.879704,0.383741,-0.525356,0.708319,0.273912
2,3,35840,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085952,-0.074886,0.881638,0.999225,-0.004452,-0.039118,-0.000205
2,3,35840,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,-0.075001,0.869532,1.000000,-0.000000,-0.000001,-0.000000
2,3,35840,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.229345,0.068146,0.871288,0.997899,-0.000087,-0.001027,0.064780
2,3,35840,12,gripper,0,"","put ketchup bottle on cloth",-0.042116,0.101093,0.952695,0.205726,-0.671443,-0.149667,0.696018
2,3,35840,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200174,0.081367,0.879089,0.820502,0.173689,-0.428565,0.336067
2,3,35840,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085737,0.074409,0.881638,0.923155,0.010864,-0.037846,0.382406
2,3,35840,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
2,3,35840,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044956,0.871288,0.999999,-0.000153,-0.001018,0.000051
2,3,35840,13,gripper,0,"","put ketchup bottle on cloth",-0.216865,0.074869,0.937153,-0.011309,-0.655682,-0.155039,0.738861
2,3,35840,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.179287,0.056110,0.885369,0.704952,-0.184730,0.208084,0.652394
2,3,35840,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084530,0.074337,0.883239,0.707382,0.035187,-0.002556,0.705950
2,3,35840,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204948,0.044960,0.869532,1.000000,0.000000,-0.000001,-0.000716
2,3,35840,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.239971,-0.078045,0.871288,0.999999,-0.000153,-0.001019,0.001299
2,3,35840,14,gripper,0,"","put ketchup bottle on cloth",-0.138712,0.033934,1.120606,0.039547,-0.855372,0.067516,0.512070
2,3,35840,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.197224,0.011806,0.879870,-0.225344,0.684081,-0.652488,-0.235611
2,3,35840,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234398,-0.075768,0.881638,0.382501,0.034429,-0.019079,0.923116
2,3,35840,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.228107,0.075417,0.874330,0.992253,0.044002,-0.068328,0.093963
2,3,35840,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
2,3,35840,15,gripper,0,"","put ketchup bottle on cloth",-0.259180,0.031675,0.916328,0.083453,-0.743830,0.030437,0.662439
2,3,35840,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.085136,-0.075550,0.883544,0.708934,0.010121,-0.007597,0.705161
2,3,35840,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.154373,0.077732,0.886575,0.618105,0.090055,-0.044521,0.779650
2,3,35840,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204964,0.075016,0.869489,0.999999,0.000546,0.001415,0.000270
2,3,35840,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.074993,0.870420,0.999982,-0.000198,-0.000804,0.005997
2,3,35840,16,gripper,0,"","put 7up can on newspaper",-0.148899,0.057888,1.116359,-0.103064,-0.752710,-0.088612,0.644169
2,3,35840,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.232914,0.081898,0.883544,0.998649,0.002453,-0.012423,0.050391
2,3,35840,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092609,-0.074829,0.885627,0.972472,-0.005043,-0.232961,0.001249
2,3,35840,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000018
2,3,35840,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
2,3,35840,17,gripper,0,"","put 7up can on newspaper",-0.141453,0.035305,0.948565,0.073208,-0.719890,-0.012683,0.690100
2,3,35840,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.076038,-0.080956,0.883544,0.810079,0.008824,-0.009081,0.586184
2,3,35840,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.215969,0.008480,0.885659,-0.852926,0.150967,-0.326944,-0.377934
2,3,35840,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000025
2,3,35840,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085285,0.076035,0.870448,0.999999,-0.000822,-0.000759,-0.000981
2,3,35840,18,gripper,0,"","put 7up can on newspaper",-0.070332,-0.076710,0.940471,-0.151198,-0.697530,-0.128251,0.688580
2,3,35840,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.225443,0.055721,0.883544,0.643472,0.010760,-0.006673,0.765365
2,3,35840,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.180315,-0.059769,0.888591,0.646443,-0.259809,0.247484,0.673322
2,3,35840,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115854,0.075939,0.869490,0.999988,0.000184,0.000874,-0.004765
2,3,35840,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205065,-0.074802,0.870448,0.999996,-0.000124,-0.000158,0.002722
2,3,35840,19,gripper,0,"","put 7up can on newspaper",-0.203615,0.043114,0.973615,0.182131,-0.679286,0.052105,0.709002
2,3,35840,20,obj,0,"003_bread_1","put 7up can on carpet",-0.065863,0.072685,0.886475,0.763094,0.013327,-0.005860,0.646123
2,3,35840,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.118914,-0.063007,0.885946,-0.342938,0.608209,-0.633380,-0.333624
2,3,35840,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
2,3,35840,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.084777,0.075432,0.870461,1.000000,0.000018,-0.000158,-0.000052
2,3,35840,20,gripper,0,"","put 7up can on carpet",-0.121052,-0.091820,0.954369,-0.082024,-0.699278,-0.094204,0.703852
2,3,35840,21,obj,0,"003_bread_1","put 7up can on carpet",-0.205120,0.074528,0.883545,0.705106,0.010166,-0.007539,0.708989
2,3,35840,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.076353,0.054977,0.885675,0.421923,0.324181,-0.161280,0.831190
2,3,35840,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114983,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000029
2,3,35840,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000000
2,3,35840,21,gripper,0,"","put 7up can on carpet",-0.094025,-0.071058,0.950166,-0.277789,-0.647151,-0.240195,0.668083
2,3,35840,22,obj,0,"003_bread_1","put 7up can on carpet",-0.249542,-0.052540,0.883544,0.896462,0.007182,-0.010418,0.442940
2,3,35840,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.090523,0.069725,0.885627,0.897916,0.084514,-0.217118,0.373448
2,3,35840,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
2,3,35840,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000079
2,3,35840,22,gripper,0,"","put 7up can on carpet",-0.181034,0.032459,1.006140,0.134317,-0.658930,0.113099,0.731422
2,3,35840,23,obj,0,"003_bread_1","put 7up can on carpet",-0.169704,0.049732,0.883544,0.991304,0.000161,-0.012656,-0.130979
2,3,35840,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.125263,-0.045853,0.885675,0.931648,0.014585,-0.361827,0.030021
2,3,35840,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
2,3,35840,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
2,3,35840,23,gripper,0,"","put 7up can on carpet",-0.130802,0.039032,0.939493,-0.133351,-0.720460,-0.086639,0.675017
2,3,35840,24,obj,0,"003_bread_1","put bread on newspaper",-0.085556,0.075121,0.883544,0.999917,0.001789,-0.012532,-0.002391
2,3,35840,24,obj,1,"005_7up can_1","put bread on newspaper",-0.244301,-0.074831,0.885636,0.958611,-0.005254,-0.284669,0.000551
2,3,35840,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.205238,0.045107,0.869489,0.999999,0.000548,0.001425,-0.000179
2,3,35840,24,recep,1,"003_carpet_1","put bread on newspaper",-0.115158,-0.044849,0.871111,0.999983,0.000058,0.005813,0.000527
2,3,35840,24,gripper,0,"","put bread on newspaper",-0.039185,-0.026298,0.927138,0.204574,-0.593135,-0.188362,0.755553
2,3,35840,25,obj,0,"003_bread_1","put bread on newspaper",-0.063564,0.062458,0.883544,0.317108,0.012458,-0.002245,0.948305
2,3,35840,25,obj,1,"005_7up can_1","put bread on newspaper",-0.199772,-0.080505,0.885627,0.371249,0.213239,-0.093855,0.898829
2,3,35840,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
2,3,35840,25,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000068
2,3,35840,25,gripper,0,"","put bread on newspaper",-0.063282,0.066791,0.962776,-0.022525,-0.761394,-0.029331,0.647234
2,3,35840,26,obj,0,"003_bread_1","put bread on newspaper",-0.115479,0.074488,0.883544,0.924683,0.006454,-0.010889,0.380527
2,3,35840,26,obj,1,"005_7up can_1","put bread on newspaper",-0.169891,0.040249,0.887714,0.083865,-0.691085,0.706847,0.125440
2,3,35840,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
2,3,35840,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.045008,0.870460,1.000000,0.000019,-0.000158,0.000131
2,3,35840,26,gripper,0,"","put bread on newspaper",-0.033403,0.034330,0.994042,0.118039,-0.741187,0.086810,0.655113
2,3,35840,27,obj,0,"003_bread_1","put bread on newspaper",-0.090731,-0.009350,0.883544,0.853449,0.008084,-0.009747,0.521023
2,3,35840,27,obj,1,"005_7up can_1","put bread on newspaper",-0.132231,0.088488,0.885830,0.553679,-0.441588,0.529756,0.466688
2,3,35840,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204910,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000001
2,3,35840,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000068
2,3,35840,27,gripper,0,"","put bread on newspaper",-0.078318,-0.008858,0.981460,-0.058936,-0.739399,-0.016501,0.670480
2,3,35840,28,obj,0,"003_bread_1","put bread on carpet",-0.066715,-0.065804,0.883544,0.995646,0.002970,-0.012304,0.092345
2,3,35840,28,obj,1,"005_7up can_1","put bread on carpet",-0.077811,0.109341,0.885987,0.119791,-0.650473,0.743619,0.097806
2,3,35840,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.045002,0.869489,1.000000,0.000180,0.000875,-0.000004
2,3,35840,28,recep,1,"003_carpet_1","put bread on carpet",-0.235000,-0.075001,0.870461,1.000000,0.000018,-0.000158,-0.000000
2,3,35840,28,gripper,0,"","put bread on carpet",-0.115046,-0.059140,0.993264,-0.096803,-0.743067,-0.058231,0.659613
2,3,35840,29,obj,0,"003_bread_1","put bread on carpet",-0.079693,0.090267,0.883544,0.993092,0.000349,-0.012655,-0.116650
2,3,35840,29,obj,1,"005_7up can_1","put bread on carpet",-0.242556,-0.074718,0.885627,0.972467,-0.004466,-0.232971,0.003656
2,3,35840,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
2,3,35840,29,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
2,3,35840,29,gripper,0,"","put bread on carpet",-0.058927,-0.059006,1.002002,-0.154457,-0.689896,-0.077850,0.702941
2,3,35840,30,obj,0,"003_bread_1","put bread on carpet",-0.085476,-0.075518,0.883544,0.924685,0.006453,-0.010892,0.380521
2,3,35840,30,obj,1,"005_7up can_1","put bread on carpet",-0.172565,-0.023180,0.888573,0.647061,0.289092,-0.277348,0.648704
2,3,35840,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
2,3,35840,30,recep,1,"003_carpet_1","put bread on carpet",-0.205006,-0.044880,0.870448,1.000000,-0.000370,-0.000369,-0.000342
2,3,35840,30,gripper,0,"","put bread on carpet",-0.079084,-0.016238,1.001516,-0.020855,-0.710914,0.038024,0.701941
2,3,35840,31,obj,0,"003_bread_1","put bread on carpet",-0.225956,0.088224,0.883544,0.185256,0.012644,-0.000535,0.982609
2,3,35840,31,obj,1,"005_7up can_1","put bread on carpet",-0.209499,-0.057865,0.887563,0.692235,0.093326,-0.063622,0.712779
2,3,35840,31,recep,0,"004_newspaper_1","put bread on carpet",-0.235023,-0.075022,0.869490,0.999997,0.000556,0.001427,-0.001851
2,3,35840,31,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
2,3,35840,31,gripper,0,"","put bread on carpet",-0.178028,-0.043055,0.983888,0.120765,-0.729021,0.113686,0.664093
2,3,35840,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.248085,-0.073533,0.887361,0.997304,-0.002071,0.036919,-0.063374
2,3,35840,32,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075436,0.878547,0.999910,0.013266,0.002053,0.000424
2,3,35840,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
2,3,35840,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
2,3,35840,32,gripper,0,"","put banana on sheet metal",-0.125164,-0.024236,1.001969,-0.425478,-0.666193,-0.236861,0.564847
2,3,35840,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.256638,-0.048322,0.887529,0.957349,0.012358,0.041415,-0.285682
2,3,35840,33,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,0.074515,0.878547,0.999909,0.013287,0.002053,0.000547
2,3,35840,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,3,35840,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
2,3,35840,33,gripper,0,"","put banana on sheet metal",-0.213446,-0.037062,0.968486,-0.099097,-0.692499,-0.011848,0.714482
2,3,35840,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.211666,-0.069187,0.887529,0.916858,-0.016602,0.038650,0.396992
2,3,35840,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,0.074693,0.878547,0.923628,0.011522,0.007000,0.383052
2,3,35840,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,3,35840,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
2,3,35840,34,gripper,0,"","put banana on sheet metal",-0.175175,0.072279,0.992527,0.127815,-0.680547,0.087434,0.716152
2,3,35840,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089052,-0.037164,0.887501,0.997329,-0.003359,0.022210,0.069506
2,3,35840,35,obj,1,"013_banana_1","put banana on sheet metal",-0.114998,0.074566,0.878547,0.999910,0.013283,0.002051,0.000312
2,3,35840,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.045001,0.871345,0.999999,-0.000157,0.001164,-0.000003
2,3,35840,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
2,3,35840,35,gripper,0,"","put banana on sheet metal",-0.106223,0.033045,1.006618,0.035384,-0.720592,-0.017619,0.692232
2,3,35840,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236773,0.076512,0.887359,0.996867,0.001987,0.036823,0.069976
2,3,35840,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084993,-0.075440,0.878547,0.999909,0.013328,0.002052,0.000315
2,3,35840,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000016
2,3,35840,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000001
2,3,35840,36,gripper,0,"","put banana on flat bowl",-0.043610,-0.052187,0.995297,0.232318,-0.756880,0.212932,0.572556
2,3,35840,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091856,0.066063,0.887500,0.370866,-0.038765,0.016353,0.927733
2,3,35840,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204695,0.075316,0.878547,0.382301,0.003186,0.013061,0.923940
2,3,35840,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
2,3,35840,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
2,3,35840,37,gripper,0,"","put banana on flat bowl",-0.147633,0.074092,0.985087,0.040940,-0.700569,-0.013042,0.712289
2,3,35840,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244831,-0.076548,0.887230,0.963793,-0.015902,0.028544,0.264641
2,3,35840,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.074693,0.878547,0.923628,0.011522,0.007000,0.383052
2,3,35840,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,3,35840,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
2,3,35840,38,gripper,0,"","put banana on flat bowl",-0.188051,0.015283,1.022832,-0.345825,-0.516400,-0.385583,0.681955
2,3,35840,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096317,0.072788,0.887512,0.762621,-0.017192,0.017400,0.646383
2,3,35840,39,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007953,0.010872,0.707296
2,3,35840,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
2,3,35840,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
2,3,35840,39,gripper,0,"","put banana on flat bowl",-0.201736,-0.070860,0.991887,-0.022464,-0.616020,-0.055867,0.785426
2,3,35840,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088364,0.080353,0.887277,0.997028,0.004195,0.030947,0.070419
2,3,35840,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.205002,-0.075439,0.878547,0.999910,0.013285,0.002038,-0.000576
2,3,35840,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075041,0.871344,0.999999,-0.000157,0.001164,-0.000123
2,3,35840,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000006
2,3,35840,40,gripper,0,"","put carrot on sheet metal",-0.095455,0.087950,0.995373,-0.211028,-0.678248,-0.163647,0.684592
2,3,35840,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095116,0.082588,0.887537,0.922637,-0.012573,0.024377,0.384693
2,3,35840,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234669,0.074686,0.878547,0.924154,0.011545,0.006992,0.381781
2,3,35840,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
2,3,35840,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874362,1.000000,-0.000000,0.000000,0.000001
2,3,35840,41,gripper,0,"","put carrot on sheet metal",-0.063190,-0.034281,0.992084,-0.310148,-0.659533,-0.183744,0.659593
2,3,35840,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208553,-0.068863,0.887566,0.996953,-0.000008,0.033110,0.070628
2,3,35840,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075439,0.878546,0.999910,0.013255,0.002040,-0.000897
2,3,35840,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
2,3,35840,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
2,3,35840,42,gripper,0,"","put carrot on sheet metal",-0.200499,-0.036567,0.982703,-0.102367,-0.720727,0.014980,0.685456
2,3,35840,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
2,3,35840,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.045437,0.878547,0.999910,0.013272,0.002038,-0.000763
2,3,35840,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
2,3,35840,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
2,3,35840,43,gripper,0,"","put carrot on sheet metal",-0.064509,0.088107,0.974997,-0.080330,-0.686701,-0.023165,0.722116
2,3,35840,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242436,0.080345,0.887462,0.917912,-0.010507,0.024307,0.395900
2,3,35840,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.114684,0.044689,0.878547,0.923614,0.011484,0.006980,0.383088
2,3,35840,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
2,3,35840,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000005
2,3,35840,44,gripper,0,"","put carrot on flat bowl",-0.175099,0.070837,1.024248,-0.083462,-0.658489,-0.109723,0.739856
2,3,35840,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088243,-0.072742,0.887320,0.996964,-0.006106,0.025167,0.073436
2,3,35840,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204987,0.074518,0.878548,0.999909,0.013343,0.002060,0.000232
2,3,35840,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
2,3,35840,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
2,3,35840,45,gripper,0,"","put carrot on flat bowl",-0.019392,0.092406,1.016375,0.284809,-0.677329,0.152055,0.661052
2,3,35840,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089172,-0.067060,0.887278,0.997105,-0.007902,0.028010,0.070241
2,3,35840,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
2,3,35840,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
2,3,35840,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
2,3,35840,46,gripper,0,"","put carrot on flat bowl",-0.028677,0.094576,0.979497,0.238989,-0.732133,0.142156,0.621818
2,3,35840,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243324,0.081636,0.887522,0.921629,-0.010574,0.028560,0.386874
2,3,35840,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
2,3,35840,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
2,3,35840,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000434
2,3,35840,47,gripper,0,"","put carrot on flat bowl",-0.043163,0.064651,1.034485,0.054923,-0.740680,0.006636,0.669577
2,3,35840,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.118942,0.095356,0.888112,0.690332,-0.026680,-0.006841,0.722968
2,3,35840,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.216873,0.072021,0.889792,-0.075093,-0.656617,0.749342,-0.041240
2,3,35840,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000015
2,3,35840,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,0.000000,0.000047
2,3,35840,48,gripper,0,"","put plastic bottle on frying pan",-0.201439,0.060410,0.966197,0.054676,-0.711643,0.019802,0.700130
2,3,35840,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086109,0.076015,0.888112,0.710793,-0.026864,-0.006072,0.702862
2,3,35840,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.083347,-0.012226,0.887027,0.371510,-0.611216,0.360699,0.598575
2,3,35840,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
2,3,35840,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
2,3,35840,49,gripper,0,"","put plastic bottle on frying pan",-0.122471,-0.024803,0.992698,-0.137964,-0.725058,-0.106622,0.666250
2,3,35840,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084930,-0.044754,0.890484,0.522281,-0.025220,-0.009825,0.852344
2,3,35840,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.201950,0.094711,0.887026,0.495208,-0.515806,0.487471,0.501085
2,3,35840,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
2,3,35840,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084988,-0.074936,0.870870,1.000000,-0.000000,-0.000000,0.000104
2,3,35840,50,gripper,0,"","put plastic bottle on frying pan",-0.180645,0.085564,0.960590,-0.037770,-0.725468,-0.055052,0.685009
2,3,35840,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205959,-0.074379,0.888112,0.713794,-0.026891,-0.005959,0.699814
2,3,35840,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.211979,0.115211,0.887026,0.449572,-0.556395,0.440584,0.542398
2,3,35840,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
2,3,35840,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082645,0.075394,0.870712,0.999972,0.002418,-0.002021,0.006779
2,3,35840,51,gripper,0,"","put plastic bottle on frying pan",-0.089931,0.075613,0.916677,-0.005228,-0.744801,-0.034821,0.666357
2,3,35840,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.195711,0.076405,0.888111,0.416128,-0.022977,-0.015184,0.908889
2,3,35840,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.257796,-0.028648,0.887026,0.262116,-0.664492,0.249278,0.653916
2,3,35840,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
2,3,35840,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114968,-0.074818,0.870870,0.999999,-0.000000,-0.000001,0.001073
2,3,35840,52,gripper,0,"","put plastic bottle on cutting board",-0.164194,0.074261,0.978697,0.096948,-0.705757,0.048863,0.700086
2,3,35840,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204313,0.076096,0.888112,0.999299,-0.022993,0.015159,-0.025344
2,3,35840,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064623,-0.078289,0.887026,0.704328,-0.000370,0.709708,-0.015367
2,3,35840,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000498
2,3,35840,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
2,3,35840,53,gripper,0,"","put plastic bottle on cutting board",-0.051998,-0.065626,0.972673,-0.128266,-0.705026,-0.109415,0.688850
2,3,35840,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116116,-0.045273,0.888112,0.383818,-0.022430,-0.015986,0.922998
2,3,35840,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.248024,0.115936,0.889774,0.012182,-0.929898,0.365828,0.036212
2,3,35840,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
2,3,35840,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
2,3,35840,54,gripper,0,"","put plastic bottle on cutting board",-0.208876,0.105997,0.998358,0.012248,-0.660205,-0.118753,0.741537
2,3,35840,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235226,0.076099,0.888112,0.924255,-0.027160,0.004567,0.380780
2,3,35840,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.166656,-0.004307,0.973711,0.456201,-0.493824,0.565361,0.477897
2,3,35840,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
2,3,35840,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
2,3,35840,55,gripper,0,"","put plastic bottle on cutting board",-0.159325,-0.004284,1.014046,0.039669,-0.679657,0.016101,0.732279
2,3,35840,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236115,-0.075138,0.888112,0.448404,-0.023508,-0.014352,0.893407
2,3,35840,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256775,0.094524,0.887026,0.266760,-0.662700,0.253996,0.652038
2,3,35840,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
2,3,35840,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000016
2,3,35840,56,gripper,0,"","put hamburger on frying pan",-0.082027,0.029272,0.982748,-0.173938,-0.711732,-0.176281,0.657349
2,3,35840,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116108,0.044735,0.888112,0.383927,-0.022432,-0.015985,0.922953
2,3,35840,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.054050,-0.044369,0.887027,0.246076,-0.670373,0.232981,0.660127
2,3,35840,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
2,3,35840,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204277,-0.046509,0.870870,0.999929,0.000000,0.000000,-0.011875
2,3,35840,57,gripper,0,"","put hamburger on frying pan",-0.087475,-0.068289,0.982438,-0.167306,-0.678005,-0.153839,0.699037
2,3,35840,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235233,-0.073895,0.888112,0.924570,-0.027156,0.004591,0.380016
2,3,35840,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.045231,0.030544,0.889773,0.027105,-0.667616,0.743526,0.026920
2,3,35840,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
2,3,35840,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085030,-0.074982,0.870870,1.000000,-0.000000,-0.000001,-0.000024
2,3,35840,58,gripper,0,"","put hamburger on frying pan",-0.195354,-0.044027,0.996954,-0.042860,-0.654158,-0.041456,0.754003
2,3,35840,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.215389,0.045528,0.893205,-0.092323,0.305694,-0.947446,-0.019316
2,3,35840,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.083149,-0.060040,0.887026,0.636237,-0.318995,0.633978,0.302517
2,3,35840,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000129
2,3,35840,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205004,0.074989,0.870870,1.000000,0.000004,0.000003,0.000030
2,3,35840,59,gripper,0,"","put hamburger on frying pan",-0.177031,-0.008831,0.984227,0.022059,-0.680492,0.055590,0.730310
2,3,35840,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.091615,-0.072697,0.888112,0.216312,-0.019284,-0.019666,0.975936
2,3,35840,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.123577,0.122501,0.887027,0.016617,-0.709708,0.000889,0.704300
2,3,35840,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
2,3,35840,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204096,0.076237,0.870870,0.999261,0.000000,-0.000000,0.038442
2,3,35840,60,gripper,0,"","put hamburger on cutting board",-0.127561,-0.059010,0.995744,-0.131008,-0.741600,-0.097076,0.650725
2,3,35840,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.067045,-0.052502,0.888112,0.908035,-0.027321,0.003468,0.417988
2,3,35840,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215014,-0.053391,0.887026,0.648737,-0.291255,0.647187,0.274699
2,3,35840,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
2,3,35840,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
2,3,35840,61,gripper,0,"","put hamburger on cutting board",-0.184627,-0.053846,0.977823,-0.061788,-0.720845,-0.060684,0.687664
2,3,35840,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.076771,0.100006,0.890496,0.997990,-0.024982,0.016515,-0.055846
2,3,35840,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.217316,-0.043545,0.887026,0.694537,-0.134531,0.696836,0.118063
2,3,35840,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.116817,-0.044994,0.872199,0.989818,-0.000000,-0.000001,0.142342
2,3,35840,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000059
2,3,35840,62,gripper,0,"","put hamburger on cutting board",-0.173197,-0.029959,0.971170,-0.017366,-0.690849,-0.032849,0.722043
2,3,35840,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.112568,-0.046890,0.888112,0.814035,-0.027488,-0.001694,0.580163
2,3,35840,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.196880,-0.026455,0.892081,0.022121,-0.711505,0.701764,0.028267
2,3,35840,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
2,3,35840,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.240803,-0.070469,0.870871,0.998837,0.000000,-0.000001,0.048219
2,3,35840,63,gripper,0,"","put hamburger on cutting board",-0.050978,0.000923,1.018927,0.002741,-0.659689,-0.002700,0.751528
2,4,40960,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.170631,-0.002907,0.958990,0.669599,0.091467,0.038798,0.736047
2,4,40960,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.077805,-0.017250,0.888694,0.629930,-0.022736,0.029185,0.775770
2,4,40960,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235207,0.074982,0.869532,1.000000,-0.000000,-0.000001,0.000118
2,4,40960,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114983,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000092
2,4,40960,0,gripper,0,"","put kitchen shovel on cloth",-0.169773,-0.005039,1.000847,-0.015113,-0.597426,-0.042105,0.800675
2,4,40960,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.213123,0.095261,0.884978,-0.514788,0.473278,-0.447160,-0.557718
2,4,40960,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085110,0.074013,0.881638,0.706946,0.024498,-0.030815,0.706171
2,4,40960,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234997,0.075005,0.869532,1.000000,-0.000000,-0.000001,-0.000128
2,4,40960,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000157,-0.001019,-0.000040
2,4,40960,1,gripper,0,"","put kitchen shovel on cloth",-0.195194,0.102180,0.979064,-0.000218,-0.715447,-0.013203,0.698542
2,4,40960,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085743,0.036674,0.885210,0.211429,0.623112,-0.730788,0.181601
2,4,40960,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.094296,-0.036995,0.881641,0.793815,-0.027787,0.029028,0.606831
2,4,40960,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115009,0.045006,0.869532,1.000000,0.000001,-0.000001,-0.000105
2,4,40960,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234264,0.073792,0.871288,0.999945,-0.000143,-0.001021,0.010390
2,4,40960,2,gripper,0,"","put kitchen shovel on cloth",-0.269974,-0.050869,0.915737,-0.048053,-0.723655,0.013943,0.688346
2,4,40960,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.137503,-0.032455,0.878987,-0.753869,-0.076415,-0.647627,0.080131
2,4,40960,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.171888,0.062172,0.881642,0.978942,-0.013294,0.045046,0.198660
2,4,40960,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000052
2,4,40960,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871289,1.000000,-0.000157,-0.001019,0.000009
2,4,40960,3,gripper,0,"","put kitchen shovel on cloth",-0.315125,-0.020733,0.915849,0.110526,-0.667710,0.043976,0.734856
2,4,40960,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.185075,0.087090,0.879212,-0.277069,-0.087451,0.956501,-0.026280
2,4,40960,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.203459,-0.044792,0.881637,0.996726,-0.007196,-0.038675,-0.070633
2,4,40960,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
2,4,40960,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114991,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000006
2,4,40960,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.160983,0.101746,0.996251,0.057918,-0.676127,-0.010337,0.734433
2,4,40960,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.133314,0.089760,0.886932,-0.606608,0.356774,0.300861,0.643601
2,4,40960,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085743,-0.075546,0.881638,0.923030,0.010873,-0.037829,0.382710
2,4,40960,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.076431,0.078796,0.869532,0.999666,-0.000001,-0.000000,-0.025842
2,4,40960,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.188898,0.069878,0.871288,0.984365,0.000027,-0.001031,0.176139
2,4,40960,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.244400,0.008198,0.948171,-0.058362,-0.739448,-0.016745,0.670470
2,4,40960,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085041,-0.084694,0.879089,0.626339,0.326431,-0.328273,0.627199
2,4,40960,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.129288,-0.207420,0.881639,0.269301,0.035465,-0.014538,0.962293
2,4,40960,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114990,0.044983,0.869532,1.000000,0.000001,-0.000001,0.000271
2,4,40960,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.292408,0.162575,0.871288,0.800557,-0.000733,-0.000723,-0.599256
2,4,40960,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.160389,-0.143818,0.916515,-0.259528,-0.742162,-0.270932,0.555371
2,4,40960,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.197159,-0.056229,0.885118,0.304388,0.677526,-0.371087,0.557316
2,4,40960,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084393,-0.075737,0.881638,0.382280,0.034440,-0.019073,0.923208
2,4,40960,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204735,-0.075523,0.869532,0.999961,0.000001,-0.000001,0.008809
2,4,40960,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235260,0.044968,0.871210,0.999982,-0.003916,-0.004121,-0.001830
2,4,40960,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.131403,0.056458,1.154034,0.008459,-0.815224,0.125194,0.565389
2,4,40960,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.067238,0.012943,0.881721,0.524390,-0.306575,0.315690,0.728949
2,4,40960,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.201576,-0.137531,0.881638,0.126121,0.038211,-0.009342,0.991235
2,4,40960,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.113441,-0.045383,0.869532,0.999934,0.000001,0.000001,0.011448
2,4,40960,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,-0.000105
2,4,40960,8,gripper,0,"","put ketchup bottle on cloth",-0.247726,-0.140335,0.920800,0.006792,-0.731824,0.038791,0.680355
2,4,40960,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.051838,0.083908,0.879089,0.414861,0.408444,-0.218179,0.783238
2,4,40960,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.162308,0.063740,0.885762,0.808376,0.025234,-0.023993,0.587636
2,4,40960,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.227291,0.089104,0.869532,0.984694,-0.000000,-0.000001,0.174292
2,4,40960,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.102417,-0.036324,0.871288,0.997159,-0.000077,-0.001028,0.075313
2,4,40960,9,gripper,0,"","put ketchup bottle on cloth",-0.209648,0.018454,0.976906,0.108765,-0.721689,0.061172,0.680877
2,4,40960,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.045330,0.103115,0.884977,0.584561,-0.409410,0.506257,0.484124
2,4,40960,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.102509,-0.071335,0.888995,0.633529,-0.069875,-0.003400,0.770549
2,4,40960,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085011,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000185
2,4,40960,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001020,0.000052
2,4,40960,10,gripper,0,"","put ketchup bottle on cloth",-0.281956,-0.005816,0.914725,-0.014431,-0.725256,0.023357,0.687931
2,4,40960,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.162302,-0.014931,0.885083,0.656115,0.309798,-0.343010,0.596559
2,4,40960,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081696,-0.065830,0.981592,0.561714,0.006838,-0.008209,0.827263
2,4,40960,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205091,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000555
2,4,40960,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084940,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000137
2,4,40960,11,gripper,0,"","put ketchup bottle on cloth",-0.108078,-0.076935,1.013821,-0.124933,-0.710450,-0.147531,0.676673
2,4,40960,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.019694,0.132416,0.879704,0.383741,-0.525356,0.708319,0.273911
2,4,40960,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085952,-0.074886,0.881638,0.999225,-0.004452,-0.039112,-0.000205
2,4,40960,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,-0.075001,0.869532,1.000000,-0.000001,0.000000,-0.000000
2,4,40960,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.193329,0.085949,0.871210,0.947433,-0.002383,-0.005162,0.319903
2,4,40960,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.235759,-0.001848,0.955270,0.003008,-0.681860,0.010210,0.731405
2,4,40960,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.198084,0.083519,0.879121,0.818792,0.174109,-0.438354,0.327279
2,4,40960,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085735,0.074409,0.881638,0.923104,0.010869,-0.037843,0.382529
2,4,40960,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000017
2,4,40960,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000050
2,4,40960,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.201606,0.088074,0.962327,0.052340,-0.686137,0.008210,0.725541
2,4,40960,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.179283,0.056114,0.885369,0.704834,-0.184775,0.208035,0.652525
2,4,40960,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084530,0.074337,0.883239,0.707397,0.035171,-0.002540,0.705936
2,4,40960,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204948,0.044960,0.869532,1.000000,0.000000,-0.000001,-0.000731
2,4,40960,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.239971,-0.078060,0.871288,0.999999,-0.000153,-0.001019,0.001290
2,4,40960,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.145971,-0.032480,1.118433,-0.013919,-0.795661,0.002801,0.605576
2,4,40960,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.162434,0.012249,0.878982,-0.546451,0.446373,-0.474054,-0.526703
2,4,40960,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.230263,-0.075008,0.882370,0.637551,-0.085435,0.064139,0.762965
2,4,40960,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.227821,0.075779,0.869532,0.995403,-0.000000,-0.000000,0.095771
2,4,40960,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
2,4,40960,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.225922,-0.026491,0.917887,0.039195,-0.740588,0.041774,0.669513
2,4,40960,16,obj,0,"003_bread_1","put 7up can on carpet",-0.085136,-0.075550,0.883544,0.708809,0.010126,-0.007601,0.705286
2,4,40960,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.154373,0.077740,0.886575,0.619087,0.089986,-0.044617,0.778873
2,4,40960,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204964,0.075020,0.869489,0.999999,0.000548,0.001424,0.000760
2,4,40960,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.204994,-0.074993,0.870368,0.999968,0.000196,-0.001152,0.007961
2,4,40960,16,gripper,0,"","put 7up can on carpet",-0.118702,0.065479,1.125855,0.078095,-0.692002,0.045950,0.716186
2,4,40960,17,obj,0,"003_bread_1","put 7up can on carpet",-0.230976,0.085342,0.883544,0.999667,0.002101,-0.012484,0.022470
2,4,40960,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.085606,-0.086998,0.885675,0.985960,0.008846,-0.065768,0.153231
2,4,40960,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000019
2,4,40960,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
2,4,40960,17,gripper,0,"","put 7up can on carpet",-0.145416,-0.090029,0.935438,-0.013952,-0.704816,-0.008840,0.709198
2,4,40960,18,obj,0,"003_bread_1","put 7up can on carpet",-0.076038,-0.080956,0.883544,0.810099,0.008824,-0.009083,0.586157
2,4,40960,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.215969,0.008480,0.885659,-0.852922,0.150974,-0.326976,-0.377913
2,4,40960,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000028
2,4,40960,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.081875,0.079315,0.870418,0.999999,-0.000219,-0.000847,-0.001125
2,4,40960,18,gripper,0,"","put 7up can on carpet",-0.134768,0.046619,1.122812,0.067787,-0.827919,0.131327,0.541026
2,4,40960,19,obj,0,"003_bread_1","put 7up can on carpet",-0.225410,0.055721,0.883544,0.643290,0.010758,-0.006665,0.765518
2,4,40960,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.180332,-0.059765,0.888590,0.647763,-0.259155,0.247938,0.672138
2,4,40960,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115862,0.075939,0.869490,0.999988,0.000184,0.000873,-0.004755
2,4,40960,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.205057,-0.074802,0.870448,0.999996,-0.000124,-0.000158,0.002696
2,4,40960,19,gripper,0,"","put 7up can on carpet",-0.082132,0.065819,0.957011,-0.011457,-0.715157,-0.023914,0.698460
2,4,40960,20,obj,0,"003_bread_1","put bread on newspaper",-0.065863,0.072685,0.886475,0.763094,0.013327,-0.005860,0.646123
2,4,40960,20,obj,1,"005_7up can_1","put bread on newspaper",-0.118206,-0.058666,0.885936,-0.281448,0.666308,-0.626105,-0.291226
2,4,40960,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
2,4,40960,20,recep,1,"003_carpet_1","put bread on newspaper",-0.084777,0.075432,0.870461,1.000000,0.000018,-0.000158,-0.000052
2,4,40960,20,gripper,0,"","put bread on newspaper",-0.114579,-0.048193,0.965204,-0.057187,-0.729497,-0.026048,0.681091
2,4,40960,21,obj,0,"003_bread_1","put bread on newspaper",-0.205120,0.074528,0.883545,0.705096,0.010166,-0.007541,0.708999
2,4,40960,21,obj,1,"005_7up can_1","put bread on newspaper",-0.076384,0.054192,0.885675,0.529846,0.299560,-0.203410,0.766910
2,4,40960,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.114975,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000050
2,4,40960,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000003
2,4,40960,21,gripper,0,"","put bread on newspaper",-0.063306,0.051876,0.949336,-0.045680,-0.737414,-0.084926,0.668521
2,4,40960,22,obj,0,"003_bread_1","put bread on newspaper",-0.250851,-0.054985,0.883479,0.892300,0.009154,-0.009610,0.451247
2,4,40960,22,obj,1,"005_7up can_1","put bread on newspaper",-0.090523,0.069725,0.885627,0.897896,0.084526,-0.217114,0.373497
2,4,40960,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
2,4,40960,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000100
2,4,40960,22,gripper,0,"","put bread on newspaper",-0.184904,-0.002018,1.016466,0.036768,-0.660331,0.059422,0.747716
2,4,40960,23,obj,0,"003_bread_1","put bread on newspaper",-0.169785,0.049728,0.883544,0.991281,0.000163,-0.012662,-0.131150
2,4,40960,23,obj,1,"005_7up can_1","put bread on newspaper",-0.118614,-0.045631,0.886124,0.985399,-0.004340,-0.166372,0.035931
2,4,40960,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
2,4,40960,23,recep,1,"003_carpet_1","put bread on newspaper",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
2,4,40960,23,gripper,0,"","put bread on newspaper",-0.106955,-0.059052,0.947518,-0.170221,-0.699514,-0.119011,0.683770
2,4,40960,24,obj,0,"003_bread_1","put bread on carpet",-0.085556,0.075121,0.883544,0.999918,0.001793,-0.012528,-0.002164
2,4,40960,24,obj,1,"005_7up can_1","put bread on carpet",-0.242783,-0.075981,0.885627,0.972472,-0.005347,-0.232958,-0.000020
2,4,40960,24,recep,0,"004_newspaper_1","put bread on carpet",-0.205238,0.045107,0.869489,0.999999,0.000547,0.001424,-0.000160
2,4,40960,24,recep,1,"003_carpet_1","put bread on carpet",-0.115158,-0.044846,0.871111,0.999983,0.000058,0.005814,0.000539
2,4,40960,24,gripper,0,"","put bread on carpet",-0.226578,-0.081148,0.967330,-0.079967,-0.710914,-0.067056,0.695492
2,4,40960,25,obj,0,"003_bread_1","put bread on carpet",-0.063564,0.062458,0.883544,0.316998,0.012452,-0.002241,0.948342
2,4,40960,25,obj,1,"005_7up can_1","put bread on carpet",-0.199772,-0.080505,0.885627,0.371239,0.213264,-0.093864,0.898827
2,4,40960,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
2,4,40960,25,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000096
2,4,40960,25,gripper,0,"","put bread on carpet",-0.043224,-0.069936,0.953521,0.057175,-0.702226,0.091585,0.703720
2,4,40960,26,obj,0,"003_bread_1","put bread on carpet",-0.115479,0.074488,0.883544,0.924790,0.006452,-0.010892,0.380268
2,4,40960,26,obj,1,"005_7up can_1","put bread on carpet",-0.169895,0.040129,0.887714,0.084182,-0.687689,0.710237,0.124743
2,4,40960,26,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000074
2,4,40960,26,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.045010,0.870460,1.000000,0.000019,-0.000158,0.000263
2,4,40960,26,gripper,0,"","put bread on carpet",-0.129673,0.035678,1.081377,0.053617,-0.686344,0.017244,0.725093
2,4,40960,27,obj,0,"003_bread_1","put bread on carpet",-0.077570,-0.025658,0.883544,0.890353,0.007323,-0.010326,0.455095
2,4,40960,27,obj,1,"005_7up can_1","put bread on carpet",-0.132231,0.088484,0.885830,0.553700,-0.441572,0.529729,0.466710
2,4,40960,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204906,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000019
2,4,40960,27,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000094
2,4,40960,27,gripper,0,"","put bread on carpet",-0.071662,-0.021006,0.971898,-0.112351,-0.717781,-0.104746,0.679114
2,4,40960,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.066715,-0.065804,0.883544,0.995647,0.002970,-0.012304,0.092345
2,4,40960,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.195985,0.050070,0.888492,-0.104545,-0.736950,0.660538,-0.098311
2,4,40960,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204996,0.045000,0.869489,1.000000,0.000183,0.000875,0.000004
2,4,40960,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235000,-0.075001,0.870461,1.000000,0.000018,-0.000158,-0.000000
2,4,40960,28,gripper,0,"","put 7up can on newspaper",-0.147624,0.019649,1.019788,0.001559,-0.734268,-0.046577,0.677258
2,4,40960,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.080822,0.092245,0.883544,0.991975,0.000232,-0.012658,-0.125799
2,4,40960,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242554,-0.074718,0.885627,0.972467,-0.004465,-0.232971,0.003659
2,4,40960,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
2,4,40960,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
2,4,40960,29,gripper,0,"","put 7up can on newspaper",-0.205498,-0.029578,0.990819,-0.080113,-0.683932,-0.119604,0.715202
2,4,40960,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.079674,-0.077198,0.883544,0.914278,0.006743,-0.010712,0.404889
2,4,40960,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.172791,-0.021790,0.888553,0.657653,0.262592,-0.251631,0.659712
2,4,40960,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
2,4,40960,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205017,-0.044828,0.870447,1.000000,-0.000126,-0.000157,-0.000587
2,4,40960,30,gripper,0,"","put 7up can on newspaper",-0.081755,-0.079556,0.948251,-0.423114,-0.575160,-0.433617,0.549674
2,4,40960,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.225956,0.088224,0.883544,0.185337,0.012650,-0.000537,0.982593
2,4,40960,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.209423,-0.057978,0.887558,0.692604,0.093376,-0.063680,0.712408
2,4,40960,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235023,-0.075119,0.869489,0.999996,0.000547,0.001418,-0.002265
2,4,40960,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
2,4,40960,31,gripper,0,"","put 7up can on newspaper",-0.049124,0.067548,0.958275,-0.012704,-0.753286,-0.052126,0.655501
2,4,40960,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.248375,-0.066634,0.887548,0.995571,0.004652,0.023183,-0.090986
2,4,40960,32,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075436,0.878547,0.999910,0.013264,0.002052,0.000424
2,4,40960,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
2,4,40960,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
2,4,40960,32,gripper,0,"","put banana on flat bowl",-0.141212,0.014312,0.996212,-0.107910,-0.640002,-0.211834,0.730670
2,4,40960,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.256638,-0.048322,0.887529,0.957349,0.012359,0.041416,-0.285682
2,4,40960,33,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,0.074516,0.878547,0.999909,0.013282,0.002053,0.000547
2,4,40960,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
2,4,40960,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,4,40960,33,gripper,0,"","put banana on flat bowl",-0.159460,0.051382,1.031129,-0.114207,-0.657864,-0.127899,0.733357
2,4,40960,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.215435,-0.067774,0.887534,0.923888,-0.011371,0.020358,0.381952
2,4,40960,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383053
2,4,40960,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000024
2,4,40960,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,4,40960,34,gripper,0,"","put banana on flat bowl",-0.184464,0.035683,1.012830,-0.223041,-0.658635,-0.186838,0.693934
2,4,40960,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089056,-0.036308,0.887505,0.997046,-0.002088,0.034296,0.068698
2,4,40960,35,obj,1,"013_banana_1","put banana on flat bowl",-0.114998,0.074566,0.878547,0.999910,0.013273,0.002050,0.000315
2,4,40960,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.045001,0.871345,0.999999,-0.000157,0.001164,-0.000003
2,4,40960,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
2,4,40960,35,gripper,0,"","put banana on flat bowl",-0.108185,0.017587,1.034320,0.021328,-0.681175,-0.014560,0.731665
2,4,40960,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237856,0.077998,0.887520,0.997286,-0.004043,0.021599,0.070264
2,4,40960,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084993,-0.075439,0.878547,0.999909,0.013317,0.002051,0.000315
2,4,40960,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000016
2,4,40960,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000002
2,4,40960,36,gripper,0,"","put carrot on sheet metal",-0.204327,0.081710,0.965347,-0.176959,-0.673659,-0.194367,0.690717
2,4,40960,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094727,0.062109,0.887626,0.388633,-0.041739,0.017625,0.920278
2,4,40960,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204695,0.075317,0.878547,0.382300,0.003195,0.013090,0.923940
2,4,40960,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
2,4,40960,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
2,4,40960,37,gripper,0,"","put carrot on sheet metal",-0.024083,0.069186,0.986366,0.298479,-0.645069,0.185512,0.678514
2,4,40960,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.244831,-0.076548,0.887230,0.963793,-0.015902,0.028544,0.264641
2,4,40960,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383053
2,4,40960,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000024
2,4,40960,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
2,4,40960,38,gripper,0,"","put carrot on sheet metal",-0.136209,-0.068341,0.993228,-0.308036,-0.578169,-0.372051,0.657580
2,4,40960,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.098007,0.072128,0.887505,0.768956,-0.017411,0.018646,0.638793
2,4,40960,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007963,0.010884,0.707296
2,4,40960,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
2,4,40960,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000001,0.000000
2,4,40960,39,gripper,0,"","put carrot on sheet metal",-0.017471,0.059721,0.976528,0.200909,-0.695480,0.108554,0.681292
2,4,40960,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088615,0.081013,0.887552,0.997099,-0.000427,0.031650,0.069220
2,4,40960,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.205002,-0.075441,0.878547,0.999909,0.013309,0.002036,-0.000840
2,4,40960,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075047,0.871345,0.999999,-0.000157,0.001163,-0.000133
2,4,40960,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000000,-0.000006
2,4,40960,40,gripper,0,"","put carrot on flat bowl",-0.164349,-0.038900,0.991625,-0.132465,-0.685494,-0.072862,0.712209
2,4,40960,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097481,0.082937,0.887422,0.926375,-0.005859,0.012539,0.376347
2,4,40960,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234665,0.074688,0.878547,0.924330,0.011560,0.006992,0.381355
2,4,40960,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
2,4,40960,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000001
2,4,40960,41,gripper,0,"","put carrot on flat bowl",-0.168566,-0.021536,1.010237,-0.153012,-0.593533,-0.262804,0.745144
2,4,40960,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209572,-0.069376,0.887298,0.997928,-0.007699,0.032567,0.054950
2,4,40960,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,-0.075441,0.878546,0.999909,0.013254,0.002035,-0.001255
2,4,40960,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
2,4,40960,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
2,4,40960,42,gripper,0,"","put carrot on flat bowl",-0.196957,0.004366,0.988364,0.072121,-0.728784,0.017649,0.680706
2,4,40960,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
2,4,40960,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204988,-0.045439,0.878547,0.999909,0.013270,0.002034,-0.001110
2,4,40960,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
2,4,40960,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
2,4,40960,43,gripper,0,"","put carrot on flat bowl",-0.059758,0.088695,0.984810,-0.185578,-0.666426,-0.140005,0.708404
2,4,40960,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246692,0.083166,0.887200,0.924988,-0.015591,0.018336,0.379234
2,4,40960,44,obj,1,"013_banana_1","put banana on sheet metal",-0.114683,0.044689,0.878547,0.923614,0.011498,0.006988,0.383088
2,4,40960,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
2,4,40960,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000009
2,4,40960,44,gripper,0,"","put banana on sheet metal",-0.060174,0.075247,0.995058,-0.030818,-0.716118,0.014940,0.697138
2,4,40960,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088898,-0.072042,0.887254,0.997336,0.004270,0.022096,0.069381
2,4,40960,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204987,0.074518,0.878548,0.999909,0.013340,0.002058,0.000156
2,4,40960,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
2,4,40960,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
2,4,40960,45,gripper,0,"","put banana on sheet metal",-0.049328,0.068225,1.017654,0.013544,-0.710227,-0.092237,0.697773
2,4,40960,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089348,-0.067015,0.887525,0.996988,-0.001388,0.033704,0.069830
2,4,40960,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
2,4,40960,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
2,4,40960,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
2,4,40960,46,gripper,0,"","put banana on sheet metal",-0.005514,0.037061,1.015512,-0.000628,-0.753191,0.085440,0.652229
2,4,40960,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246204,0.083101,0.887492,0.925539,-0.009324,0.025174,0.377700
2,4,40960,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
2,4,40960,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
2,4,40960,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000580
2,4,40960,47,gripper,0,"","put banana on sheet metal",-0.053125,-0.063523,0.970558,-0.323368,-0.636296,-0.345755,0.609109
2,4,40960,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.118935,0.095364,0.888112,0.696389,-0.026734,-0.006617,0.717136
2,4,40960,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209389,-0.076130,0.889702,0.505628,-0.505446,0.498196,0.490576
2,4,40960,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000016
2,4,40960,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204880,-0.075481,0.870870,0.999999,0.000000,-0.000000,0.000978
2,4,40960,48,gripper,0,"","put plastic bottle on cutting board",-0.124065,-0.174406,0.989088,0.204733,-0.633695,0.231206,0.709267
2,4,40960,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086109,0.076015,0.888112,0.711015,-0.026866,-0.006062,0.702637
2,4,40960,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.082447,-0.016258,0.887026,0.413720,-0.583604,0.403847,0.570219
2,4,40960,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000008
2,4,40960,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
2,4,40960,49,gripper,0,"","put plastic bottle on cutting board",-0.054560,0.024620,0.980048,-0.052238,-0.764709,-0.099128,0.634560
2,4,40960,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084930,-0.044147,0.890481,0.519648,-0.025176,-0.009902,0.853952
2,4,40960,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.197750,0.080772,0.886092,0.764182,-0.021013,0.007882,0.644610
2,4,40960,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
2,4,40960,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084988,-0.074936,0.870870,1.000000,0.000000,-0.000000,0.000244
2,4,40960,50,gripper,0,"","put plastic bottle on cutting board",-0.123741,0.075228,0.977403,0.191429,-0.642532,0.099771,0.735223
2,4,40960,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205959,-0.074379,0.888112,0.714336,-0.026894,-0.005938,0.699260
2,4,40960,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.208410,0.117844,0.887026,0.451295,-0.554990,0.442348,0.540969
2,4,40960,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
2,4,40960,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082470,0.075542,0.870870,0.999977,-0.000000,-0.000001,0.006745
2,4,40960,51,gripper,0,"","put plastic bottle on cutting board",-0.103962,0.078432,0.987504,-0.032434,-0.749143,-0.031628,0.660857
2,4,40960,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.195712,0.076405,0.888111,0.416128,-0.022987,-0.015186,0.908889
2,4,40960,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.257709,-0.028553,0.887026,0.261967,-0.664546,0.249125,0.653979
2,4,40960,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
2,4,40960,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114968,-0.074818,0.870870,0.999999,0.000000,-0.000001,0.001072
2,4,40960,52,gripper,0,"","put hamburger on frying pan",-0.200220,-0.028595,1.002074,-0.061943,-0.681152,-0.059378,0.727097
2,4,40960,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.204311,0.076096,0.888112,0.999268,-0.022973,0.015188,-0.026543
2,4,40960,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.082018,-0.056328,0.887026,0.694942,-0.132100,0.697304,0.115638
2,4,40960,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000631
2,4,40960,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000044
2,4,40960,53,gripper,0,"","put hamburger on frying pan",-0.061775,-0.110130,0.976808,0.064417,-0.722416,-0.059157,0.685905
2,4,40960,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121090,-0.045074,0.888112,0.286756,-0.020664,-0.018205,0.957608
2,4,40960,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.248062,0.115936,0.889774,0.012183,-0.929869,0.365902,0.036208
2,4,40960,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
2,4,40960,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
2,4,40960,54,gripper,0,"","put hamburger on frying pan",-0.030312,-0.005369,0.966590,0.174085,-0.692638,-0.095310,0.693443
2,4,40960,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236263,0.080284,0.888112,0.935160,-0.027014,0.005373,0.353154
2,4,40960,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.172623,0.049160,0.889773,0.022974,-0.767027,0.640476,0.030513
2,4,40960,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
2,4,40960,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233421,-0.072239,0.870870,0.999982,-0.000000,-0.000001,0.005941
2,4,40960,55,gripper,0,"","put hamburger on frying pan",-0.185453,-0.051567,0.954727,-0.143111,-0.682195,-0.085449,0.711918
2,4,40960,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236130,-0.075176,0.888113,0.447065,-0.023488,-0.014387,0.894077
2,4,40960,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256775,0.094524,0.887026,0.266760,-0.662700,0.253996,0.652038
2,4,40960,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
2,4,40960,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000039
2,4,40960,56,gripper,0,"","put hamburger on cutting board",-0.093597,-0.152300,0.941325,0.131630,-0.692351,0.131262,0.697204
2,4,40960,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116108,0.044731,0.888112,0.382415,-0.022406,-0.016021,0.923580
2,4,40960,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.054008,-0.044258,0.887026,0.246165,-0.670340,0.233070,0.660095
2,4,40960,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
2,4,40960,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204277,-0.046509,0.870870,0.999930,0.000000,0.000000,-0.011851
2,4,40960,57,gripper,0,"","put hamburger on cutting board",-0.158607,-0.020821,0.963937,-0.071482,-0.681792,-0.030866,0.727390
2,4,40960,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235233,-0.073895,0.888112,0.924085,-0.027161,0.004556,0.381192
2,4,40960,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.045231,0.030544,0.889773,0.027106,-0.667623,0.743519,0.026921
2,4,40960,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
2,4,40960,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085030,-0.074982,0.870870,1.000000,0.000000,-0.000000,-0.000021
2,4,40960,58,gripper,0,"","put hamburger on cutting board",-0.215401,0.009029,0.950710,-0.154893,-0.676088,-0.096942,0.713804
2,4,40960,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.215416,0.045521,0.893204,-0.092220,0.307696,-0.946802,-0.019585
2,4,40960,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.083149,-0.060040,0.887026,0.636231,-0.319008,0.633972,0.302530
2,4,40960,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000176
2,4,40960,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205025,0.074989,0.870871,1.000000,0.000058,0.000058,0.000017
2,4,40960,59,gripper,0,"","put hamburger on cutting board",-0.120795,0.033266,1.132806,0.071198,-0.796141,0.055309,0.598357
2,4,40960,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.093133,-0.103100,0.919370,0.311914,0.078331,-0.018485,0.946696
2,4,40960,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.123577,0.122501,0.887027,0.016617,-0.709708,0.000889,0.704300
2,4,40960,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
2,4,40960,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204096,0.076237,0.870870,0.999261,0.000001,-0.000000,0.038442
2,4,40960,60,gripper,0,"","put plastic bottle on frying pan",-0.098818,-0.107058,0.972521,-0.177351,-0.715717,-0.189880,0.648260
2,4,40960,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.065187,0.022083,0.888247,0.987866,0.017521,0.044313,0.147817
2,4,40960,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215014,-0.053391,0.887026,0.648736,-0.291256,0.647188,0.274699
2,4,40960,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.087212,0.089134,0.872199,0.993465,-0.000000,-0.000001,0.114134
2,4,40960,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
2,4,40960,61,gripper,0,"","put plastic bottle on frying pan",-0.037175,-0.005922,0.967532,0.205700,-0.566829,-0.120370,0.788608
2,4,40960,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.076771,0.100006,0.890496,0.997982,-0.024980,0.016519,-0.055995
2,4,40960,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.217178,-0.043304,0.887026,0.693836,-0.138588,0.696042,0.122107
2,4,40960,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.116817,-0.044994,0.872199,0.989831,-0.000001,-0.000000,0.142248
2,4,40960,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000085
2,4,40960,62,gripper,0,"","put plastic bottle on frying pan",-0.193213,-0.036732,0.955068,0.109379,-0.710969,0.037471,0.693653
2,4,40960,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.117592,-0.046482,0.888117,0.846637,-0.027086,0.000861,0.531481
2,4,40960,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.203457,-0.019310,0.892028,-0.072371,-0.733202,0.674261,-0.050483
2,4,40960,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
2,4,40960,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.246914,-0.068977,0.870869,0.997181,0.000018,-0.000002,0.075029
2,4,40960,63,gripper,0,"","put plastic bottle on frying pan",-0.111221,-0.048702,0.946933,-0.045459,-0.748243,-0.106656,0.653215
3,1,46080,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.203453,0.086807,0.885085,-0.664990,-0.304915,0.348488,-0.585979
3,1,46080,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085091,0.074043,0.881638,0.707149,0.024488,-0.030819,0.705968
3,1,46080,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074959,0.869532,1.000000,-0.000000,-0.000001,-0.000727
3,1,46080,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000007
3,1,46080,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.189346,0.089039,1.060023,0.078178,-0.691838,0.053676,0.715799
3,1,46080,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091888,-0.081955,0.879089,0.818590,0.176041,-0.428302,0.339818
3,1,46080,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235806,0.071335,0.881638,0.918554,0.011297,-0.037675,0.393334
3,1,46080,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000003
3,1,46080,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074974,0.871288,1.000000,-0.000154,-0.001019,0.000119
3,1,46080,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.234642,0.078911,0.934178,0.091188,-0.741954,0.064903,0.661042
3,1,46080,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.200947,0.053375,0.885081,0.634077,0.323472,-0.334540,0.617573
3,1,46080,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084240,-0.075340,0.884013,0.708168,0.045946,0.003079,0.704540
3,1,46080,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235008,0.044998,0.869532,1.000000,0.000000,0.000000,0.000302
3,1,46080,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205017,-0.074982,0.871282,0.999999,-0.000449,-0.001264,0.000147
3,1,46080,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.156416,0.028301,1.142504,0.054001,-0.755894,0.105084,0.643945
3,1,46080,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.099977,-0.033173,0.885085,0.543749,0.364686,-0.285365,0.699934
3,1,46080,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234406,-0.075737,0.881637,0.382439,0.034397,-0.019060,0.923144
3,1,46080,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,-0.000001,-0.000001,0.000010
3,1,46080,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000027
3,1,46080,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.151494,-0.037666,1.084971,-0.046154,-0.756526,-0.064745,0.649112
3,1,46080,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.102861,0.073814,0.888721,0.589232,-0.440820,0.453330,0.502966
3,1,46080,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115111,-0.075989,0.881638,0.706821,0.024490,-0.030801,0.706297
3,1,46080,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000019
3,1,46080,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000005
3,1,46080,4,gripper,0,"","put ketchup bottle on cloth",-0.295477,-0.038708,0.926035,-0.043607,-0.670672,-0.024898,0.740052
3,1,46080,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.198126,-0.066711,0.910396,0.655315,0.132186,0.029528,0.743113
3,1,46080,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084255,0.074356,0.883919,0.707115,0.042602,0.004402,0.705800
3,1,46080,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
3,1,46080,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205301,0.045151,0.871210,0.999982,-0.003916,-0.004120,-0.002011
3,1,46080,5,gripper,0,"","put ketchup bottle on cloth",-0.217333,-0.070240,0.954959,-0.034606,-0.730387,-0.049839,0.680333
3,1,46080,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078087,0.068115,0.879089,0.338545,0.427335,-0.178375,0.819118
3,1,46080,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.210285,0.069298,0.881584,0.360495,-0.042162,0.012089,0.931729
3,1,46080,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
3,1,46080,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
3,1,46080,6,gripper,0,"","put ketchup bottle on cloth",-0.255066,0.047493,0.931765,0.084443,-0.730200,0.048760,0.676239
3,1,46080,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.240356,0.087791,0.879088,0.731459,0.260167,-0.383070,0.500538
3,1,46080,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205772,-0.045578,0.881638,0.923222,0.010858,-0.037843,0.382245
3,1,46080,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
3,1,46080,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
3,1,46080,7,gripper,0,"","put ketchup bottle on cloth",-0.224815,0.063904,0.964517,-0.015873,-0.643532,-0.025325,0.764836
3,1,46080,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085037,0.065262,0.879089,0.626487,0.326416,-0.328465,0.626959
3,1,46080,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.107315,-0.077965,0.884166,0.666957,0.054809,0.000961,0.743077
3,1,46080,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
3,1,46080,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.220261,-0.050007,0.871308,0.998474,-0.000705,-0.001123,-0.055197
3,1,46080,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.249084,-0.042747,0.922242,-0.029405,-0.750958,0.011115,0.659601
3,1,46080,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.216396,0.002731,0.898849,0.726459,-0.338328,0.143297,0.580739
3,1,46080,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205242,-0.070114,0.883254,0.999441,0.023436,0.019268,-0.014056
3,1,46080,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235447,0.048512,0.869532,0.999637,0.000000,-0.000000,0.026948
3,1,46080,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
3,1,46080,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.272020,-0.105751,0.915107,-0.081284,-0.742050,-0.051906,0.663371
3,1,46080,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228085,-0.081829,0.879088,0.338780,0.427287,-0.178500,0.819019
3,1,46080,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234394,0.074249,0.881638,0.382627,0.034439,-0.019082,0.923063
3,1,46080,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
3,1,46080,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
3,1,46080,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.132254,-0.013151,0.962473,-0.195383,-0.762442,-0.203738,0.582235
3,1,46080,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.175991,0.060230,0.884979,0.580624,-0.413482,0.502831,0.488948
3,1,46080,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084406,-0.075760,0.881638,0.382547,0.034409,-0.019074,0.923098
3,1,46080,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.201824,0.044434,0.869532,0.999789,-0.000001,-0.000001,-0.020549
3,1,46080,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
3,1,46080,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.240009,0.032639,0.951742,0.024047,-0.759786,0.014665,0.649563
3,1,46080,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.089653,0.092987,0.879374,0.001891,0.088065,0.004722,0.996102
3,1,46080,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084406,-0.075768,0.881638,0.382556,0.034410,-0.019076,0.923094
3,1,46080,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,-0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000001
3,1,46080,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
3,1,46080,12,gripper,0,"","put kitchen shovel on cloth",-0.187969,0.036404,0.964613,-0.074545,-0.741282,-0.061910,0.664162
3,1,46080,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.120529,0.170887,0.879213,0.235845,0.507230,-0.815632,0.147781
3,1,46080,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085114,-0.075958,0.881638,0.706676,0.024517,-0.030811,0.706440
3,1,46080,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084997,0.075001,0.869532,1.000000,0.000000,-0.000000,-0.000030
3,1,46080,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.202467,0.056423,0.871288,0.986474,0.000014,-0.001031,0.163916
3,1,46080,13,gripper,0,"","put kitchen shovel on cloth",-0.246864,-0.081648,0.913935,-0.110728,-0.729957,-0.111788,0.665136
3,1,46080,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085003,0.065285,0.879089,0.626254,0.326531,-0.328333,0.627200
3,1,46080,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205109,0.074047,0.881638,0.706700,0.024492,-0.030789,0.706419
3,1,46080,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
3,1,46080,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.194267,-0.038902,0.871288,0.991944,-0.000282,-0.000991,-0.126673
3,1,46080,14,gripper,0,"","put kitchen shovel on cloth",-0.267864,0.006701,0.916712,-0.112085,-0.718720,-0.088930,0.680419
3,1,46080,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.168175,0.075356,0.887953,0.703369,0.278536,-0.358501,0.546961
3,1,46080,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.069126,0.052608,0.881641,0.910057,-0.020533,0.034523,0.412532
3,1,46080,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000007
3,1,46080,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075020,0.871210,0.999984,-0.003908,-0.004128,0.000037
3,1,46080,15,gripper,0,"","put kitchen shovel on cloth",-0.230158,-0.036179,0.953254,0.022049,-0.724939,0.060281,0.685816
3,1,46080,16,obj,0,"003_bread_1","put bread on newspaper",-0.083740,-0.074257,0.883544,0.894977,0.007215,-0.010401,0.445932
3,1,46080,16,obj,1,"005_7up can_1","put bread on newspaper",-0.243393,0.036499,0.885675,0.861602,0.140875,-0.333568,0.355709
3,1,46080,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,-0.075001,0.869490,1.000000,0.000180,0.000873,0.000024
3,1,46080,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
3,1,46080,16,gripper,0,"","put bread on newspaper",-0.085106,-0.057869,0.970790,-0.113679,-0.713726,-0.041579,0.689887
3,1,46080,17,obj,0,"003_bread_1","put bread on newspaper",-0.114471,-0.075481,0.883544,0.383766,0.012266,-0.003126,0.923344
3,1,46080,17,obj,1,"005_7up can_1","put bread on newspaper",-0.199501,0.074791,0.885635,0.394752,0.100620,-0.040560,0.912360
3,1,46080,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,0.044998,0.869490,1.000000,0.000180,0.000874,0.000024
3,1,46080,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000012
3,1,46080,17,gripper,0,"","put bread on newspaper",-0.211546,0.069597,0.937259,0.061532,-0.724622,0.031585,0.685667
3,1,46080,18,obj,0,"003_bread_1","put bread on newspaper",-0.163937,0.030781,0.886247,0.995182,0.005183,-0.008219,0.097558
3,1,46080,18,obj,1,"005_7up can_1","put bread on newspaper",-0.124332,-0.044838,0.885636,0.958614,-0.005475,-0.284657,-0.000195
3,1,46080,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
3,1,46080,18,recep,1,"003_carpet_1","put bread on newspaper",-0.205009,0.045013,0.870461,1.000000,0.000019,-0.000158,0.000097
3,1,46080,18,gripper,0,"","put bread on newspaper",-0.176495,-0.029173,0.977498,-0.068385,-0.708713,-0.007033,0.702140
3,1,46080,19,obj,0,"003_bread_1","put bread on newspaper",-0.234276,-0.073395,0.883544,0.999889,0.001921,-0.012514,0.007834
3,1,46080,19,obj,1,"005_7up can_1","put bread on newspaper",-0.092607,0.075169,0.885626,0.972473,-0.005022,-0.232957,0.001335
3,1,46080,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114998,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000010
3,1,46080,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,0.074993,0.870452,0.999998,0.001568,0.001265,0.000014
3,1,46080,19,gripper,0,"","put bread on newspaper",-0.104027,-0.003334,1.000668,-0.041806,-0.721787,-0.028333,0.690270
3,1,46080,20,obj,0,"003_bread_1","put bread on carpet",-0.198203,0.076229,0.883544,0.284854,0.012527,-0.001819,0.958487
3,1,46080,20,obj,1,"005_7up can_1","put bread on carpet",-0.199747,-0.080521,0.885627,0.370740,0.213299,-0.093738,0.899038
3,1,46080,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,1,46080,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
3,1,46080,20,gripper,0,"","put bread on carpet",-0.142680,0.077526,0.994640,0.185957,-0.674748,0.080200,0.709721
3,1,46080,21,obj,0,"003_bread_1","put bread on carpet",-0.084482,-0.075470,0.883544,0.383905,0.012268,-0.003131,0.923286
3,1,46080,21,obj,1,"005_7up can_1","put bread on carpet",-0.229755,-0.080494,0.885627,0.370827,0.213298,-0.093762,0.898999
3,1,46080,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
3,1,46080,21,recep,1,"003_carpet_1","put bread on carpet",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
3,1,46080,21,gripper,0,"","put bread on carpet",-0.145757,0.028030,1.000384,0.126770,-0.700533,0.090565,0.696405
3,1,46080,22,obj,0,"003_bread_1","put bread on carpet",-0.198139,0.079979,0.883544,0.999919,0.001838,-0.012524,0.001195
3,1,46080,22,obj,1,"005_7up can_1","put bread on carpet",-0.124332,-0.044838,0.885636,0.958614,-0.005475,-0.284657,-0.000195
3,1,46080,22,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
3,1,46080,22,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000025
3,1,46080,22,gripper,0,"","put bread on carpet",-0.190504,0.074520,0.947277,-0.093177,-0.729660,-0.089331,0.671516
3,1,46080,23,obj,0,"003_bread_1","put bread on carpet",-0.084324,-0.068577,0.883544,0.923087,0.006492,-0.010862,0.384384
3,1,46080,23,obj,1,"005_7up can_1","put bread on carpet",-0.120480,0.039749,0.885626,0.897950,0.084498,-0.217134,0.373362
3,1,46080,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
3,1,46080,23,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
3,1,46080,23,gripper,0,"","put bread on carpet",-0.073835,-0.060276,0.942344,-0.043211,-0.761249,-0.044224,0.645506
3,1,46080,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.208336,-0.047995,0.883544,0.904551,0.006989,-0.010555,0.426178
3,1,46080,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090454,0.069765,0.885627,0.898084,0.084419,-0.217168,0.373037
3,1,46080,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075003,0.869490,1.000000,0.000179,0.000874,0.000006
3,1,46080,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,-0.044987,0.870447,0.999999,-0.000923,-0.000845,-0.000018
3,1,46080,24,gripper,0,"","put 7up can on newspaper",-0.199093,-0.055302,0.941371,-0.032107,-0.713416,-0.038686,0.698934
3,1,46080,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.205910,0.075720,0.883523,0.999879,0.000324,-0.015518,0.001046
3,1,46080,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.246952,-0.045078,0.885675,0.932138,0.001920,-0.362088,-0.002584
3,1,46080,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000049
3,1,46080,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
3,1,46080,25,gripper,0,"","put 7up can on newspaper",-0.124228,-0.054947,0.970409,0.027874,-0.670924,-0.016234,0.740824
3,1,46080,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.084488,-0.075481,0.883544,0.383790,0.012267,-0.003126,0.923334
3,1,46080,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.144413,0.119715,0.886003,0.048787,-0.919243,0.376163,0.105417
3,1,46080,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235004,0.045000,0.869490,1.000000,0.000180,0.000874,-0.000152
3,1,46080,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
3,1,46080,26,gripper,0,"","put 7up can on newspaper",-0.075758,0.084834,0.985281,-0.022296,-0.702189,-0.087938,0.706188
3,1,46080,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.221214,-0.083000,0.899337,0.697162,0.067527,-0.014887,0.713571
3,1,46080,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.120508,0.069759,0.885627,0.897991,0.084473,-0.217145,0.373261
3,1,46080,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
3,1,46080,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000022
3,1,46080,27,gripper,0,"","put 7up can on newspaper",-0.231802,-0.077198,0.933873,0.029890,-0.650870,0.082263,0.754127
3,1,46080,28,obj,0,"003_bread_1","put 7up can on carpet",-0.075579,0.085983,0.883544,0.810023,0.008823,-0.009074,0.586262
3,1,46080,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.205176,-0.082598,0.885627,0.686743,0.161155,-0.168281,0.688545
3,1,46080,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
3,1,46080,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
3,1,46080,28,gripper,0,"","put 7up can on carpet",-0.071816,0.083454,0.948763,-0.020443,-0.748361,-0.049053,0.661159
3,1,46080,29,obj,0,"003_bread_1","put 7up can on carpet",-0.202637,0.022772,0.891169,0.725825,-0.355364,-0.539819,-0.235562
3,1,46080,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092607,-0.074833,0.885626,0.972479,-0.004969,-0.232933,0.001557
3,1,46080,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204935,-0.045029,0.869490,1.000000,0.000180,0.000875,-0.000474
3,1,46080,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.234949,0.075043,0.870427,0.999999,-0.000667,-0.001184,-0.000014
3,1,46080,29,gripper,0,"","put 7up can on carpet",-0.158258,0.009823,1.011929,0.003493,-0.686532,0.027346,0.726577
3,1,46080,30,obj,0,"003_bread_1","put 7up can on carpet",-0.085545,-0.074886,0.883544,0.999916,0.001781,-0.012523,-0.002870
3,1,46080,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.246952,-0.045078,0.885675,0.932138,0.001920,-0.362088,-0.002584
3,1,46080,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
3,1,46080,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
3,1,46080,30,gripper,0,"","put 7up can on carpet",-0.120344,0.019191,1.025365,-0.051814,-0.743372,0.002688,0.666863
3,1,46080,31,obj,0,"003_bread_1","put 7up can on carpet",-0.195160,-0.085945,0.883544,0.940040,0.005985,-0.011159,0.340828
3,1,46080,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.118450,0.071447,0.885637,0.913195,0.060889,-0.139897,0.377884
3,1,46080,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000052
3,1,46080,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000025
3,1,46080,31,gripper,0,"","put 7up can on carpet",-0.189480,-0.083599,0.946632,-0.167060,-0.692090,-0.148263,0.686382
3,1,46080,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.233925,0.045014,0.887528,0.999034,-0.000345,0.043216,0.007997
3,1,46080,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.115005,0.074564,0.878547,0.999910,0.013281,0.002054,0.000357
3,1,46080,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000022
3,1,46080,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
3,1,46080,32,gripper,0,"","put carrot on sheet metal",-0.132477,-0.034064,1.013650,-0.069293,-0.728380,-0.035883,0.680715
3,1,46080,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237125,0.074071,0.887280,0.745340,-0.009996,0.018303,0.666358
3,1,46080,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.114563,-0.044996,0.878547,0.706788,0.007961,0.010865,0.707297
3,1,46080,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,1,46080,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
3,1,46080,33,gripper,0,"","put carrot on sheet metal",-0.168772,-0.038482,0.981235,-0.027324,-0.723648,-0.013913,0.689488
3,1,46080,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087868,0.078744,0.887532,0.911740,-0.016263,0.034767,0.408971
3,1,46080,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.114685,-0.045307,0.878547,0.923628,0.011478,0.006977,0.383056
3,1,46080,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,1,46080,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
3,1,46080,34,gripper,0,"","put carrot on sheet metal",-0.046154,0.077732,0.981782,-0.157955,-0.700835,-0.111201,0.686669
3,1,46080,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039761,0.391499
3,1,46080,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011481,0.006979,0.382998
3,1,46080,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
3,1,46080,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
3,1,46080,35,gripper,0,"","put carrot on sheet metal",-0.089037,-0.004378,0.991684,-0.318702,-0.642580,-0.247985,0.651171
3,1,46080,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238228,0.074713,0.887467,0.742162,-0.022222,0.025944,0.669350
3,1,46080,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084559,0.075006,0.878547,0.706806,0.007937,0.010839,0.707280
3,1,46080,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
3,1,46080,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000001,0.000003
3,1,46080,36,gripper,0,"","put carrot on flat bowl",-0.208409,0.071044,0.985360,0.035859,-0.695677,-0.027271,0.716940
3,1,46080,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088026,-0.071455,0.887291,0.911665,-0.014803,0.020677,0.410146
3,1,46080,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011481,0.006979,0.382998
3,1,46080,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
3,1,46080,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
3,1,46080,37,gripper,0,"","put carrot on flat bowl",-0.072822,-0.004183,0.992495,0.348593,-0.631892,0.363731,0.588979
3,1,46080,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088146,0.074459,0.887552,0.744262,-0.022015,0.022300,0.667152
3,1,46080,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007969,0.010890,0.707296
3,1,46080,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
3,1,46080,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
3,1,46080,38,gripper,0,"","put carrot on flat bowl",-0.009468,-0.047108,0.993015,0.163839,-0.715429,-0.037861,0.678147
3,1,46080,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,-0.076574,0.887458,0.348966,-0.035355,0.011562,0.936397
3,1,46080,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114693,0.045315,0.878547,0.382214,0.003184,0.013056,0.923976
3,1,46080,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
3,1,46080,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000000
3,1,46080,39,gripper,0,"","put carrot on flat bowl",-0.049513,-0.026268,0.989951,0.086234,-0.694673,0.194604,0.687112
3,1,46080,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089989,-0.069988,0.887478,0.996380,-0.002811,0.023810,0.081563
3,1,46080,40,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,0.074566,0.878547,0.999910,0.013264,0.002046,0.000047
3,1,46080,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000157,0.001164,0.000034
3,1,46080,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
3,1,46080,40,gripper,0,"","put banana on sheet metal",-0.077953,0.106700,1.007864,0.170263,-0.710161,0.167570,0.662270
3,1,46080,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236347,0.044659,0.887143,0.914133,-0.002184,0.030105,0.404290
3,1,46080,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
3,1,46080,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
3,1,46080,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
3,1,46080,41,gripper,0,"","put banana on sheet metal",-0.076651,-0.034087,0.998499,-0.222525,-0.762546,-0.088755,0.600941
3,1,46080,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207222,-0.072397,0.887316,0.911456,-0.004210,0.017051,0.411021
3,1,46080,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084675,-0.045311,0.878547,0.923881,0.011473,0.006964,0.382444
3,1,46080,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000046
3,1,46080,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
3,1,46080,42,gripper,0,"","put banana on sheet metal",-0.039642,-0.014938,1.013943,-0.152943,-0.679266,-0.214449,0.684994
3,1,46080,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236231,-0.073969,0.887528,0.375246,-0.040058,0.016233,0.925917
3,1,46080,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204723,0.045286,0.878547,0.382726,0.003191,0.013055,0.923764
3,1,46080,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
3,1,46080,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
3,1,46080,43,gripper,0,"","put banana on sheet metal",-0.057803,0.087144,0.972309,0.324697,-0.636538,0.213941,0.666049
3,1,46080,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239852,-0.080252,0.887309,0.995251,-0.002189,0.027040,-0.093489
3,1,46080,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084989,0.074560,0.878547,0.999910,0.013280,0.002053,0.000309
3,1,46080,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
3,1,46080,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
3,1,46080,44,gripper,0,"","put banana on flat bowl",-0.035688,-0.052217,0.989748,-0.065531,-0.703333,-0.107109,0.699683
3,1,46080,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.116821,-0.075588,0.887538,0.742039,-0.022818,0.022925,0.669576
3,1,46080,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.044989,0.878547,0.707042,0.007964,0.010862,0.707043
3,1,46080,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.074982,0.871344,0.999999,-0.000157,0.001164,-0.000045
3,1,46080,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000153
3,1,46080,45,gripper,0,"","put banana on flat bowl",-0.192404,-0.007304,0.989961,-0.173685,-0.629088,-0.229145,0.722201
3,1,46080,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237476,-0.074839,0.887529,0.678482,-0.031727,0.029353,0.733344
3,1,46080,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075018,0.878547,0.707200,0.007956,0.010848,0.706886
3,1,46080,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
3,1,46080,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
3,1,46080,46,gripper,0,"","put banana on flat bowl",-0.143463,0.100880,0.981813,0.259303,-0.637049,0.203707,0.696731
3,1,46080,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087574,-0.041460,0.887256,0.996805,0.004562,0.028549,0.074451
3,1,46080,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114990,0.074558,0.878547,0.999909,0.013294,0.002053,0.000068
3,1,46080,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
3,1,46080,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
3,1,46080,47,gripper,0,"","put banana on flat bowl",-0.138712,-0.018588,1.004516,0.059841,-0.741818,0.193276,0.639351
3,1,46080,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235954,0.075619,0.888112,0.716741,-0.026913,-0.005844,0.696796
3,1,46080,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.189766,-0.028687,0.895187,0.421682,-0.582029,0.402591,0.566875
3,1,46080,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205048,-0.044945,0.872199,1.000000,-0.000001,-0.000000,0.000166
3,1,46080,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000012
3,1,46080,48,gripper,0,"","put hamburger on frying pan",-0.130424,-0.068626,1.052844,-0.094563,-0.644074,-0.117559,0.749938
3,1,46080,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.126743,0.066761,0.931344,0.381180,-0.223999,-0.477832,0.759081
3,1,46080,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256214,0.064816,0.887026,0.267112,-0.662560,0.254352,0.651898
3,1,46080,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
3,1,46080,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
3,1,46080,49,gripper,0,"","put hamburger on frying pan",-0.105724,0.070055,0.970449,-0.022542,-0.694707,-0.039348,0.717862
3,1,46080,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.114326,-0.043980,0.888112,0.999532,-0.023175,0.014878,-0.013320
3,1,46080,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175713,0.045868,0.887026,0.704494,-0.017178,0.709500,0.001319
3,1,46080,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
3,1,46080,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
3,1,46080,50,gripper,0,"","put hamburger on frying pan",-0.093105,-0.023045,0.990601,0.036440,-0.717115,0.052599,0.694011
3,1,46080,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235271,-0.043282,0.888112,0.926505,-0.027133,0.004732,0.375274
3,1,46080,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.185017,0.097095,0.887239,0.658229,-0.271638,0.655800,0.250747
3,1,46080,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084902,0.075020,0.872199,1.000000,-0.000001,-0.000000,-0.000678
3,1,46080,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
3,1,46080,51,gripper,0,"","put hamburger on frying pan",-0.079806,-0.073521,0.939882,0.103848,-0.742000,0.017122,0.662086
3,1,46080,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235471,0.076088,0.888111,0.932325,-0.027056,0.005155,0.360573
3,1,46080,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.180258,-0.051239,0.887793,0.667238,-0.256858,0.662128,0.224509
3,1,46080,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
3,1,46080,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.082297,-0.075802,0.870870,0.999984,-0.000000,-0.000002,0.005632
3,1,46080,52,gripper,0,"","put hamburger on cutting board",-0.193293,-0.060587,0.981450,0.062281,-0.698053,0.037756,0.712333
3,1,46080,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085951,-0.074383,0.888112,0.712513,-0.026875,-0.006006,0.701118
3,1,46080,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205669,0.111435,0.887026,0.513024,-0.497817,0.505814,0.482842
3,1,46080,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
3,1,46080,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
3,1,46080,53,gripper,0,"","put hamburger on cutting board",-0.131948,-0.005852,1.016742,-0.168856,-0.650782,-0.285944,0.682793
3,1,46080,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085228,-0.073883,0.888112,0.925793,-0.027141,0.004677,0.377027
3,1,46080,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.099220,0.071770,0.887026,0.641139,-0.308494,0.639157,0.291977
3,1,46080,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
3,1,46080,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000004
3,1,46080,54,gripper,0,"","put hamburger on cutting board",-0.048227,0.069727,0.931658,-0.010630,-0.750841,-0.012333,0.660282
3,1,46080,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206264,-0.045200,0.888112,0.717338,-0.026919,-0.005823,0.696180
3,1,46080,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085323,-0.047836,0.887318,0.523693,-0.477467,0.464036,0.531453
3,1,46080,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
3,1,46080,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
3,1,46080,55,gripper,0,"","put hamburger on cutting board",-0.050840,-0.048025,0.945818,0.106955,-0.731851,0.108937,0.664145
3,1,46080,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085213,-0.073914,0.888112,0.925337,-0.027147,0.004644,0.378144
3,1,46080,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.185081,0.096886,0.887997,0.654188,-0.295896,0.645772,0.259735
3,1,46080,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000001,-0.000001,0.000008
3,1,46080,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084976,0.074970,0.870870,1.000000,-0.000000,-0.000002,-0.000102
3,1,46080,56,gripper,0,"","put plastic bottle on frying pan",0.029655,0.000208,0.991596,0.179041,-0.675264,-0.096948,0.708917
3,1,46080,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.114304,-0.074070,0.888112,0.999597,-0.023268,0.014735,-0.006882
3,1,46080,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.155285,0.076084,0.891008,0.266576,-0.014820,0.963644,0.010429
3,1,46080,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000001
3,1,46080,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
3,1,46080,57,gripper,0,"","put plastic bottle on frying pan",-0.102118,-0.057158,0.955251,-0.482136,-0.578878,-0.300375,0.584996
3,1,46080,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
3,1,46080,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.085789,0.104359,0.887026,0.497316,-0.513747,0.489643,0.498989
3,1,46080,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
3,1,46080,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
3,1,46080,58,gripper,0,"","put plastic bottle on frying pan",-0.023672,0.003239,0.974137,-0.108969,-0.722493,-0.216517,0.647496
3,1,46080,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,0.074749,0.888112,0.388151,-0.022504,-0.015882,0.921184
3,1,46080,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256369,0.094902,0.887027,0.266344,-0.662863,0.253574,0.652207
3,1,46080,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
3,1,46080,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
3,1,46080,59,gripper,0,"","put plastic bottle on frying pan",-0.203940,0.111933,0.951667,0.165443,-0.693205,0.119542,0.691234
3,1,46080,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.114377,0.045948,0.888112,0.999581,-0.023239,0.014779,-0.008890
3,1,46080,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.059086,-0.074326,0.887026,0.704223,-0.035606,0.708814,0.019622
3,1,46080,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
3,1,46080,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
3,1,46080,60,gripper,0,"","put plastic bottle on cutting board",-0.022119,-0.042810,0.989039,-0.002113,-0.685347,-0.042839,0.726953
3,1,46080,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205660,0.076023,0.888112,0.938546,-0.026959,0.005637,0.344053
3,1,46080,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.025724,0.075066,0.888063,0.616519,-0.293812,0.686750,0.248903
3,1,46080,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
3,1,46080,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
3,1,46080,61,gripper,0,"","put plastic bottle on cutting board",-0.024738,0.052942,0.935127,0.395584,-0.651437,0.145117,0.630939
3,1,46080,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205956,-0.044384,0.888112,0.712312,-0.026878,-0.006010,0.701322
3,1,46080,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.082127,0.080807,0.889705,0.435935,-0.567176,0.426642,0.553398
3,1,46080,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
3,1,46080,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085049,0.075027,0.870871,1.000000,0.000000,-0.000013,-0.000469
3,1,46080,62,gripper,0,"","put plastic bottle on cutting board",-0.068974,0.070080,1.138756,-0.053392,-0.683992,-0.084013,0.722666
3,1,46080,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
3,1,46080,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205795,0.075733,0.887026,0.704497,-0.018860,0.709450,0.002990
3,1,46080,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
3,1,46080,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
3,1,46080,63,gripper,0,"","put plastic bottle on cutting board",-0.157480,0.080969,0.996035,-0.013099,-0.715827,-0.022698,0.697786
3,2,51200,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.203453,0.086800,0.885085,-0.664967,-0.304926,0.348476,-0.586006
3,2,51200,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085091,0.074043,0.881638,0.707201,0.024489,-0.030824,0.705915
3,2,51200,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074959,0.869532,1.000000,-0.000000,-0.000002,-0.000639
3,2,51200,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871288,0.999999,-0.000155,-0.001019,-0.000035
3,2,51200,0,gripper,0,"","put ketchup bottle on cloth",-0.158554,0.046696,1.084705,-0.017561,-0.861445,0.062665,0.503664
3,2,51200,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091888,-0.081955,0.879089,0.818598,0.176032,-0.428307,0.339800
3,2,51200,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.231846,0.074669,0.881641,0.918739,-0.019786,0.034965,0.392817
3,2,51200,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114986,0.044998,0.869532,1.000000,0.000000,-0.000000,0.000148
3,2,51200,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000178
3,2,51200,1,gripper,0,"","put ketchup bottle on cloth",-0.237230,0.050159,0.957302,0.159955,-0.702399,0.082372,0.688668
3,2,51200,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200947,0.053345,0.885081,0.633958,0.323501,-0.334410,0.617750
3,2,51200,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084240,-0.075340,0.884013,0.708147,0.045931,0.003097,0.704563
3,2,51200,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235008,0.044998,0.869532,1.000000,0.000001,-0.000000,0.000637
3,2,51200,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205013,-0.074982,0.871282,0.999999,-0.000449,-0.001264,0.000279
3,2,51200,2,gripper,0,"","put ketchup bottle on cloth",-0.171522,0.062702,1.132895,0.120843,-0.785001,0.182363,0.579581
3,2,51200,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.099983,-0.033173,0.885085,0.543744,0.364691,-0.285365,0.699936
3,2,51200,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234407,-0.075737,0.881637,0.382351,0.034434,-0.019069,0.923178
3,2,51200,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000005
3,2,51200,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001266,0.000042
3,2,51200,3,gripper,0,"","put ketchup bottle on cloth",-0.167272,0.058514,0.991975,0.148945,-0.813821,0.147787,0.541914
3,2,51200,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.109333,0.073647,0.888530,0.628113,-0.399341,0.482973,0.461235
3,2,51200,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115111,-0.075989,0.881638,0.706821,0.024485,-0.030797,0.706297
3,2,51200,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204999,0.075043,0.869532,1.000000,0.000000,-0.000001,0.000671
3,2,51200,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.086975,0.043335,0.871288,0.999913,-0.000141,-0.001021,0.013168
3,2,51200,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.280315,-0.047096,0.914392,-0.053892,-0.721517,0.003379,0.690288
3,2,51200,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.203440,-0.069542,0.885370,0.656067,0.069394,-0.054243,0.749545
3,2,51200,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084255,0.074348,0.883919,0.707290,0.042593,0.004397,0.705625
3,2,51200,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234999,-0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000039
3,2,51200,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205301,0.045151,0.871210,0.999982,-0.003916,-0.004121,-0.001865
3,2,51200,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.238732,-0.040920,0.968256,-0.029592,-0.703022,-0.051171,0.708707
3,2,51200,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078087,0.068115,0.879089,0.338548,0.427327,-0.178374,0.819121
3,2,51200,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.216038,0.079765,0.881638,0.424259,0.033519,-0.020628,0.904685
3,2,51200,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
3,2,51200,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000449,-0.001263,0.000013
3,2,51200,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.145319,-0.042877,0.975587,0.047217,-0.681795,-0.019587,0.729755
3,2,51200,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.039501,0.087875,0.885084,0.655329,0.310187,-0.342770,0.597358
3,2,51200,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.207565,-0.047195,0.883103,0.915641,0.042437,-0.126163,0.379321
3,2,51200,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085011,0.075005,0.869533,1.000000,-0.000000,-0.000001,0.000224
3,2,51200,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
3,2,51200,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.255774,0.015926,0.931557,-0.071578,-0.678629,-0.008644,0.730934
3,2,51200,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.084740,0.071888,0.879089,0.578983,0.349535,-0.303704,0.671094
3,2,51200,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.107323,-0.077950,0.884146,0.666203,0.054604,0.000788,0.743768
3,2,51200,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000010
3,2,51200,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.220192,-0.050064,0.871289,0.998456,-0.000150,-0.000967,-0.055536
3,2,51200,8,gripper,0,"","put kitchen shovel on cloth",-0.275200,-0.105696,0.918850,-0.029427,-0.713083,0.022554,0.700099
3,2,51200,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.205318,0.044460,0.885083,-0.679992,-0.295468,0.355713,-0.569015
3,2,51200,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.197605,-0.075321,0.883145,0.998104,0.021135,0.052679,0.023814
3,2,51200,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235435,0.048626,0.869532,0.999673,0.000000,-0.000000,0.025564
3,2,51200,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
3,2,51200,9,gripper,0,"","put kitchen shovel on cloth",-0.200647,0.027203,0.986754,0.005941,-0.681291,-0.026035,0.731526
3,2,51200,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.010101,0.194012,0.879213,0.223796,0.568348,-0.774290,0.165442
3,2,51200,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234394,0.074249,0.881638,0.382533,0.034446,-0.019080,0.923102
3,2,51200,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
3,2,51200,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
3,2,51200,10,gripper,0,"","put kitchen shovel on cloth",-0.075689,0.083664,1.008082,0.034146,-0.726851,0.009708,0.685877
3,2,51200,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.177387,0.028488,0.885209,0.240043,0.483274,-0.830052,0.140849
3,2,51200,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084408,-0.075756,0.881638,0.382465,0.034408,-0.019070,0.923132
3,2,51200,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.187241,0.055161,0.869532,0.987893,0.000001,-0.000001,-0.155134
3,2,51200,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
3,2,51200,11,gripper,0,"","put kitchen shovel on cloth",-0.260689,-0.096283,0.934461,-0.048236,-0.715612,-0.002186,0.696827
3,2,51200,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.215344,-0.048771,0.923786,-0.730294,0.115571,0.121953,0.662150
3,2,51200,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084406,-0.075768,0.881638,0.382556,0.034407,-0.019075,0.923095
3,2,51200,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235000,-0.075001,0.869532,1.000000,0.000001,-0.000002,-0.000001
3,2,51200,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
3,2,51200,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.219746,-0.056791,0.958678,0.042700,-0.692615,-0.108452,0.711828
3,2,51200,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.120529,0.170898,0.879213,0.235846,0.507219,-0.815639,0.147778
3,2,51200,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085114,-0.075958,0.881638,0.706682,0.024513,-0.030807,0.706435
3,2,51200,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084997,0.075001,0.869532,1.000000,-0.000001,0.000000,-0.000044
3,2,51200,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.197813,0.043087,0.871288,0.951786,0.000164,-0.001018,0.306761
3,2,51200,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.256331,-0.102898,0.932895,-0.132939,-0.708348,-0.049628,0.691453
3,2,51200,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085003,0.065289,0.879089,0.626286,0.326500,-0.328322,0.627191
3,2,51200,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205109,0.074047,0.881638,0.706705,0.024492,-0.030790,0.706414
3,2,51200,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
3,2,51200,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.191685,-0.039062,0.871288,0.990236,-0.000299,-0.000989,-0.139396
3,2,51200,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.261600,-0.089342,0.915428,-0.035453,-0.755004,-0.118190,0.644005
3,2,51200,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.166096,0.083782,0.887738,0.668841,0.301818,-0.335223,0.590917
3,2,51200,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.069130,0.052605,0.881641,0.910101,-0.020538,0.034547,0.412433
3,2,51200,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000014
3,2,51200,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.204979,0.075024,0.871262,0.999997,-0.001418,-0.002067,0.000002
3,2,51200,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.143999,0.083450,0.967074,0.004528,-0.721619,-0.045797,0.690759
3,2,51200,16,obj,0,"003_bread_1","put bread on carpet",-0.086830,-0.072590,0.883544,0.884480,0.007450,-0.010236,0.466407
3,2,51200,16,obj,1,"005_7up can_1","put bread on carpet",-0.243393,0.036503,0.885675,0.861665,0.140814,-0.333564,0.355583
3,2,51200,16,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.074997,0.869490,1.000000,0.000180,0.000873,0.000059
3,2,51200,16,recep,1,"003_carpet_1","put bread on carpet",-0.114998,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
3,2,51200,16,gripper,0,"","put bread on carpet",-0.078899,-0.074251,0.940908,0.082690,-0.674442,0.074550,0.729885
3,2,51200,17,obj,0,"003_bread_1","put bread on carpet",-0.114174,-0.067871,0.883544,0.363731,0.012323,-0.002869,0.931418
3,2,51200,17,obj,1,"005_7up can_1","put bread on carpet",-0.194988,0.068493,0.885636,0.419557,0.253599,-0.129471,0.861914
3,2,51200,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,0.044998,0.869490,1.000000,0.000179,0.000874,0.000031
3,2,51200,17,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000726,-0.001047,0.000021
3,2,51200,17,gripper,0,"","put bread on carpet",-0.108078,-0.058382,0.945143,-0.025102,-0.724587,-0.005995,0.688700
3,2,51200,18,obj,0,"003_bread_1","put bread on carpet",-0.163937,0.030804,0.886275,0.995272,0.004406,-0.008096,0.096683
3,2,51200,18,obj,1,"005_7up can_1","put bread on carpet",-0.077957,-0.003872,0.885651,0.879860,-0.099240,-0.198069,-0.420437
3,2,51200,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000179,0.000874,0.000023
3,2,51200,18,recep,1,"003_carpet_1","put bread on carpet",-0.205009,0.045013,0.870461,1.000000,0.000019,-0.000158,0.000140
3,2,51200,18,gripper,0,"","put bread on carpet",-0.077532,-0.010712,0.943952,-0.193402,-0.696534,-0.227992,0.652270
3,2,51200,19,obj,0,"003_bread_1","put bread on carpet",-0.182501,0.066910,0.886332,0.998447,0.006103,-0.006900,0.054949
3,2,51200,19,obj,1,"005_7up can_1","put bread on carpet",-0.092609,0.075169,0.885626,0.972475,-0.005018,-0.232950,0.001355
3,2,51200,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114996,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000013
3,2,51200,19,recep,1,"003_carpet_1","put bread on carpet",-0.204969,0.074997,0.870452,0.999998,0.001568,0.001266,0.000143
3,2,51200,19,gripper,0,"","put bread on carpet",-0.167103,0.044388,1.128493,0.040937,-0.744783,0.063287,0.663036
3,2,51200,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.183298,0.063847,0.883561,0.202757,0.016248,-0.001862,0.979092
3,2,51200,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.199747,-0.080521,0.885627,0.370738,0.213319,-0.093746,0.899033
3,2,51200,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,2,51200,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000924,-0.000845,-0.000000
3,2,51200,20,gripper,0,"","put 7up can on newspaper",-0.200754,0.059511,0.919395,0.033931,-0.717187,-0.034340,0.695206
3,2,51200,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.084475,-0.075478,0.883544,0.383973,0.012262,-0.003129,0.923257
3,2,51200,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.229755,-0.080494,0.885627,0.370815,0.213292,-0.093756,0.899007
3,2,51200,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000005
3,2,51200,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084974,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000071
3,2,51200,21,gripper,0,"","put 7up can on newspaper",-0.188954,-0.019476,0.997947,0.074422,-0.655462,0.169603,0.732165
3,2,51200,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.180992,0.090874,0.883545,0.999183,0.002300,-0.012446,0.038386
3,2,51200,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.124329,-0.044838,0.885636,0.958612,-0.005650,-0.284659,-0.000781
3,2,51200,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
3,2,51200,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000053
3,2,51200,22,gripper,0,"","put 7up can on newspaper",-0.077044,0.037905,0.944063,-0.026915,-0.736839,-0.024642,0.675083
3,2,51200,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.082287,-0.062557,0.883544,0.905592,0.006962,-0.010575,0.423960
3,2,51200,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.120480,0.039749,0.885626,0.897951,0.084497,-0.217132,0.373362
3,2,51200,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
3,2,51200,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
3,2,51200,23,gripper,0,"","put 7up can on newspaper",-0.079950,-0.060289,0.948007,-0.044551,-0.750852,-0.021506,0.658615
3,2,51200,24,obj,0,"003_bread_1","put 7up can on carpet",-0.211395,-0.044813,0.883544,0.904356,0.006986,-0.010553,0.426590
3,2,51200,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.090454,0.069777,0.885627,0.898114,0.084403,-0.217178,0.372962
3,2,51200,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075003,0.869490,1.000000,0.000180,0.000875,0.000006
3,2,51200,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.114998,-0.044975,0.870447,0.999999,-0.000923,-0.000845,-0.000039
3,2,51200,24,gripper,0,"","put 7up can on carpet",-0.198444,-0.039738,0.979429,0.000388,-0.698594,0.026753,0.715018
3,2,51200,25,obj,0,"003_bread_1","put 7up can on carpet",-0.204151,0.073500,0.883530,0.999396,-0.000041,-0.015684,-0.031004
3,2,51200,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.246952,-0.045078,0.885675,0.932146,0.001922,-0.362069,-0.002577
3,2,51200,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000067
3,2,51200,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
3,2,51200,25,gripper,0,"","put 7up can on carpet",-0.155708,0.059763,0.980996,0.044043,-0.686791,-0.045710,0.724078
3,2,51200,26,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,-0.075481,0.883544,0.383771,0.012262,-0.003123,0.923342
3,2,51200,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.122765,0.142321,0.885949,0.125272,-0.879550,0.310898,0.337699
3,2,51200,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235004,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000288
3,2,51200,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,-0.074995,0.870447,0.999995,-0.000544,-0.000517,0.003042
3,2,51200,26,gripper,0,"","put 7up can on carpet",-0.106836,0.112787,0.969845,0.048381,-0.762221,-0.027162,0.644935
3,2,51200,27,obj,0,"003_bread_1","put 7up can on carpet",-0.212358,-0.058207,0.883544,0.646771,0.010726,-0.006721,0.762579
3,2,51200,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.120508,0.069763,0.885627,0.897993,0.084472,-0.217146,0.373257
3,2,51200,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
3,2,51200,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000047
3,2,51200,27,gripper,0,"","put 7up can on carpet",-0.193161,-0.058681,0.965625,0.036477,-0.692346,0.036350,0.719725
3,2,51200,28,obj,0,"003_bread_1","put bread on newspaper",-0.043912,0.065170,0.884390,0.768638,0.036472,-0.011276,0.638544
3,2,51200,28,obj,1,"005_7up can_1","put bread on newspaper",-0.205176,-0.082598,0.885627,0.686743,0.161153,-0.168278,0.688546
3,2,51200,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,2,51200,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
3,2,51200,28,gripper,0,"","put bread on newspaper",-0.049515,0.047160,0.919264,0.139797,-0.678150,-0.167343,0.701830
3,2,51200,29,obj,0,"003_bread_1","put bread on newspaper",-0.187040,0.005070,0.885705,0.937844,-0.011195,0.001609,-0.346871
3,2,51200,29,obj,1,"005_7up can_1","put bread on newspaper",-0.077330,-0.049212,0.885751,0.654522,-0.350233,-0.487950,-0.459176
3,2,51200,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.204905,-0.045021,0.869490,1.000000,0.000180,0.000874,-0.000553
3,2,51200,29,recep,1,"003_carpet_1","put bread on newspaper",-0.234566,0.075119,0.870368,0.999995,-0.000442,-0.001592,-0.002839
3,2,51200,29,gripper,0,"","put bread on newspaper",-0.080151,-0.034575,0.970387,-0.192022,-0.719630,-0.061275,0.664458
3,2,51200,30,obj,0,"003_bread_1","put bread on newspaper",-0.085545,-0.074886,0.883544,0.999916,0.001783,-0.012533,-0.002637
3,2,51200,30,obj,1,"005_7up can_1","put bread on newspaper",-0.244186,-0.042313,0.885636,0.958610,-0.005750,-0.284661,-0.001122
3,2,51200,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
3,2,51200,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
3,2,51200,30,gripper,0,"","put bread on newspaper",-0.216337,-0.025656,0.979270,0.024493,-0.705146,0.038840,0.707574
3,2,51200,31,obj,0,"003_bread_1","put bread on newspaper",-0.195160,-0.085945,0.883544,0.940098,0.005983,-0.011154,0.340670
3,2,51200,31,obj,1,"005_7up can_1","put bread on newspaper",-0.118450,0.071449,0.885637,0.913194,0.060886,-0.139887,0.377890
3,2,51200,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000089
3,2,51200,31,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000045
3,2,51200,31,gripper,0,"","put bread on newspaper",-0.078810,-0.041829,0.964467,-0.168045,-0.704436,-0.125824,0.678011
3,2,51200,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.233925,0.045014,0.887528,0.999034,-0.000345,0.043216,0.007998
3,2,51200,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.115005,0.074564,0.878547,0.999909,0.013295,0.002055,0.000358
3,2,51200,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000022
3,2,51200,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000001,0.000000
3,2,51200,32,gripper,0,"","put carrot on flat bowl",-0.218834,0.047880,0.985694,-0.159222,-0.721303,-0.097136,0.667035
3,2,51200,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.241375,0.074334,0.887500,0.755331,-0.028135,0.031350,0.653989
3,2,51200,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.114563,-0.044996,0.878547,0.706788,0.007946,0.010847,0.707297
3,2,51200,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,2,51200,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
3,2,51200,33,gripper,0,"","put carrot on flat bowl",-0.200052,0.084176,0.999579,-0.070856,-0.680648,-0.093751,0.723124
3,2,51200,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091606,0.080555,0.887273,0.918305,-0.015410,0.021428,0.394994
3,2,51200,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.114685,-0.045307,0.878547,0.923628,0.011478,0.006977,0.383056
3,2,51200,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,2,51200,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
3,2,51200,34,gripper,0,"","put carrot on flat bowl",-0.049276,0.115369,1.032823,0.149443,-0.686552,0.053155,0.709569
3,2,51200,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039762,0.391499
3,2,51200,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011498,0.006986,0.382998
3,2,51200,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
3,2,51200,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
3,2,51200,35,gripper,0,"","put carrot on flat bowl",-0.161323,-0.062916,0.980753,-0.259504,-0.664884,-0.178381,0.677323
3,2,51200,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241588,0.073712,0.887550,0.751926,-0.018761,0.024455,0.658526
3,2,51200,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084559,0.075006,0.878547,0.706806,0.007935,0.010837,0.707280
3,2,51200,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000001
3,2,51200,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000004
3,2,51200,36,gripper,0,"","put banana on sheet metal",-0.053957,0.098649,0.987198,0.136169,-0.695379,0.151899,0.689081
3,2,51200,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.090807,-0.070437,0.887294,0.916319,-0.008570,0.011504,0.400192
3,2,51200,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011498,0.006986,0.382998
3,2,51200,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
3,2,51200,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
3,2,51200,37,gripper,0,"","put banana on sheet metal",-0.042173,0.100832,1.011149,0.172623,-0.745200,-0.003090,0.644103
3,2,51200,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092281,0.073701,0.887491,0.753248,-0.021251,0.024469,0.656937
3,2,51200,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007966,0.010887,0.707296
3,2,51200,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
3,2,51200,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
3,2,51200,38,gripper,0,"","put banana on sheet metal",-0.202684,-0.054275,0.954402,0.166209,-0.655501,0.256279,0.690662
3,2,51200,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089123,-0.080236,0.887156,0.359635,-0.022807,-0.000399,0.932814
3,2,51200,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114693,0.045315,0.878547,0.382214,0.003186,0.013065,0.923976
3,2,51200,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
3,2,51200,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
3,2,51200,39,gripper,0,"","put banana on sheet metal",-0.067808,0.049527,1.000747,-0.023899,-0.688577,-0.067407,0.721628
3,2,51200,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090042,-0.069738,0.887410,0.996086,0.000117,0.038710,0.079460
3,2,51200,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,0.074562,0.878547,0.999909,0.013293,0.002043,-0.000334
3,2,51200,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000066
3,2,51200,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
3,2,51200,40,gripper,0,"","put banana on flat bowl",-0.093510,0.070270,1.028959,-0.060284,-0.698354,-0.105924,0.705300
3,2,51200,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.240303,0.047564,0.887184,0.919799,-0.019975,0.024111,0.391140
3,2,51200,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
3,2,51200,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
3,2,51200,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
3,2,51200,41,gripper,0,"","put banana on flat bowl",-0.060741,-0.073807,0.992916,0.174426,-0.703678,0.213813,0.654749
3,2,51200,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210526,-0.070427,0.887445,0.915909,-0.011216,0.024253,0.400496
3,2,51200,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084667,-0.045311,0.878547,0.924115,0.011508,0.006973,0.381876
3,2,51200,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000049
3,2,51200,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
3,2,51200,42,gripper,0,"","put banana on flat bowl",-0.049223,0.007181,1.002512,0.350576,-0.715183,0.322426,0.511518
3,2,51200,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235672,-0.073753,0.887364,0.368433,-0.014431,0.004367,0.929532
3,2,51200,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204723,0.045290,0.878547,0.383105,0.003204,0.013077,0.923606
3,2,51200,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
3,2,51200,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
3,2,51200,43,gripper,0,"","put banana on flat bowl",-0.061207,-0.042491,0.996359,0.238133,-0.679607,0.165077,0.673926
3,2,51200,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245382,-0.074883,0.887339,0.997972,-0.002872,0.033359,-0.054138
3,2,51200,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084986,0.074560,0.878547,0.999910,0.013263,0.002051,0.000203
3,2,51200,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204991,0.045004,0.871344,0.999999,-0.000157,0.001164,-0.000005
3,2,51200,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
3,2,51200,44,gripper,0,"","put carrot on sheet metal",-0.200622,-0.051626,0.972479,-0.003321,-0.672593,0.096534,0.733681
3,2,51200,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120543,-0.076595,0.887534,0.749227,-0.018302,0.016972,0.661843
3,2,51200,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.044987,0.878547,0.707294,0.007949,0.010836,0.706792
3,2,51200,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.074961,0.871344,0.999999,-0.000157,0.001163,-0.000093
3,2,51200,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000304
3,2,51200,45,gripper,0,"","put carrot on sheet metal",-0.001240,0.055942,1.041592,-0.205971,-0.623892,-0.299548,0.691813
3,2,51200,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237427,-0.072191,0.887529,0.667379,-0.032164,0.028877,0.743462
3,2,51200,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.204556,0.075022,0.878547,0.707560,0.007961,0.010843,0.706525
3,2,51200,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
3,2,51200,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000001,0.000103
3,2,51200,46,gripper,0,"","put carrot on sheet metal",-0.206560,-0.103993,0.971494,-0.240324,-0.676294,-0.196227,0.668106
3,2,51200,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088253,-0.040138,0.887522,0.996972,-0.000941,0.030705,0.071430
3,2,51200,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114990,0.074556,0.878547,0.999909,0.013310,0.002052,-0.000078
3,2,51200,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
3,2,51200,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
3,2,51200,47,gripper,0,"","put carrot on sheet metal",-0.132599,-0.125813,0.987285,-0.253801,-0.656453,-0.326390,0.630970
3,2,51200,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235947,0.075623,0.888112,0.721359,-0.026951,-0.005665,0.692014
3,2,51200,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.190132,-0.028519,0.895188,0.423677,-0.579760,0.403475,0.567083
3,2,51200,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205223,-0.044945,0.872199,1.000000,-0.000000,-0.000001,0.000539
3,2,51200,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000023
3,2,51200,48,gripper,0,"","put hamburger on cutting board",-0.163372,-0.021589,0.983613,-0.130441,-0.723465,-0.113314,0.668389
3,2,51200,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.140709,-0.008156,0.890528,-0.088455,-0.309373,-0.946062,0.037827
3,2,51200,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256214,0.064816,0.887026,0.267121,-0.662555,0.254359,0.651897
3,2,51200,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
3,2,51200,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000010
3,2,51200,49,gripper,0,"","put hamburger on cutting board",-0.192347,0.026201,0.985230,-0.089191,-0.682085,-0.106675,0.717931
3,2,51200,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.114326,-0.043983,0.888112,0.999526,-0.023168,0.014888,-0.013776
3,2,51200,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.190929,0.060070,0.887026,0.634974,0.293054,0.646378,-0.305159
3,2,51200,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
3,2,51200,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
3,2,51200,50,gripper,0,"","put hamburger on cutting board",-0.166527,0.065466,0.965907,-0.010059,-0.742677,-0.063569,0.666550
3,2,51200,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235247,-0.043285,0.888112,0.933279,-0.027042,0.005231,0.358094
3,2,51200,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182840,0.098923,0.887026,0.654324,-0.277693,0.653124,0.261107
3,2,51200,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.081358,0.074745,0.872199,0.999745,-0.000000,-0.000001,-0.022579
3,2,51200,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000006
3,2,51200,51,gripper,0,"","put hamburger on cutting board",-0.130467,-0.009426,1.028630,-0.092419,-0.690399,-0.096201,0.711023
3,2,51200,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235472,0.076088,0.888112,0.932340,-0.027054,0.005157,0.360532
3,2,51200,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.180258,-0.051239,0.887793,0.667238,-0.256859,0.662128,0.224508
3,2,51200,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
3,2,51200,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082297,-0.075802,0.870870,0.999984,0.000000,-0.000001,0.005632
3,2,51200,52,gripper,0,"","put plastic bottle on frying pan",-0.134355,-0.047838,1.010705,0.100634,-0.701148,0.081043,0.701211
3,2,51200,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085951,-0.074383,0.888112,0.712903,-0.026879,-0.005992,0.700722
3,2,51200,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.197876,0.107910,0.887027,0.507987,-0.503040,0.500633,0.488125
3,2,51200,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
3,2,51200,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204975,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000043
3,2,51200,53,gripper,0,"","put plastic bottle on frying pan",-0.176343,0.086851,0.977326,0.023012,-0.662188,-0.004128,0.748973
3,2,51200,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085281,-0.074089,0.888112,0.925044,-0.027151,0.004624,0.378859
3,2,51200,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.099369,0.071953,0.887027,0.640863,-0.309101,0.638861,0.292590
3,2,51200,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
3,2,51200,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205006,-0.045002,0.870870,1.000000,0.000001,-0.000000,0.000010
3,2,51200,54,gripper,0,"","put plastic bottle on frying pan",-0.060280,-0.023046,1.004946,-0.031393,-0.742890,0.046789,0.667038
3,2,51200,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206264,-0.045200,0.888112,0.717749,-0.026921,-0.005806,0.695758
3,2,51200,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.210659,0.068405,0.895294,0.523029,-0.489421,0.511001,0.475170
3,2,51200,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235352,0.075161,0.872199,0.999989,0.000000,-0.000001,-0.004727
3,2,51200,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
3,2,51200,55,gripper,0,"","put plastic bottle on frying pan",-0.105309,-0.029966,1.060316,0.031514,-0.708907,-0.011536,0.704503
3,2,51200,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085213,-0.073914,0.888112,0.924827,-0.027153,0.004608,0.379391
3,2,51200,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.137077,0.099182,0.888759,0.700392,-0.194533,0.669200,0.154205
3,2,51200,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000030
3,2,51200,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.064316,0.067921,0.870870,0.999685,0.000000,-0.000001,0.025080
3,2,51200,56,gripper,0,"","put plastic bottle on cutting board",-0.132843,0.013287,1.100406,0.069477,-0.716580,-0.073093,0.690176
3,2,51200,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.114304,-0.074070,0.888112,0.999595,-0.023269,0.014737,-0.007178
3,2,51200,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.177204,0.077351,0.887026,0.704431,-0.025675,0.709241,0.009757
3,2,51200,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084515,0.044998,0.872199,0.999971,0.000000,-0.000001,-0.007665
3,2,51200,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000025
3,2,51200,57,gripper,0,"","put plastic bottle on cutting board",-0.146034,0.096107,0.965489,0.159788,-0.682404,-0.001056,0.713296
3,2,51200,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085938,-0.074406,0.888112,0.712657,-0.026879,-0.006002,0.700972
3,2,51200,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085838,0.104469,0.887026,0.497711,-0.513359,0.490050,0.498596
3,2,51200,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
3,2,51200,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
3,2,51200,58,gripper,0,"","put plastic bottle on cutting board",-0.020206,-0.054321,0.991310,0.022280,-0.732627,0.046281,0.678690
3,2,51200,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,0.074749,0.888112,0.388134,-0.022504,-0.015881,0.921191
3,2,51200,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.238577,0.088573,0.886162,0.312642,-0.025973,-0.002998,0.949511
3,2,51200,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
3,2,51200,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
3,2,51200,59,gripper,0,"","put plastic bottle on cutting board",-0.198611,0.072420,0.914784,0.365631,-0.602260,0.191919,0.683201
3,2,51200,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.114377,0.045948,0.888112,0.999581,-0.023241,0.014777,-0.008890
3,2,51200,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.060357,-0.073757,0.887026,0.704087,-0.040033,0.708577,0.024021
3,2,51200,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
3,2,51200,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
3,2,51200,60,gripper,0,"","put hamburger on frying pan",-0.028459,-0.065847,0.942921,0.115382,-0.729302,0.089708,0.668400
3,2,51200,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205645,0.076019,0.888112,0.942083,-0.026897,0.005914,0.334247
3,2,51200,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.023018,0.076138,0.887067,0.656588,-0.298120,0.621751,0.305684
3,2,51200,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
3,2,51200,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000006
3,2,51200,61,gripper,0,"","put hamburger on frying pan",0.001205,0.034410,0.945904,-0.027856,-0.762794,-0.085240,0.640393
3,2,51200,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205956,-0.044384,0.888112,0.712454,-0.026880,-0.006009,0.701178
3,2,51200,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.080753,0.083130,0.889703,0.442003,-0.560285,0.437582,0.547024
3,2,51200,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
3,2,51200,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084141,0.076687,0.870871,0.999961,-0.000000,-0.000016,-0.008783
3,2,51200,62,gripper,0,"","put hamburger on frying pan",-0.080799,-0.229153,0.933876,-0.293262,-0.700637,-0.264985,0.594044
3,2,51200,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084389,-0.074047,0.888112,0.999585,-0.023248,0.014769,-0.008466
3,2,51200,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205795,0.075729,0.887026,0.704498,-0.019057,0.709443,0.003186
3,2,51200,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
3,2,51200,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
3,2,51200,63,gripper,0,"","put hamburger on frying pan",-0.178017,0.064939,0.963753,-0.007128,-0.691481,-0.009191,0.722301
3,3,56320,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.203453,0.086792,0.885085,-0.664850,-0.304993,0.348417,-0.586139
3,3,56320,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085091,0.074043,0.881638,0.707250,0.024465,-0.030807,0.705868
3,3,56320,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.074959,0.869532,1.000000,-0.000000,-0.000001,-0.000418
3,3,56320,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000057
3,3,56320,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.134418,0.039444,1.130781,0.009068,-0.819632,0.079183,0.567319
3,3,56320,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091896,-0.081955,0.879089,0.818605,0.176023,-0.428314,0.339777
3,3,56320,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231846,0.074661,0.881641,0.918751,-0.019785,0.034965,0.392787
3,3,56320,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114986,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000163
3,3,56320,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.233559,-0.086449,0.871288,0.999676,-0.000128,-0.001023,0.025437
3,3,56320,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.230343,-0.100479,0.951454,-0.009906,-0.734621,-0.032845,0.677610
3,3,56320,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.200947,0.053337,0.885081,0.633749,0.323589,-0.334251,0.618003
3,3,56320,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084240,-0.075340,0.884013,0.708137,0.045921,0.003107,0.704573
3,3,56320,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235008,0.044998,0.869532,0.999999,0.000001,0.000000,0.000952
3,3,56320,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205013,-0.074989,0.871282,0.999999,-0.000448,-0.001264,0.000411
3,3,56320,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.118088,0.046337,1.071810,0.030066,-0.857765,0.062990,0.509281
3,3,56320,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091148,-0.027550,0.885189,0.483418,0.389421,-0.248802,0.743475
3,3,56320,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.159937,-0.129288,0.882072,0.064964,0.071703,-0.009983,0.995258
3,3,56320,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.103968,-0.041832,0.869818,0.996194,-0.002557,0.004098,0.087027
3,3,56320,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.200239,0.073875,0.871282,0.999960,-0.000461,-0.001261,-0.008894
3,3,56320,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.237905,-0.076656,0.935184,-0.217090,-0.706244,-0.163206,0.653800
3,3,56320,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.109333,0.073647,0.888530,0.628074,-0.399365,0.483027,0.461211
3,3,56320,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.096076,-0.068184,0.889000,0.380946,0.534799,-0.461657,0.596442
3,3,56320,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204999,0.075043,0.869532,1.000000,0.000001,-0.000002,0.000686
3,3,56320,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.086975,0.043335,0.871288,0.999913,-0.000140,-0.001021,0.013168
3,3,56320,4,gripper,0,"","put kitchen shovel on cloth",-0.187551,-0.102154,0.951084,-0.057965,-0.766162,-0.031958,0.639230
3,3,56320,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.203411,-0.069496,0.885370,0.656151,0.069356,-0.054219,0.749477
3,3,56320,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084255,0.074341,0.883919,0.707478,0.042585,0.004390,0.705437
3,3,56320,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234999,-0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000020
3,3,56320,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205299,0.045151,0.871210,0.999982,-0.003915,-0.004121,-0.001715
3,3,56320,5,gripper,0,"","put kitchen shovel on cloth",-0.205894,0.006779,0.999582,0.003287,-0.645905,-0.181550,0.741509
3,3,56320,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.186527,-0.055725,0.887847,0.505866,0.382155,-0.255942,0.729761
3,3,56320,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.216038,0.079773,0.881638,0.424172,0.033526,-0.020627,0.904726
3,3,56320,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000028
3,3,56320,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205032,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000025
3,3,56320,6,gripper,0,"","put kitchen shovel on cloth",-0.195274,-0.032761,0.987714,-0.064714,-0.702893,-0.056004,0.706128
3,3,56320,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.039497,0.087868,0.885084,0.655329,0.310219,-0.342856,0.597291
3,3,56320,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205654,-0.045303,0.881638,0.923882,0.010791,-0.037862,0.380646
3,3,56320,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085007,0.075005,0.869533,1.000000,-0.000000,-0.000001,0.000203
3,3,56320,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
3,3,56320,7,gripper,0,"","put kitchen shovel on cloth",-0.243618,-0.119392,0.914164,-0.109062,-0.706208,0.011289,0.699463
3,3,56320,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.084740,0.071888,0.879089,0.578962,0.349557,-0.303710,0.671098
3,3,56320,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.103752,-0.077793,0.884144,0.663544,0.054584,0.000963,0.746143
3,3,56320,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000015
3,3,56320,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.217094,-0.051296,0.871288,0.999186,-0.000194,-0.001013,-0.040327
3,3,56320,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.219776,-0.074718,0.960639,-0.109072,-0.700107,-0.089158,0.700003
3,3,56320,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205318,0.044479,0.885083,-0.680345,-0.295270,0.355956,-0.568543
3,3,56320,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.197628,-0.075321,0.883145,0.998094,0.021125,0.052725,0.024116
3,3,56320,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235435,0.048664,0.869532,0.999673,0.000000,-0.000000,0.025559
3,3,56320,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
3,3,56320,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.116549,-0.055616,1.124189,-0.071184,-0.778197,0.062431,0.620842
3,3,56320,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.010098,0.194012,0.879213,0.223775,0.568395,-0.774261,0.165445
3,3,56320,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.233120,0.065529,0.881677,0.340225,-0.000739,-0.004470,0.940333
3,3,56320,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
3,3,56320,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
3,3,56320,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.230070,0.045664,0.942048,-0.011032,-0.740497,-0.004387,0.671955
3,3,56320,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.177389,0.028488,0.885209,0.240043,0.483273,-0.830053,0.140849
3,3,56320,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084410,-0.075756,0.881638,0.382374,0.034428,-0.019073,0.923169
3,3,56320,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.187241,0.055161,0.869532,0.987883,0.000000,-0.000001,-0.155201
3,3,56320,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
3,3,56320,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.138005,-0.006947,1.130359,0.029778,-0.800268,0.098462,0.590753
3,3,56320,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.217266,-0.074444,0.884978,-0.579731,-0.426007,-0.492462,0.489807
3,3,56320,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084405,-0.075768,0.881638,0.382555,0.034433,-0.019085,0.923093
3,3,56320,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234996,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000024
3,3,56320,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
3,3,56320,12,gripper,0,"","put ketchup bottle on cloth",-0.141022,-0.010065,1.007170,-0.002410,-0.697840,0.009496,0.716187
3,3,56320,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.120529,0.170902,0.879213,0.235847,0.507218,-0.815639,0.147778
3,3,56320,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085114,-0.075958,0.881638,0.706691,0.024514,-0.030809,0.706426
3,3,56320,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084997,0.075001,0.869532,1.000000,-0.000001,0.000000,-0.000026
3,3,56320,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.197924,0.042267,0.871289,0.950354,0.000166,-0.001019,0.311168
3,3,56320,13,gripper,0,"","put ketchup bottle on cloth",-0.166474,-0.109411,0.943190,-0.111589,-0.770374,-0.078114,0.622873
3,3,56320,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085003,0.065289,0.879089,0.626275,0.326495,-0.328295,0.627219
3,3,56320,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.163219,-0.012646,0.890033,0.528108,-0.043810,0.020498,0.847799
3,3,56320,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.077465,-0.076767,0.869532,0.999350,0.000001,-0.000001,-0.036057
3,3,56320,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.179966,-0.035992,0.871297,0.991203,-0.000524,-0.000995,-0.132348
3,3,56320,14,gripper,0,"","put ketchup bottle on cloth",-0.244059,-0.047398,0.914955,-0.099439,-0.779916,-0.080276,0.612698
3,3,56320,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.166035,0.083778,0.887720,0.665058,0.305981,-0.338316,0.591283
3,3,56320,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.069130,0.052601,0.881641,0.910148,-0.020524,0.034524,0.412331
3,3,56320,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000020
3,3,56320,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.204979,0.075024,0.871262,0.999997,-0.001418,-0.002067,0.000037
3,3,56320,15,gripper,0,"","put ketchup bottle on cloth",-0.147966,0.085529,1.131664,0.001316,-0.822401,0.185198,0.537918
3,3,56320,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.086830,-0.072590,0.883544,0.884353,0.007453,-0.010233,0.466647
3,3,56320,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.243393,0.036507,0.885675,0.861683,0.140797,-0.333572,0.355539
3,3,56320,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000083
3,3,56320,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,0.075043,0.870448,0.999999,-0.000924,-0.000846,-0.000084
3,3,56320,16,gripper,0,"","put 7up can on newspaper",-0.128708,0.049452,1.111797,0.044865,-0.866200,0.148695,0.474947
3,3,56320,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.089294,0.025837,0.886389,0.435227,0.026281,0.001043,0.899936
3,3,56320,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.194988,0.068493,0.885636,0.419547,0.253585,-0.129459,0.861925
3,3,56320,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085011,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000061
3,3,56320,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000726,-0.001046,0.000021
3,3,56320,17,gripper,0,"","put 7up can on newspaper",-0.171227,-0.098591,0.959412,0.025853,-0.708290,0.025209,0.704997
3,3,56320,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.163940,0.030781,0.886248,0.995385,0.005147,-0.008224,0.095467
3,3,56320,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.068272,-0.008835,0.885633,0.802845,-0.061715,-0.089190,-0.586239
3,3,56320,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085011,0.075001,0.869490,1.000000,0.000180,0.000874,0.000029
3,3,56320,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,0.045013,0.870461,1.000000,0.000019,-0.000159,0.000150
3,3,56320,18,gripper,0,"","put 7up can on newspaper",-0.085903,-0.007132,0.943869,-0.172649,-0.745433,-0.141668,0.628054
3,3,56320,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.182524,0.066971,0.886412,0.998451,0.004249,-0.008216,0.054868
3,3,56320,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092607,0.075169,0.885626,0.972478,-0.005014,-0.232936,0.001368
3,3,56320,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114996,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000024
3,3,56320,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204943,0.075001,0.870440,1.000000,-0.000211,-0.000158,0.000223
3,3,56320,19,gripper,0,"","put 7up can on newspaper",-0.121472,0.073097,1.142196,0.057803,-0.828435,0.142390,0.538589
3,3,56320,20,obj,0,"003_bread_1","put 7up can on carpet",-0.138746,-0.018116,0.885084,0.027153,-0.011154,0.057331,0.997924
3,3,56320,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.199747,-0.080521,0.885627,0.370738,0.213314,-0.093745,0.899034
3,3,56320,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,3,56320,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085001,-0.075005,0.870448,0.999999,-0.000924,-0.000846,0.000024
3,3,56320,20,gripper,0,"","put 7up can on carpet",-0.108639,-0.004684,1.009091,-0.151104,-0.666684,-0.107508,0.721902
3,3,56320,21,obj,0,"003_bread_1","put 7up can on carpet",-0.058094,0.068432,0.886396,0.547577,0.016032,-0.004460,0.836590
3,3,56320,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.229755,-0.080494,0.885627,0.370802,0.213298,-0.093754,0.899010
3,3,56320,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234989,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000005
3,3,56320,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.084959,0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000145
3,3,56320,21,gripper,0,"","put 7up can on carpet",-0.076306,0.046793,1.041051,0.044547,-0.693911,0.060652,0.716117
3,3,56320,22,obj,0,"003_bread_1","put 7up can on carpet",-0.172218,0.082581,0.883544,0.999675,0.001551,-0.012569,-0.022118
3,3,56320,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.124340,-0.044838,0.885636,0.958610,-0.005833,-0.284659,-0.001396
3,3,56320,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
3,3,56320,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000071
3,3,56320,22,gripper,0,"","put 7up can on carpet",-0.160240,0.078766,0.943252,-0.022724,-0.714240,-0.072552,0.695760
3,3,56320,23,obj,0,"003_bread_1","put 7up can on carpet",-0.077564,-0.052269,0.883544,0.954875,0.005452,-0.011427,0.296738
3,3,56320,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.120480,0.039749,0.885626,0.897949,0.084499,-0.217136,0.373361
3,3,56320,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
3,3,56320,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
3,3,56320,23,gripper,0,"","put 7up can on carpet",-0.086254,-0.046211,0.957176,0.025800,-0.763611,0.080486,0.640120
3,3,56320,24,obj,0,"003_bread_1","put bread on newspaper",-0.211395,-0.044813,0.883544,0.904265,0.006988,-0.010552,0.426784
3,3,56320,24,obj,1,"005_7up can_1","put bread on newspaper",-0.045509,0.095623,0.885616,0.956496,0.033678,0.151269,-0.247184
3,3,56320,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075003,0.869490,1.000000,0.000180,0.000875,0.000006
3,3,56320,24,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,-0.044964,0.870447,0.999999,-0.000923,-0.000845,-0.000064
3,3,56320,24,gripper,0,"","put bread on newspaper",-0.055351,0.081174,0.946194,-0.115331,-0.710162,-0.154837,0.677048
3,3,56320,25,obj,0,"003_bread_1","put bread on newspaper",-0.166737,0.057665,0.883544,0.962791,-0.001626,-0.012559,-0.269951
3,3,56320,25,obj,1,"005_7up can_1","put bread on newspaper",-0.237812,-0.044310,0.885668,0.996122,0.000803,-0.087974,0.000603
3,3,56320,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000087
3,3,56320,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
3,3,56320,25,gripper,0,"","put bread on newspaper",-0.224838,-0.042641,0.948269,0.010453,-0.720882,-0.024371,0.692551
3,3,56320,26,obj,0,"003_bread_1","put bread on newspaper",-0.084488,-0.075481,0.883544,0.383761,0.012266,-0.003125,0.923346
3,3,56320,26,obj,1,"005_7up can_1","put bread on newspaper",-0.108730,0.142483,0.885858,0.237167,-0.672771,0.247532,0.655637
3,3,56320,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235004,0.044996,0.869490,1.000000,0.000180,0.000874,-0.000430
3,3,56320,26,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,-0.074993,0.870420,0.999990,-0.000187,-0.000799,0.004474
3,3,56320,26,gripper,0,"","put bread on newspaper",-0.098148,0.118396,0.959216,0.206892,-0.699273,0.102724,0.676506
3,3,56320,27,obj,0,"003_bread_1","put bread on newspaper",-0.193655,-0.061104,0.883545,0.487491,0.011823,-0.004515,0.873036
3,3,56320,27,obj,1,"005_7up can_1","put bread on newspaper",-0.120510,0.069767,0.885627,0.897992,0.084474,-0.217150,0.373256
3,3,56320,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
3,3,56320,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000068
3,3,56320,27,gripper,0,"","put bread on newspaper",-0.180861,-0.055372,0.965144,0.069855,-0.733983,0.136076,0.661719
3,3,56320,28,obj,0,"003_bread_1","put bread on carpet",-0.044336,0.066324,0.883544,0.765777,0.009448,-0.008425,0.642982
3,3,56320,28,obj,1,"005_7up can_1","put bread on carpet",-0.204987,-0.076378,0.885675,0.419818,0.324612,-0.160473,0.832243
3,3,56320,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,3,56320,28,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
3,3,56320,28,gripper,0,"","put bread on carpet",-0.156656,-0.073180,0.979722,-0.329748,-0.652007,-0.177807,0.659195
3,3,56320,29,obj,0,"003_bread_1","put bread on carpet",-0.187008,0.005074,0.885704,0.938208,-0.011173,0.001616,-0.345887
3,3,56320,29,obj,1,"005_7up can_1","put bread on carpet",-0.077282,-0.049341,0.885746,0.656743,-0.348119,-0.485233,-0.460490
3,3,56320,29,recep,0,"004_newspaper_1","put bread on carpet",-0.204903,-0.045021,0.869490,0.999999,0.000180,0.000874,-0.000559
3,3,56320,29,recep,1,"003_carpet_1","put bread on carpet",-0.234545,0.075123,0.870448,0.999994,-0.000921,-0.000848,-0.003208
3,3,56320,29,gripper,0,"","put bread on carpet",-0.099174,-0.065713,0.933977,-0.173716,-0.712339,-0.190170,0.652864
3,3,56320,30,obj,0,"003_bread_1","put bread on carpet",-0.083504,-0.080793,0.883544,0.998416,0.002507,-0.012410,0.054823
3,3,56320,30,obj,1,"005_7up can_1","put bread on carpet",-0.244183,-0.042313,0.885636,0.958612,-0.006189,-0.284638,-0.002600
3,3,56320,30,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000059
3,3,56320,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
3,3,56320,30,gripper,0,"","put bread on carpet",-0.072989,-0.048453,0.974170,-0.188778,-0.659155,-0.090937,0.722224
3,3,56320,31,obj,0,"003_bread_1","put bread on carpet",-0.195160,-0.085945,0.883544,0.940154,0.005980,-0.011154,0.340515
3,3,56320,31,obj,1,"005_7up can_1","put bread on carpet",-0.118450,0.071449,0.885637,0.913194,0.060885,-0.139887,0.377890
3,3,56320,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000131
3,3,56320,31,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000068
3,3,56320,31,gripper,0,"","put bread on carpet",-0.062698,-0.031950,0.974416,-0.209648,-0.674072,-0.238084,0.667076
3,3,56320,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.233925,0.045014,0.887528,0.999034,-0.000345,0.043218,0.007998
3,3,56320,32,obj,1,"013_banana_1","put banana on sheet metal",-0.115005,0.074564,0.878547,0.999909,0.013296,0.002056,0.000358
3,3,56320,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000021
3,3,56320,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
3,3,56320,32,gripper,0,"","put banana on sheet metal",-0.075039,0.076660,0.976082,-0.022702,-0.721374,-0.058674,0.689682
3,3,56320,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243217,0.073253,0.887310,0.763570,-0.017933,0.030302,0.644764
3,3,56320,33,obj,1,"013_banana_1","put banana on sheet metal",-0.114563,-0.044996,0.878547,0.706788,0.007946,0.010847,0.707297
3,3,56320,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,3,56320,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
3,3,56320,33,gripper,0,"","put banana on sheet metal",-0.045393,0.052729,1.023002,0.151046,-0.690969,0.200271,0.677966
3,3,56320,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093746,0.081676,0.887556,0.921586,-0.005767,0.022420,0.387483
3,3,56320,34,obj,1,"013_banana_1","put banana on sheet metal",-0.114685,-0.045308,0.878547,0.923627,0.011498,0.006987,0.383056
3,3,56320,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
3,3,56320,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
3,3,56320,34,gripper,0,"","put banana on sheet metal",-0.083492,-0.007053,0.982146,0.216854,-0.644129,0.127763,0.722322
3,3,56320,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039762,0.391499
3,3,56320,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011509,0.006992,0.382998
3,3,56320,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
3,3,56320,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000000
3,3,56320,35,gripper,0,"","put banana on sheet metal",-0.209101,-0.037164,0.971239,-0.221159,-0.662685,-0.254643,0.668652
3,3,56320,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243584,0.072817,0.887527,0.756971,-0.020535,0.025576,0.652625
3,3,56320,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084558,0.075006,0.878547,0.706805,0.007952,0.010856,0.707280
3,3,56320,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
3,3,56320,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000004
3,3,56320,36,gripper,0,"","put banana on flat bowl",-0.040207,0.039481,1.011406,0.237486,-0.699667,0.069230,0.670278
3,3,56320,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092575,-0.069187,0.887455,0.920022,-0.010242,0.023743,0.391012
3,3,56320,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011509,0.006992,0.382998
3,3,56320,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
3,3,56320,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
3,3,56320,37,gripper,0,"","put banana on flat bowl",-0.056189,0.097247,0.980487,0.228418,-0.758356,0.257395,0.553596
3,3,56320,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096317,0.072788,0.887512,0.762621,-0.017192,0.017400,0.646383
3,3,56320,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007953,0.010872,0.707296
3,3,56320,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
3,3,56320,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
3,3,56320,38,gripper,0,"","put banana on flat bowl",-0.191889,-0.063129,0.958253,0.127621,-0.663750,0.255686,0.691212
3,3,56320,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092476,-0.084251,0.887565,0.377089,-0.030053,0.014676,0.925573
3,3,56320,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114693,0.045316,0.878547,0.382214,0.003195,0.013091,0.923976
3,3,56320,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
3,3,56320,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
3,3,56320,39,gripper,0,"","put banana on flat bowl",-0.065952,0.071673,0.972756,0.066958,-0.719167,0.034472,0.690744
3,3,56320,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091415,-0.069466,0.887363,0.996734,0.001614,0.033982,0.073238
3,3,56320,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084999,0.074560,0.878547,0.999909,0.013279,0.002037,-0.000706
3,3,56320,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001163,0.000093
3,3,56320,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
3,3,56320,40,gripper,0,"","put carrot on sheet metal",-0.126564,-0.074910,0.966760,-0.371126,-0.474932,-0.369127,0.707425
3,3,56320,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243778,0.049685,0.887576,0.924141,-0.006648,0.025435,0.381147
3,3,56320,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
3,3,56320,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
3,3,56320,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
3,3,56320,41,gripper,0,"","put carrot on sheet metal",-0.183126,-0.029766,0.990254,-0.403779,-0.565997,-0.308578,0.649145
3,3,56320,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.213650,-0.068590,0.887534,0.920882,-0.007518,0.023974,0.389031
3,3,56320,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084663,-0.045309,0.878547,0.924353,0.011491,0.006955,0.381302
3,3,56320,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.074993,0.871344,0.999999,-0.000158,0.001164,-0.000040
3,3,56320,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
3,3,56320,42,gripper,0,"","put carrot on sheet metal",-0.181189,-0.048409,0.976387,-0.194240,-0.681996,-0.128052,0.693365
3,3,56320,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236713,-0.071690,0.887529,0.362541,-0.040275,0.015683,0.930965
3,3,56320,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204723,0.045294,0.878547,0.383495,0.003201,0.013051,0.923445
3,3,56320,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
3,3,56320,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
3,3,56320,43,gripper,0,"","put carrot on sheet metal",-0.158120,-0.086004,0.978856,0.100612,-0.661988,0.175695,0.721651
3,3,56320,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.249842,-0.070129,0.887504,0.997048,0.003044,0.028422,-0.071261
3,3,56320,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999910,0.013264,0.002050,0.000101
3,3,56320,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
3,3,56320,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
3,3,56320,44,gripper,0,"","put carrot on flat bowl",-0.176040,-0.069871,0.984704,-0.023240,-0.739756,-0.073483,0.668446
3,3,56320,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122494,-0.077179,0.887308,0.756628,-0.017747,0.030127,0.652910
3,3,56320,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234556,-0.044983,0.878547,0.707557,0.007967,0.010850,0.706528
3,3,56320,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.074940,0.871343,0.999999,-0.000158,0.001163,-0.000129
3,3,56320,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000453
3,3,56320,45,gripper,0,"","put carrot on flat bowl",-0.013489,0.067385,0.982518,0.312565,-0.654772,0.197358,0.659263
3,3,56320,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.241116,-0.073158,0.887487,0.659482,-0.006828,0.010037,0.751622
3,3,56320,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.204552,0.075026,0.878546,0.707918,0.007954,0.010825,0.706167
3,3,56320,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
3,3,56320,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000288
3,3,56320,46,gripper,0,"","put carrot on flat bowl",-0.216288,-0.106492,0.947110,0.062794,-0.705277,0.102852,0.698614
3,3,56320,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088779,-0.039585,0.887214,0.997045,0.006147,0.031603,0.069753
3,3,56320,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114990,0.074556,0.878547,0.999909,0.013313,0.002050,-0.000237
3,3,56320,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
3,3,56320,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
3,3,56320,47,gripper,0,"","put carrot on flat bowl",-0.054659,-0.017748,0.993773,-0.169889,-0.664135,-0.185793,0.703948
3,3,56320,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235939,0.075626,0.888112,0.725728,-0.026990,-0.005496,0.687430
3,3,56320,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.190140,-0.028782,0.895188,0.424683,-0.579266,0.404765,0.565916
3,3,56320,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205223,-0.044945,0.872199,1.000000,-0.000000,-0.000000,0.000561
3,3,56320,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000026
3,3,56320,48,gripper,0,"","put plastic bottle on frying pan",-0.111919,0.033323,1.136777,0.092299,-0.772172,0.075562,0.624117
3,3,56320,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.140709,-0.008156,0.890528,-0.088469,-0.309027,-0.946175,0.037796
3,3,56320,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256214,0.064823,0.887026,0.267129,-0.662552,0.254367,0.651893
3,3,56320,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
3,3,56320,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
3,3,56320,49,gripper,0,"","put plastic bottle on frying pan",-0.199429,0.059559,0.971324,0.206390,-0.730311,0.168960,0.628889
3,3,56320,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.106991,-0.040962,0.888401,0.999008,0.004764,0.041344,-0.015845
3,3,56320,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.221584,0.058956,0.887026,0.597917,0.361778,0.610581,-0.372564
3,3,56320,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
3,3,56320,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
3,3,56320,50,gripper,0,"","put plastic bottle on frying pan",-0.113499,-0.042810,0.962458,-0.067065,-0.788683,-0.051952,0.608919
3,3,56320,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.203421,-0.107433,0.892106,0.354592,0.492245,-0.660365,-0.442580
3,3,56320,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.182840,0.098923,0.887026,0.654317,-0.277708,0.653118,0.261122
3,3,56320,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.081358,0.074745,0.872199,0.999745,-0.000001,-0.000000,-0.022582
3,3,56320,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114855,-0.074844,0.870870,0.999999,-0.000000,-0.000001,-0.001291
3,3,56320,51,gripper,0,"","put plastic bottle on frying pan",-0.135278,-0.045658,1.018719,0.029370,-0.767795,-0.047925,0.638225
3,3,56320,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235471,0.076088,0.888112,0.932325,-0.027054,0.005156,0.360571
3,3,56320,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.174768,-0.039993,0.887068,0.670305,-0.273438,0.628551,0.284334
3,3,56320,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
3,3,56320,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.068516,-0.064751,0.871101,0.999577,-0.000077,-0.002668,-0.028950
3,3,56320,52,gripper,0,"","put plastic bottle on cutting board",-0.168922,-0.069876,0.943415,0.092238,-0.737423,-0.029946,0.668433
3,3,56320,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085951,-0.074383,0.888112,0.713333,-0.026886,-0.005974,0.700283
3,3,56320,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.195187,0.111706,0.887026,0.517350,-0.493246,0.510289,0.478186
3,3,56320,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
3,3,56320,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204971,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
3,3,56320,53,gripper,0,"","put plastic bottle on cutting board",-0.158024,0.087944,1.026758,0.090064,-0.696449,0.025760,0.711466
3,3,56320,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085285,-0.074089,0.888112,0.924577,-0.027157,0.004590,0.379997
3,3,56320,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078178,0.093338,0.887504,0.475127,-0.534671,0.494380,0.493933
3,3,56320,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
3,3,56320,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205006,-0.045002,0.870870,1.000000,0.000001,0.000000,0.000016
3,3,56320,54,gripper,0,"","put plastic bottle on cutting board",-0.065800,0.094204,0.924025,-0.000359,-0.752016,-0.029970,0.658463
3,3,56320,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.062069,0.072830,0.890710,0.762663,-0.026515,-0.000555,0.646252
3,3,56320,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.210777,0.068485,0.895294,0.513390,-0.500898,0.501915,0.483336
3,3,56320,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235352,0.075161,0.872199,0.999988,-0.000000,-0.000001,-0.004849
3,3,56320,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,0.074993,0.870883,0.999999,0.000700,0.000713,0.000006
3,3,56320,55,gripper,0,"","put plastic bottle on cutting board",-0.066149,0.065514,1.085979,0.072981,-0.697349,0.023696,0.712613
3,3,56320,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086601,-0.074226,0.888112,0.918022,-0.027228,0.004131,0.395571
3,3,56320,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.137077,0.099182,0.888759,0.700379,-0.194533,0.669216,0.154197
3,3,56320,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000001,-0.000001,0.000027
3,3,56320,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.064316,0.067924,0.870870,0.999693,0.000000,0.000001,0.024755
3,3,56320,56,gripper,0,"","put hamburger on frying pan",-0.070137,-0.062582,1.005140,-0.085347,-0.710548,-0.023863,0.698046
3,3,56320,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.114304,-0.074070,0.888112,0.999594,-0.023267,0.014739,-0.007278
3,3,56320,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.177097,0.074703,0.887026,0.704476,-0.020973,0.709399,0.005087
3,3,56320,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084515,0.044998,0.872199,0.999971,-0.000001,-0.000001,-0.007647
3,3,56320,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000039
3,3,56320,57,gripper,0,"","put hamburger on frying pan",-0.102272,-0.073727,0.970868,-0.144023,-0.701777,-0.106721,0.689476
3,3,56320,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078804,-0.061630,0.930508,0.675402,0.026967,-0.015507,0.736793
3,3,56320,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085838,0.104469,0.887026,0.497718,-0.513352,0.490057,0.498589
3,3,56320,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
3,3,56320,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
3,3,56320,58,gripper,0,"","put hamburger on frying pan",-0.068735,-0.057920,0.981450,-0.112424,-0.747503,-0.095609,0.647656
3,3,56320,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.173016,-0.025970,0.892761,0.314923,0.049703,0.196899,0.927138
3,3,56320,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.238403,0.088493,0.886092,0.312555,-0.022032,-0.004310,0.949634
3,3,56320,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000000,0.000004
3,3,56320,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
3,3,56320,59,gripper,0,"","put hamburger on frying pan",-0.169244,-0.041969,1.073840,0.001556,-0.729952,-0.076427,0.679211
3,3,56320,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.114377,0.045948,0.888112,0.999581,-0.023241,0.014777,-0.008890
3,3,56320,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.060357,-0.073757,0.887026,0.704086,-0.040033,0.708578,0.024021
3,3,56320,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
3,3,56320,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
3,3,56320,60,gripper,0,"","put hamburger on cutting board",-0.035120,-0.055464,1.000334,0.049862,-0.696811,0.095403,0.709130
3,3,56320,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.092684,-0.083508,0.890735,0.985833,-0.026537,0.013808,0.165040
3,3,56320,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.022530,0.077015,0.887026,0.640227,-0.310484,0.638190,0.293977
3,3,56320,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
3,3,56320,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,-0.075005,0.870884,1.000000,0.000701,0.000713,0.000011
3,3,56320,61,gripper,0,"","put hamburger on cutting board",-0.096718,-0.080299,0.989523,0.013686,-0.731236,0.032072,0.681232
3,3,56320,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205956,-0.044384,0.888112,0.712513,-0.026881,-0.006008,0.701119
3,3,56320,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.080711,0.083061,0.889700,0.441034,-0.561057,0.436568,0.547825
3,3,56320,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
3,3,56320,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084175,0.076679,0.870870,0.999961,-0.000000,-0.000001,-0.008873
3,3,56320,62,gripper,0,"","put hamburger on cutting board",-0.081190,0.073570,1.162700,0.141333,-0.757294,0.139459,0.622159
3,3,56320,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084389,-0.074047,0.888112,0.999583,-0.023244,0.014775,-0.008627
3,3,56320,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205765,0.075836,0.887027,0.704490,-0.019424,0.709439,0.003549
3,3,56320,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
3,3,56320,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
3,3,56320,63,gripper,0,"","put hamburger on cutting board",-0.203213,0.075525,0.954995,0.128600,-0.730338,0.076257,0.666523
3,4,61440,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.203560,0.086823,0.885085,-0.664260,-0.305355,0.348112,-0.586800
3,4,61440,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085091,0.074036,0.881638,0.707296,0.024461,-0.030806,0.705822
3,4,61440,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234970,0.074966,0.869532,1.000000,-0.000000,-0.000002,-0.000438
3,4,61440,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000100
3,4,61440,0,gripper,0,"","put kitchen shovel on cloth",-0.200375,0.069019,1.025872,0.028626,-0.722295,-0.053905,0.688887
3,4,61440,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091896,-0.081955,0.879089,0.818614,0.176013,-0.428318,0.339757
3,4,61440,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.172195,0.088470,0.886047,0.982533,-0.034021,0.020910,0.181753
3,4,61440,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.110741,0.044708,0.869532,0.999994,-0.000001,-0.000001,-0.003383
3,4,61440,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.233559,-0.086449,0.871288,0.999674,-0.000128,-0.001023,0.025524
3,4,61440,1,gripper,0,"","put kitchen shovel on cloth",-0.216192,-0.067959,0.947773,-0.030422,-0.755342,-0.006878,0.654588
3,4,61440,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200947,0.053345,0.885081,0.633481,0.323729,-0.334103,0.618285
3,4,61440,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084240,-0.075340,0.884013,0.708204,0.045916,0.003109,0.704506
3,4,61440,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235008,0.044998,0.869532,0.999999,0.000001,0.000000,0.001188
3,4,61440,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205013,-0.074989,0.871282,0.999999,-0.000448,-0.001264,0.000542
3,4,61440,2,gripper,0,"","put kitchen shovel on cloth",-0.175047,-0.095451,0.965590,0.045034,-0.723219,0.089010,0.683376
3,4,61440,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.087566,-0.023819,0.885606,0.467625,0.403840,-0.218828,0.755218
3,4,61440,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.145590,-0.127907,0.883230,0.038061,0.139996,-0.015015,0.989306
3,4,61440,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.099775,-0.039192,0.871025,0.992917,-0.014879,0.020940,0.116003
3,4,61440,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.200239,0.073875,0.871282,0.999960,-0.000461,-0.001261,-0.008868
3,4,61440,3,gripper,0,"","put kitchen shovel on cloth",-0.152487,-0.157207,0.935086,-0.186079,-0.739124,-0.222206,0.608025
3,4,61440,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.109333,0.073647,0.888530,0.628062,-0.399383,0.483050,0.461187
3,4,61440,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.091971,-0.066429,0.889000,0.390862,0.527009,-0.470529,0.589993
3,4,61440,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204999,0.075043,0.869532,1.000000,0.000001,-0.000001,0.000701
3,4,61440,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.086975,0.043335,0.871288,0.999913,-0.000140,-0.001021,0.013168
3,4,61440,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.185396,-0.134769,0.919085,-0.068555,-0.718015,-0.049615,0.690864
3,4,61440,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.203379,-0.069511,0.885370,0.655834,0.069519,-0.054325,0.749732
3,4,61440,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.082026,0.055725,0.883971,0.709386,0.043046,0.004935,0.703487
3,4,61440,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234999,-0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000019
3,4,61440,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205299,0.045143,0.871210,0.999983,-0.003915,-0.004122,-0.001563
3,4,61440,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.229623,-0.121254,1.073670,-0.199734,-0.774336,-0.158968,0.578999
3,4,61440,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.174728,-0.087654,0.888769,-0.351464,0.653982,-0.469970,-0.477397
3,4,61440,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.141895,-0.095184,0.888480,0.575983,0.034336,-0.009441,0.816686
3,4,61440,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000076
3,4,61440,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205029,-0.074989,0.871282,0.999999,-0.000453,-0.001266,-0.000012
3,4,61440,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.273710,-0.068741,0.935251,-0.038156,-0.705940,-0.012913,0.707125
3,4,61440,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.039497,0.087868,0.885084,0.655363,0.310213,-0.342900,0.597233
3,4,61440,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.190075,-0.024101,0.881641,0.979175,-0.012310,0.038238,0.199005
3,4,61440,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085007,0.075005,0.869533,1.000000,-0.000000,-0.000000,0.000205
3,4,61440,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
3,4,61440,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.233198,-0.080158,0.912675,-0.020214,-0.707009,-0.020276,0.706625
3,4,61440,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.084740,0.071888,0.879089,0.578963,0.349568,-0.303726,0.671085
3,4,61440,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.098816,-0.070175,0.884055,0.722484,-0.001490,0.053085,0.689345
3,4,61440,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000019
3,4,61440,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.217102,-0.051296,0.871288,0.999185,-0.000195,-0.001012,-0.040351
3,4,61440,8,gripper,0,"","put ketchup bottle on cloth",-0.188183,-0.168581,0.964629,-0.126280,-0.739184,-0.139669,0.646648
3,4,61440,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205322,0.044422,0.885083,-0.680925,-0.294924,0.356299,-0.567813
3,4,61440,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.197624,-0.075321,0.883146,0.998086,0.021115,0.052710,0.024490
3,4,61440,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235435,0.048664,0.869532,0.999674,-0.000000,-0.000000,0.025536
3,4,61440,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.075008,0.871288,1.000000,-0.000153,-0.001019,0.000018
3,4,61440,9,gripper,0,"","put ketchup bottle on cloth",-0.150869,-0.032873,1.107837,0.113738,-0.740183,0.217039,0.626169
3,4,61440,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.010098,0.194012,0.879213,0.223785,0.568404,-0.774248,0.165460
3,4,61440,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.023296,0.066864,0.886198,0.732462,0.021934,0.077647,0.676010
3,4,61440,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000041
3,4,61440,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084995,0.075008,0.871289,0.999999,-0.000154,-0.001019,0.000033
3,4,61440,10,gripper,0,"","put ketchup bottle on cloth",-0.117786,0.001768,1.003195,-0.151668,-0.688045,-0.174579,0.687832
3,4,61440,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.177397,0.028484,0.885209,0.240058,0.483188,-0.830102,0.140824
3,4,61440,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084412,-0.075752,0.881638,0.382287,0.034442,-0.019074,0.923205
3,4,61440,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.187241,0.055161,0.869532,0.987870,0.000001,-0.000000,-0.155284
3,4,61440,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
3,4,61440,11,gripper,0,"","put ketchup bottle on cloth",-0.179799,0.007811,1.022893,-0.091750,-0.845274,0.127335,0.510763
3,4,61440,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.217265,-0.074455,0.884977,-0.579879,-0.425863,-0.492478,0.489741
3,4,61440,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084405,-0.075768,0.881638,0.382555,0.034432,-0.019084,0.923093
3,4,61440,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234996,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000012
3,4,61440,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001264,-0.000029
3,4,61440,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.214677,0.041262,0.971766,-0.065870,-0.712109,-0.090128,0.693137
3,4,61440,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.100544,0.207153,0.879584,0.772613,-0.186049,0.266342,0.545451
3,4,61440,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085114,-0.075958,0.881638,0.706692,0.024507,-0.030802,0.706425
3,4,61440,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.159094,0.230698,0.882224,0.986603,-0.080533,-0.141698,0.007104
3,4,61440,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.179888,0.032982,0.871396,0.934586,0.000025,-0.002087,0.355732
3,4,61440,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.223253,-0.010130,0.917856,-0.098589,-0.710727,-0.080723,0.691832
3,4,61440,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085003,0.065285,0.879089,0.626273,0.326522,-0.328344,0.627181
3,4,61440,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.151932,-0.016319,0.889844,0.508210,0.023669,-0.024689,0.860554
3,4,61440,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.073509,-0.078354,0.869532,0.999342,-0.000127,-0.000164,-0.036282
3,4,61440,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.175591,-0.036556,0.871288,0.990136,-0.000295,-0.000987,-0.140105
3,4,61440,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.190004,-0.019182,0.963636,0.019194,-0.746200,-0.112927,0.655793
3,4,61440,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.166039,0.083786,0.887721,0.664805,0.306125,-0.338174,0.591575
3,4,61440,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.069134,0.052601,0.881641,0.910193,-0.020518,0.034520,0.412233
3,4,61440,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000027
3,4,61440,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204983,0.075024,0.871262,0.999997,-0.001418,-0.002068,0.000075
3,4,61440,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.289042,-0.059511,0.917045,-0.223090,-0.640837,-0.157638,0.717433
3,4,61440,16,obj,0,"003_bread_1","put 7up can on carpet",-0.086830,-0.072590,0.883544,0.884225,0.007455,-0.010230,0.466889
3,4,61440,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.243393,0.036507,0.885675,0.861727,0.140756,-0.333594,0.355427
3,4,61440,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,-0.074997,0.869490,1.000000,0.000179,0.000873,0.000112
3,4,61440,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.114998,0.077515,0.870418,0.999976,-0.000753,-0.001380,0.006787
3,4,61440,16,gripper,0,"","put 7up can on carpet",-0.101902,0.005411,0.946881,-0.140292,-0.677208,-0.140770,0.708443
3,4,61440,17,obj,0,"003_bread_1","put 7up can on carpet",-0.089260,0.025810,0.886389,0.435369,0.026261,0.001052,0.899868
3,4,61440,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.192066,0.072941,0.885636,0.426226,0.252593,-0.131436,0.858634
3,4,61440,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084972,0.044998,0.869490,1.000000,0.000181,0.000875,-0.000183
3,4,61440,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000726,-0.001047,0.000021
3,4,61440,17,gripper,0,"","put 7up can on carpet",-0.185125,0.082256,0.964754,0.085183,-0.679521,0.040979,0.727541
3,4,61440,18,obj,0,"003_bread_1","put 7up can on carpet",-0.163940,0.030781,0.886248,0.995535,0.005123,-0.008218,0.093897
3,4,61440,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.068272,-0.008827,0.885633,0.802917,-0.061701,-0.089194,-0.586141
3,4,61440,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085014,0.075005,0.869490,1.000000,0.000180,0.000875,0.000045
3,4,61440,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.205009,0.045013,0.870461,1.000000,0.000019,-0.000159,0.000147
3,4,61440,18,gripper,0,"","put 7up can on carpet",-0.185930,-0.117414,0.959704,-0.076160,-0.733682,-0.036573,0.674220
3,4,61440,19,obj,0,"003_bread_1","put 7up can on carpet",-0.182493,0.066971,0.886429,0.998432,0.004490,-0.008237,0.055190
3,4,61440,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.092607,0.075169,0.885626,0.972475,-0.005016,-0.232948,0.001363
3,4,61440,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000030
3,4,61440,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.204912,0.075001,0.870460,1.000000,0.000019,-0.000159,0.000294
3,4,61440,19,gripper,0,"","put 7up can on carpet",-0.094392,0.026911,1.151575,0.074539,-0.760317,0.259265,0.590883
3,4,61440,20,obj,0,"003_bread_1","put bread on newspaper",-0.138797,-0.018097,0.885082,0.025126,-0.011246,0.057239,0.997981
3,4,61440,20,obj,1,"005_7up can_1","put bread on newspaper",-0.121188,-0.051159,0.889181,0.480570,0.391413,-0.249361,0.744088
3,4,61440,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
3,4,61440,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085020,-0.075008,0.870447,0.999999,-0.000922,-0.000841,0.000130
3,4,61440,20,gripper,0,"","put bread on newspaper",-0.128388,-0.046890,1.092827,-0.058181,-0.722739,-0.067579,0.685344
3,4,61440,21,obj,0,"003_bread_1","put bread on newspaper",-0.058075,0.068432,0.886396,0.548834,0.016038,-0.004486,0.835765
3,4,61440,21,obj,1,"005_7up can_1","put bread on newspaper",-0.229486,-0.094292,0.885675,0.514844,0.303466,-0.197559,0.777055
3,4,61440,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000016
3,4,61440,21,recep,1,"003_carpet_1","put bread on newspaper",-0.084959,0.075005,0.870460,1.000000,0.000020,-0.000158,-0.000145
3,4,61440,21,gripper,0,"","put bread on newspaper",-0.213291,-0.067017,0.998127,-0.156412,-0.681938,-0.082446,0.709717
3,4,61440,22,obj,0,"003_bread_1","put bread on newspaper",-0.172218,0.082581,0.883544,0.999678,0.001553,-0.012566,-0.021983
3,4,61440,22,obj,1,"005_7up can_1","put bread on newspaper",-0.124355,-0.044838,0.885636,0.958609,-0.006000,-0.284657,-0.001962
3,4,61440,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
3,4,61440,22,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000090
3,4,61440,22,gripper,0,"","put bread on newspaper",-0.030531,0.050480,0.957311,-0.008562,-0.745819,-0.043134,0.664696
3,4,61440,23,obj,0,"003_bread_1","put bread on newspaper",-0.077972,-0.046188,0.883544,0.971415,0.004743,-0.011740,0.237048
3,4,61440,23,obj,1,"005_7up can_1","put bread on newspaper",-0.120480,0.039749,0.885626,0.897950,0.084499,-0.217136,0.373361
3,4,61440,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
3,4,61440,23,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
3,4,61440,23,gripper,0,"","put bread on newspaper",-0.067404,-0.017378,1.005215,0.060159,-0.717512,0.105682,0.685848
3,4,61440,24,obj,0,"003_bread_1","put bread on carpet",-0.204872,-0.044071,0.883544,0.902643,0.007034,-0.010524,0.430203
3,4,61440,24,obj,1,"005_7up can_1","put bread on carpet",-0.045509,0.095615,0.885616,0.956524,0.033662,0.151285,-0.247066
3,4,61440,24,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.075003,0.869490,1.000000,0.000180,0.000875,0.000006
3,4,61440,24,recep,1,"003_carpet_1","put bread on carpet",-0.114998,-0.044952,0.870447,0.999999,-0.000923,-0.000845,-0.000085
3,4,61440,24,gripper,0,"","put bread on carpet",-0.091305,-0.051422,1.016547,-0.179042,-0.677915,-0.183584,0.688965
3,4,61440,25,obj,0,"003_bread_1","put bread on carpet",-0.166740,0.057625,0.883544,0.962777,-0.001625,-0.012557,-0.270001
3,4,61440,25,obj,1,"005_7up can_1","put bread on carpet",-0.244274,-0.044147,0.885636,0.958610,-0.005005,-0.284676,0.001387
3,4,61440,25,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000106
3,4,61440,25,recep,1,"003_carpet_1","put bread on carpet",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
3,4,61440,25,gripper,0,"","put bread on carpet",-0.031803,0.025719,0.958298,-0.038589,-0.761019,-0.079126,0.642728
3,4,61440,26,obj,0,"003_bread_1","put bread on carpet",-0.084824,-0.077370,0.883544,0.336979,0.012410,-0.002508,0.941427
3,4,61440,26,obj,1,"005_7up can_1","put bread on carpet",-0.112209,0.145670,0.885866,0.206135,-0.759912,0.274313,0.552082
3,4,61440,26,recep,0,"004_newspaper_1","put bread on carpet",-0.235008,0.044994,0.869490,0.999999,0.000180,0.000874,-0.000561
3,4,61440,26,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.074993,0.870367,0.999980,0.000184,-0.001145,0.006176
3,4,61440,26,gripper,0,"","put bread on carpet",-0.103521,-0.101727,0.974773,-0.170671,-0.712249,-0.109771,0.671955
3,4,61440,27,obj,0,"003_bread_1","put bread on carpet",-0.193655,-0.061104,0.883545,0.487472,0.011823,-0.004514,0.873047
3,4,61440,27,obj,1,"005_7up can_1","put bread on carpet",-0.120510,0.069778,0.885627,0.897987,0.084475,-0.217144,0.373271
3,4,61440,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
3,4,61440,27,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000094
3,4,61440,27,gripper,0,"","put bread on carpet",-0.044600,-0.077732,0.987612,0.163805,-0.704618,0.054354,0.688279
3,4,61440,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.044336,0.066324,0.883544,0.765777,0.009449,-0.008425,0.642982
3,4,61440,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.199067,-0.083849,0.885757,0.382926,0.537669,-0.308082,0.685102
3,4,61440,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
3,4,61440,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.074997,0.870448,0.999999,-0.000923,-0.000845,0.000005
3,4,61440,28,gripper,0,"","put 7up can on newspaper",-0.182149,-0.086671,0.972230,-0.085934,-0.687329,-0.044269,0.719885
3,4,61440,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.186991,0.005087,0.885703,0.938184,-0.011174,0.001618,-0.345952
3,4,61440,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.077282,-0.049347,0.885746,0.656860,-0.347994,-0.485322,-0.460323
3,4,61440,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204899,-0.045021,0.869490,0.999999,0.000181,0.000875,-0.000571
3,4,61440,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234547,0.075123,0.870424,0.999993,-0.000628,-0.001172,-0.003366
3,4,61440,29,gripper,0,"","put 7up can on newspaper",-0.150654,0.071231,1.103154,0.053552,-0.836040,0.130446,0.530238
3,4,61440,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.081882,-0.083179,0.883544,0.998570,0.002467,-0.012415,0.051943
3,4,61440,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.244179,-0.042313,0.885636,0.958603,-0.006645,-0.284637,-0.004137
3,4,61440,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000078
3,4,61440,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
3,4,61440,30,gripper,0,"","put 7up can on newspaper",-0.085812,-0.073197,0.972690,-0.282766,-0.646743,-0.202679,0.678740
3,4,61440,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.190182,-0.089226,0.883544,0.949927,0.005653,-0.011330,0.312215
3,4,61440,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.118450,0.071449,0.885637,0.913194,0.060885,-0.139885,0.377892
3,4,61440,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000165
3,4,61440,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000096
3,4,61440,31,gripper,0,"","put 7up can on newspaper",-0.102793,-0.040080,0.957599,-0.215695,-0.685248,-0.185289,0.670506
3,4,61440,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.233925,0.045014,0.887529,0.999033,-0.000347,0.043222,0.007997
3,4,61440,32,obj,1,"013_banana_1","put banana on flat bowl",-0.115005,0.074564,0.878547,0.999910,0.013261,0.002052,0.000358
3,4,61440,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000021
3,4,61440,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
3,4,61440,32,gripper,0,"","put banana on flat bowl",-0.016396,0.000839,1.022839,0.136923,-0.756720,0.092057,0.632576
3,4,61440,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.245739,0.073092,0.887543,0.771327,-0.023805,0.027694,0.635390
3,4,61440,33,obj,1,"013_banana_1","put banana on flat bowl",-0.114563,-0.044996,0.878547,0.706789,0.007942,0.010842,0.707297
3,4,61440,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
3,4,61440,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
3,4,61440,33,gripper,0,"","put banana on flat bowl",-0.077658,-0.015929,0.967716,0.151197,-0.717945,0.171699,0.657429
3,4,61440,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096394,0.084291,0.887625,0.925835,-0.017010,0.041970,0.375204
3,4,61440,34,obj,1,"013_banana_1","put banana on flat bowl",-0.114685,-0.045308,0.878547,0.923627,0.011494,0.006985,0.383056
3,4,61440,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
3,4,61440,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
3,4,61440,34,gripper,0,"","put banana on flat bowl",-0.094505,-0.007018,1.020218,-0.061715,-0.746200,-0.060891,0.660052
3,4,61440,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039760,0.391500
3,4,61440,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011497,0.006986,0.382998
3,4,61440,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
3,4,61440,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000000
3,4,61440,35,gripper,0,"","put banana on flat bowl",-0.151378,-0.119143,0.972930,-0.108051,-0.669884,-0.042914,0.733307
3,4,61440,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245748,0.072009,0.887441,0.764626,-0.025256,0.026918,0.643417
3,4,61440,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084559,0.075006,0.878547,0.706804,0.007938,0.010840,0.707282
3,4,61440,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
3,4,61440,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000004
3,4,61440,36,gripper,0,"","put carrot on sheet metal",-0.154810,-0.069554,0.994941,-0.290133,-0.700975,-0.235911,0.607291
3,4,61440,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095465,-0.066597,0.887630,0.922495,-0.017425,0.041934,0.383329
3,4,61440,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011497,0.006986,0.382998
3,4,61440,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
3,4,61440,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
3,4,61440,37,gripper,0,"","put carrot on sheet metal",-0.175044,-0.042839,1.011256,-0.345403,-0.592847,-0.319159,0.653733
3,4,61440,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097958,0.072332,0.887522,0.769173,-0.020496,0.022651,0.638310
3,4,61440,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007963,0.010884,0.707296
3,4,61440,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001164,0.000000
3,4,61440,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
3,4,61440,38,gripper,0,"","put carrot on sheet metal",-0.044714,0.057189,0.987263,0.120808,-0.697014,0.039747,0.705689
3,4,61440,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094589,-0.087975,0.887133,0.392009,-0.012373,0.014848,0.919758
3,4,61440,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114693,0.045316,0.878547,0.382214,0.003194,0.013088,0.923976
3,4,61440,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
3,4,61440,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000000,-0.000000,0.000000
3,4,61440,39,gripper,0,"","put carrot on sheet metal",-0.021288,-0.117814,0.951953,-0.380838,-0.597695,-0.245214,0.661508
3,4,61440,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091888,-0.069574,0.887519,0.996806,-0.001989,0.035484,0.071518
3,4,61440,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084999,0.074558,0.878547,0.999909,0.013281,0.002033,-0.001032
3,4,61440,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075008,0.871344,0.999999,-0.000158,0.001164,0.000120
3,4,61440,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
3,4,61440,40,gripper,0,"","put carrot on flat bowl",-0.123219,-0.061847,0.998922,-0.418349,-0.597364,-0.408785,0.548666
3,4,61440,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.247101,0.052074,0.887502,0.930683,-0.010909,0.029404,0.364481
3,4,61440,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
3,4,61440,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
3,4,61440,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
3,4,61440,41,gripper,0,"","put carrot on flat bowl",-0.219870,-0.152469,0.952321,-0.061378,-0.676600,-0.069402,0.730499
3,4,61440,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.216904,-0.066496,0.887447,0.926047,-0.007981,0.018250,0.376882
3,4,61440,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084656,-0.045309,0.878547,0.924592,0.011514,0.006958,0.380720
3,4,61440,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000048
3,4,61440,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
3,4,61440,42,gripper,0,"","put carrot on flat bowl",-0.181953,0.011734,1.013115,-0.023245,-0.713316,-0.061221,0.697777
3,4,61440,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237040,-0.071751,0.887528,0.370169,-0.040148,0.016015,0.927958
3,4,61440,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204725,0.045300,0.878547,0.383901,0.003215,0.013075,0.923276
3,4,61440,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
3,4,61440,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
3,4,61440,43,gripper,0,"","put carrot on flat bowl",-0.185697,-0.074905,0.983101,-0.032965,-0.700332,-0.044948,0.711638
3,4,61440,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.249874,-0.069523,0.887141,0.997285,-0.008114,0.028986,-0.067202
3,4,61440,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084981,0.074558,0.878547,0.999910,0.013275,0.002048,-0.000019
3,4,61440,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
3,4,61440,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000001
3,4,61440,44,gripper,0,"","put banana on sheet metal",-0.055022,-0.044335,0.994658,-0.054281,-0.763107,-0.059761,0.641210
3,4,61440,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.125702,-0.077805,0.887399,0.767429,-0.023154,0.023362,0.640290
3,4,61440,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.044981,0.878547,0.707823,0.007952,0.010824,0.706262
3,4,61440,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.074921,0.871343,0.999999,-0.000158,0.001164,-0.000171
3,4,61440,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000604
3,4,61440,45,gripper,0,"","put banana on sheet metal",-0.184708,-0.047509,0.990155,-0.019336,-0.699084,0.067621,0.711572
3,4,61440,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234333,-0.050409,0.887529,0.627317,-0.033642,0.027141,0.777563
3,4,61440,46,obj,1,"013_banana_1","put banana on sheet metal",-0.204548,0.075029,0.878547,0.708272,0.007973,0.010837,0.705811
3,4,61440,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
3,4,61440,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000472
3,4,61440,46,gripper,0,"","put banana on sheet metal",-0.200083,-0.024866,0.964770,0.341783,-0.585032,0.308703,0.667551
3,4,61440,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089207,-0.039093,0.887235,0.996978,0.005552,0.032328,0.070414
3,4,61440,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114986,0.074554,0.878547,0.999909,0.013305,0.002047,-0.000402
3,4,61440,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
3,4,61440,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
3,4,61440,47,gripper,0,"","put banana on sheet metal",-0.056198,0.069260,1.002200,0.167590,-0.757233,0.113982,0.620902
3,4,61440,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235931,0.075634,0.888112,0.729927,-0.027023,-0.005331,0.682970
3,4,61440,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.187950,-0.028812,0.895188,0.435968,-0.570968,0.416008,0.557553
3,4,61440,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.203751,-0.044434,0.872199,0.999823,0.000000,-0.000001,-0.018804
3,4,61440,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000028
3,4,61440,48,gripper,0,"","put plastic bottle on cutting board",-0.181698,-0.022434,0.974598,-0.110756,-0.721940,-0.113565,0.673527
3,4,61440,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.140713,-0.008156,0.890528,-0.088481,-0.308754,-0.946264,0.037771
3,4,61440,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.276894,0.072765,0.887026,0.241157,-0.672088,0.227986,0.661939
3,4,61440,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000008
3,4,61440,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
3,4,61440,49,gripper,0,"","put plastic bottle on cutting board",-0.225170,0.086609,0.937315,0.153923,-0.699014,0.023096,0.697964
3,4,61440,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.107956,-0.039909,0.888112,0.999468,-0.023113,0.014975,-0.017466
3,4,61440,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.217785,0.050209,0.887026,0.564777,0.411422,0.578290,-0.421118
3,4,61440,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
3,4,61440,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
3,4,61440,50,gripper,0,"","put plastic bottle on cutting board",-0.167665,0.047461,0.979994,-0.061309,-0.685099,-0.090225,0.720236
3,4,61440,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.203371,-0.107346,0.892100,0.357291,0.492487,-0.659750,-0.441055
3,4,61440,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.183287,0.099281,0.887026,0.654298,-0.277760,0.653094,0.261175
3,4,61440,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.081358,0.074745,0.872199,0.999745,-0.000001,-0.000001,-0.022589
3,4,61440,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114853,-0.074844,0.870870,0.999999,0.000000,-0.000001,-0.001295
3,4,61440,51,gripper,0,"","put plastic bottle on cutting board",-0.166142,0.070940,1.009364,-0.053791,-0.712087,-0.083665,0.695010
3,4,61440,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235471,0.076088,0.888111,0.932331,-0.027055,0.005157,0.360557
3,4,61440,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.174050,-0.038826,0.887078,0.650021,-0.289145,0.648174,0.271549
3,4,61440,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
3,4,61440,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.068230,-0.064571,0.870870,0.999527,0.000000,0.000001,-0.030746
3,4,61440,52,gripper,0,"","put hamburger on frying pan",-0.136675,-0.048227,0.989045,0.021453,-0.644756,0.014166,0.763956
3,4,61440,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.102091,-0.106483,0.951453,0.611987,0.012100,0.045639,0.789457
3,4,61440,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.195187,0.111706,0.887026,0.517355,-0.493240,0.510294,0.478182
3,4,61440,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
3,4,61440,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204966,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000066
3,4,61440,53,gripper,0,"","put hamburger on frying pan",-0.099738,-0.101149,0.999023,-0.207425,-0.688239,-0.128656,0.683191
3,4,61440,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078484,-0.035191,0.888276,0.893323,-0.018820,-0.013472,0.448819
3,4,61440,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.079254,0.097576,0.887026,0.486247,-0.524367,0.478254,0.509781
3,4,61440,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
3,4,61440,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205006,-0.045002,0.870870,1.000000,0.000001,0.000000,0.000022
3,4,61440,54,gripper,0,"","put hamburger on frying pan",-0.075005,-0.043762,0.938196,0.110560,-0.749464,0.009131,0.652684
3,4,61440,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.062073,0.072823,0.890711,0.760261,-0.026505,-0.000674,0.649076
3,4,61440,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.210838,0.068481,0.895261,0.514744,-0.500363,0.500666,0.483745
3,4,61440,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235352,0.075161,0.872199,0.999988,0.000000,-0.000001,-0.004930
3,4,61440,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084995,0.074982,0.870883,0.999999,0.000700,0.000713,0.000044
3,4,61440,55,gripper,0,"","put hamburger on frying pan",-0.116310,0.026239,1.132450,0.011740,-0.780970,0.119557,0.612907
3,4,61440,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086609,-0.074226,0.888112,0.917823,-0.027232,0.004117,0.396033
3,4,61440,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.137077,0.099182,0.888758,0.700307,-0.194500,0.669329,0.154073
3,4,61440,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000024
3,4,61440,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.064316,0.067924,0.870870,0.999703,-0.000000,0.000001,0.024386
3,4,61440,56,gripper,0,"","put hamburger on cutting board",-0.025234,0.050886,0.962000,0.090788,-0.770903,-0.069625,0.626592
3,4,61440,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.114304,-0.074070,0.888112,0.999594,-0.023266,0.014738,-0.007281
3,4,61440,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.177231,0.074738,0.887026,0.704477,-0.020902,0.709401,0.005015
3,4,61440,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084515,0.044998,0.872199,0.999971,0.000000,-0.000000,-0.007628
3,4,61440,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000053
3,4,61440,57,gripper,0,"","put hamburger on cutting board",-0.133028,-0.015451,1.005676,-0.100611,-0.692916,-0.066241,0.710885
3,4,61440,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.083187,-0.057755,0.888112,0.604651,-0.025739,-0.009793,0.796014
3,4,61440,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.063602,0.098495,0.887027,0.503684,-0.507415,0.496203,0.492559
3,4,61440,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
3,4,61440,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
3,4,61440,58,gripper,0,"","put hamburger on cutting board",-0.057472,-0.031422,0.976182,-0.086796,-0.740788,-0.108935,0.657140
3,4,61440,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.172680,-0.025974,0.892732,0.317377,0.059747,0.195862,0.925927
3,4,61440,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.238550,0.088287,0.886091,0.315902,-0.022038,-0.004233,0.948526
3,4,61440,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
3,4,61440,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085005,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000011
3,4,61440,59,gripper,0,"","put hamburger on cutting board",-0.206615,0.093859,0.977865,-0.088597,-0.728859,-0.070026,0.675286
3,4,61440,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.114377,0.045948,0.888112,0.999581,-0.023242,0.014777,-0.008890
3,4,61440,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060353,-0.073746,0.887026,0.704088,-0.039994,0.708580,0.023981
3,4,61440,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
3,4,61440,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
3,4,61440,60,gripper,0,"","put plastic bottle on frying pan",-0.043215,-0.070837,1.006248,-0.010432,-0.737408,0.033645,0.674528
3,4,61440,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.101545,-0.082981,0.908603,0.979740,-0.143739,0.002655,0.139431
3,4,61440,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.022530,0.077015,0.887026,0.640155,-0.310638,0.638117,0.294130
3,4,61440,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000005
3,4,61440,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.116167,-0.083473,0.870870,0.999595,-0.000000,-0.000001,-0.028465
3,4,61440,61,gripper,0,"","put plastic bottle on frying pan",-0.096426,-0.080446,0.949466,-0.148707,-0.786667,-0.130519,0.584813
3,4,61440,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205956,-0.044384,0.888112,0.712586,-0.026879,-0.006004,0.701044
3,4,61440,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.080673,0.084190,0.889703,0.441895,-0.560361,0.437475,0.547120
3,4,61440,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
3,4,61440,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084133,0.077534,0.870872,0.999938,0.000000,-0.000015,-0.011135
3,4,61440,62,gripper,0,"","put plastic bottle on frying pan",-0.063007,0.078236,0.971161,-0.009230,-0.747298,-0.133313,0.650913
3,4,61440,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084328,-0.072456,0.888112,0.999561,-0.023530,0.014312,0.010948
3,4,61440,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205765,0.075836,0.887027,0.704489,-0.019123,0.709450,0.003251
3,4,61440,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
3,4,61440,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
3,4,61440,63,gripper,0,"","put plastic bottle on frying pan",-0.097092,-0.067905,0.986027,-0.159317,-0.722458,-0.143512,0.657325
4,1,66560,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.188873,0.073868,0.878958,0.763748,0.007596,0.645470,0.000665
4,1,66560,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235977,-0.044891,0.881638,0.999225,-0.004459,-0.039106,-0.000366
4,1,66560,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000028
4,1,66560,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
4,1,66560,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.182590,0.089943,0.942042,0.035133,-0.742663,-0.010441,0.668662
4,1,66560,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.115013,0.065170,0.879089,0.626982,0.326151,-0.328713,0.626472
4,1,66560,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205109,-0.075974,0.881638,0.706780,0.024487,-0.030793,0.706338
4,1,66560,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.044998,0.869532,1.000000,-0.000001,0.000000,0.000020
4,1,66560,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235001,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000737
4,1,66560,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.083147,-0.054066,0.951686,-0.127146,-0.693640,-0.098278,0.702167
4,1,66560,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.076946,-0.072342,0.885085,0.583641,0.347424,-0.306143,0.667035
4,1,66560,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.228340,0.095703,0.881638,0.684552,0.025432,-0.030018,0.727902
4,1,66560,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000023
4,1,66560,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074974,0.871288,1.000000,-0.000154,-0.001019,0.000119
4,1,66560,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.125088,-0.044121,1.060322,-0.008369,-0.713756,-0.018356,0.700104
4,1,66560,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.099026,0.006256,0.882438,-0.612395,-0.158463,0.773370,-0.041970
4,1,66560,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.058220,-0.077652,0.881641,0.992792,-0.008929,0.039158,0.112922
4,1,66560,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000011
4,1,66560,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.097939,0.063240,0.871288,0.982056,0.000041,-0.001030,0.188586
4,1,66560,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.131442,-0.003887,0.940549,-0.083894,-0.808005,-0.094732,0.575426
4,1,66560,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.211159,0.054092,0.885123,0.518191,0.444786,-0.632773,0.365023
4,1,66560,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205753,-0.075554,0.881638,0.923224,0.010844,-0.037815,0.382244
4,1,66560,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235129,0.075058,0.869533,1.000000,-0.000000,-0.000000,-0.000272
4,1,66560,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084992,-0.074997,0.871288,0.999999,-0.000154,-0.001020,-0.000005
4,1,66560,4,gripper,0,"","put ketchup bottle on cloth",-0.184309,0.036491,1.133224,0.109288,-0.697715,0.186958,0.682859
4,1,66560,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078112,0.068161,0.879089,0.338451,0.427334,-0.178314,0.819171
4,1,66560,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.169760,-0.068336,0.881638,0.033546,0.038916,-0.005755,0.998663
4,1,66560,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000011
4,1,66560,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
4,1,66560,5,gripper,0,"","put ketchup bottle on cloth",-0.221435,-0.113693,0.914664,-0.139124,-0.702737,-0.093621,0.691404
4,1,66560,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.170155,-0.036194,0.879232,-0.264121,-0.274318,0.921221,-0.079636
4,1,66560,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085964,-0.074875,0.881638,0.999225,-0.004455,-0.039111,-0.000266
4,1,66560,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000007
4,1,66560,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
4,1,66560,6,gripper,0,"","put ketchup bottle on cloth",-0.218098,-0.063782,0.913837,0.004579,-0.751346,0.004224,0.659880
4,1,66560,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.070328,0.085732,0.879672,0.454173,0.197035,-0.112853,0.861492
4,1,66560,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205894,0.074379,0.881638,0.423745,0.033515,-0.020605,0.904926
4,1,66560,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
4,1,66560,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
4,1,66560,7,gripper,0,"","put ketchup bottle on cloth",-0.085365,0.067989,0.933570,0.084398,-0.774356,0.046102,0.625399
4,1,66560,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.124687,-0.074966,0.879089,0.886281,-0.001514,-0.463146,0.000196
4,1,66560,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.217995,-0.030300,0.883663,0.998604,0.029568,0.043751,0.001469
4,1,66560,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000044
4,1,66560,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204002,0.075512,0.871282,0.999995,-0.000449,-0.001267,0.002689
4,1,66560,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.234341,-0.035332,0.922747,-0.123863,-0.699017,-0.138000,0.690644
4,1,66560,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.243767,0.019951,0.885140,0.475904,0.511233,-0.577163,0.423131
4,1,66560,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115765,0.074398,0.881638,0.923225,0.010857,-0.037846,0.382237
4,1,66560,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234993,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000097
4,1,66560,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.215633,-0.081970,0.871288,0.999989,-0.000149,-0.001020,0.004593
4,1,66560,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.250919,-0.065975,0.928238,-0.170677,-0.719597,-0.167849,0.651826
4,1,66560,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.086700,0.077705,0.879375,0.699950,0.066081,-0.058392,0.708727
4,1,66560,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205109,0.074047,0.881638,0.706700,0.024492,-0.030789,0.706419
4,1,66560,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
4,1,66560,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
4,1,66560,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.276165,0.022861,0.913587,-0.020342,-0.735665,-0.024632,0.676591
4,1,66560,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097605,0.062332,0.879125,0.585789,0.294860,-0.714994,0.242266
4,1,66560,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.206938,0.072968,0.881638,0.918944,0.011260,-0.037694,0.392422
4,1,66560,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000006
4,1,66560,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000042
4,1,66560,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.199333,0.077246,0.943988,-0.013823,-0.719412,0.012017,0.694342
4,1,66560,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198688,-0.080315,0.887960,0.633674,0.322015,-0.343624,0.613748
4,1,66560,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083115,-0.044289,0.884013,0.708035,0.007058,0.041935,0.704895
4,1,66560,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,0.075001,0.869532,1.000000,-0.000000,0.000000,-0.000000
4,1,66560,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.199428,-0.074371,0.871288,0.999999,-0.000153,-0.001019,0.000051
4,1,66560,12,gripper,0,"","put kitchen shovel on cloth",-0.262083,-0.044981,0.957632,-0.004602,-0.795735,-0.042063,0.604165
4,1,66560,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.161537,0.089424,0.878982,0.758908,-0.001725,0.651105,0.010863
4,1,66560,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235952,-0.074890,0.881637,0.999225,-0.004449,-0.039120,-0.000122
4,1,66560,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,0.000000,0.000017
4,1,66560,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
4,1,66560,13,gripper,0,"","put kitchen shovel on cloth",-0.186531,0.099171,0.933517,0.029440,-0.739357,0.008494,0.672616
4,1,66560,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.180630,-0.058777,0.879563,0.919553,0.023647,-0.388044,0.057316
4,1,66560,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085766,-0.075611,0.881638,0.923233,0.010857,-0.037845,0.382218
4,1,66560,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000000
4,1,66560,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000145
4,1,66560,14,gripper,0,"","put kitchen shovel on cloth",-0.208145,-0.059528,0.913718,-0.038387,-0.743761,-0.048313,0.665591
4,1,66560,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.195591,-0.060940,0.879088,0.778790,0.219650,-0.407661,0.423145
4,1,66560,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115765,0.044395,0.881638,0.923226,0.010845,-0.037815,0.382238
4,1,66560,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
4,1,66560,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
4,1,66560,15,gripper,0,"","put kitchen shovel on cloth",-0.306446,-0.111462,0.914559,-0.129639,-0.650692,0.022686,0.747849
4,1,66560,16,obj,0,"003_bread_1","put bread on newspaper",-0.235527,0.075115,0.883544,0.999916,0.001786,-0.012533,-0.002785
4,1,66560,16,obj,1,"005_7up can_1","put bread on newspaper",-0.177567,-0.043663,0.885694,0.973527,-0.023755,0.197383,0.112785
4,1,66560,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.083199,-0.075897,0.869490,0.999929,0.000190,0.000872,-0.011914
4,1,66560,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
4,1,66560,16,gripper,0,"","put bread on newspaper",-0.151546,-0.056646,0.983125,0.171768,-0.692676,0.101640,0.693084
4,1,66560,17,obj,0,"003_bread_1","put bread on newspaper",-0.104671,0.064350,0.883544,0.393101,0.012231,-0.003256,0.919408
4,1,66560,17,obj,1,"005_7up can_1","put bread on newspaper",-0.232452,0.042576,0.885633,0.381154,0.101209,-0.039033,0.918126
4,1,66560,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000022
4,1,66560,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
4,1,66560,17,gripper,0,"","put bread on newspaper",-0.124371,0.003658,1.010288,-0.077202,-0.741137,-0.048051,0.665167
4,1,66560,18,obj,0,"003_bread_1","put bread on newspaper",-0.234474,0.074520,0.883544,0.383807,0.012273,-0.003119,0.923327
4,1,66560,18,obj,1,"005_7up can_1","put bread on newspaper",-0.155533,-0.024300,0.886637,0.625544,0.238110,-0.184345,0.719733
4,1,66560,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205353,-0.075115,0.869490,0.999997,0.000178,0.000876,0.002222
4,1,66560,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000032
4,1,66560,18,gripper,0,"","put bread on newspaper",-0.148100,-0.010725,1.046511,-0.063284,-0.723477,-0.030539,0.686763
4,1,66560,19,obj,0,"003_bread_1","put bread on newspaper",-0.235493,0.074482,0.883544,0.924412,0.006460,-0.010886,0.381184
4,1,66560,19,obj,1,"005_7up can_1","put bread on newspaper",-0.240484,-0.080261,0.885627,0.898414,0.084227,-0.217236,0.372246
4,1,66560,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
4,1,66560,19,recep,1,"003_carpet_1","put bread on newspaper",-0.114988,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000037
4,1,66560,19,gripper,0,"","put bread on newspaper",-0.242736,-0.083611,0.933719,0.081933,-0.723049,0.048100,0.684232
4,1,66560,20,obj,0,"003_bread_1","put bread on carpet",-0.205492,-0.075516,0.883544,0.924239,0.006465,-0.010884,0.381605
4,1,66560,20,obj,1,"005_7up can_1","put bread on carpet",-0.139854,0.053440,0.887633,-0.095016,-0.721244,0.663618,-0.174327
4,1,66560,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
4,1,66560,20,recep,1,"003_carpet_1","put bread on carpet",-0.071991,0.055103,0.870447,0.999988,-0.003107,-0.002741,0.002608
4,1,66560,20,gripper,0,"","put bread on carpet",-0.141023,0.054049,1.018228,-0.095991,-0.694646,-0.115812,0.703448
4,1,66560,21,obj,0,"003_bread_1","put bread on carpet",-0.143730,-0.057926,0.883544,0.486784,0.011824,-0.004507,0.873431
4,1,66560,21,obj,1,"005_7up can_1","put bread on carpet",-0.201624,0.071335,0.885637,0.377053,0.142063,-0.055641,0.913539
4,1,66560,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
4,1,66560,21,recep,1,"003_carpet_1","put bread on carpet",-0.234995,-0.075001,0.870460,1.000000,0.000019,-0.000159,-0.000023
4,1,66560,21,gripper,0,"","put bread on carpet",-0.106296,-0.022385,0.982351,-0.355497,-0.611781,-0.320569,0.629746
4,1,66560,22,obj,0,"003_bread_1","put bread on carpet",-0.084938,0.074085,0.883542,0.387721,0.010332,-0.001734,0.921717
4,1,66560,22,obj,1,"005_7up can_1","put bread on carpet",-0.079742,-0.080513,0.885627,0.370945,0.213263,-0.093779,0.898957
4,1,66560,22,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000022
4,1,66560,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000026
4,1,66560,22,gripper,0,"","put bread on carpet",-0.070168,0.073721,0.929598,-0.013434,-0.730026,-0.028783,0.682681
4,1,66560,23,obj,0,"003_bread_1","put bread on carpet",-0.235535,0.075123,0.883544,0.999916,0.001781,-0.012532,-0.002812
4,1,66560,23,obj,1,"005_7up can_1","put bread on carpet",-0.065468,0.029434,0.885968,0.348900,0.149641,0.923088,-0.061525
4,1,66560,23,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
4,1,66560,23,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.075813,0.870367,0.999979,0.000176,-0.001151,-0.006406
4,1,66560,23,gripper,0,"","put bread on carpet",-0.114891,0.039007,0.965774,0.083217,-0.778813,0.003897,0.621700
4,1,66560,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.051628,0.013052,0.883545,0.985457,-0.000324,-0.012674,-0.169453
4,1,66560,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214325,-0.074827,0.885636,0.958607,-0.005153,-0.284683,0.000893
4,1,66560,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
4,1,66560,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085495,0.077723,0.870448,0.999754,-0.000747,-0.000724,0.022129
4,1,66560,24,gripper,0,"","put 7up can on newspaper",-0.050411,0.012861,0.943651,-0.122035,-0.767815,-0.084022,0.623304
4,1,66560,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.116173,0.084631,0.883544,0.704478,0.010172,-0.007531,0.709612
4,1,66560,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.235176,0.035675,0.885636,0.677486,0.197557,-0.205009,0.678200
4,1,66560,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
4,1,66560,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.044987,0.870447,0.999999,-0.000923,-0.000845,-0.000011
4,1,66560,25,gripper,0,"","put 7up can on newspaper",-0.128380,0.088515,0.981572,-0.096404,-0.767091,-0.132613,0.620235
4,1,66560,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.234478,0.044506,0.883544,0.383641,0.012265,-0.003127,0.923395
4,1,66560,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.107025,0.080774,0.925712,0.610172,0.301721,-0.252164,0.687799
4,1,66560,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000052
4,1,66560,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
4,1,66560,26,gripper,0,"","put 7up can on newspaper",-0.120436,0.077205,0.982369,-0.032803,-0.757747,-0.063552,0.648617
4,1,66560,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.084490,-0.075480,0.883545,0.383767,0.012265,-0.003123,0.923343
4,1,66560,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090191,0.019707,0.885980,0.151634,0.843476,-0.314925,0.407895
4,1,66560,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234989,-0.075001,0.869489,1.000000,0.000180,0.000875,0.000016
4,1,66560,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
4,1,66560,27,gripper,0,"","put 7up can on newspaper",-0.087961,0.020083,0.934854,-0.412136,-0.528048,-0.374627,0.641064
4,1,66560,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085522,-0.074886,0.883544,0.999916,0.001792,-0.012534,-0.002887
4,1,66560,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.244326,0.075176,0.885636,0.958615,-0.005111,-0.284657,0.001034
4,1,66560,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000004
4,1,66560,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,0.045004,0.870447,0.999999,-0.000922,-0.000845,0.000004
4,1,66560,28,gripper,0,"","put 7up can on carpet",-0.176474,-0.024954,0.979446,-0.016153,-0.680081,0.020842,0.732663
4,1,66560,29,obj,0,"003_bread_1","put 7up can on carpet",-0.084490,-0.075480,0.883545,0.383767,0.012265,-0.003123,0.923343
4,1,66560,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.112347,0.004543,0.888203,-0.591386,-0.218974,0.158664,-0.759696
4,1,66560,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114792,0.045105,0.869490,0.999997,0.000544,0.001425,0.001816
4,1,66560,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.234993,0.075020,0.870461,1.000000,-0.000083,-0.000249,0.000033
4,1,66560,29,gripper,0,"","put 7up can on carpet",-0.132749,0.005285,0.985347,-0.020101,-0.770535,-0.003443,0.637071
4,1,66560,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084019,0.075817,0.883545,0.999836,0.001659,-0.012550,-0.012968
4,1,66560,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.214394,0.075176,0.885636,0.958611,-0.005148,-0.284670,0.000910
4,1,66560,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
4,1,66560,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
4,1,66560,30,gripper,0,"","put 7up can on carpet",-0.110706,-0.009708,1.010913,-0.057844,-0.713590,-0.139798,0.684032
4,1,66560,31,obj,0,"003_bread_1","put 7up can on carpet",-0.115547,0.044676,0.883544,0.926767,0.006390,-0.010929,0.375423
4,1,66560,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.241722,0.068529,0.885636,0.885257,0.104209,-0.264964,0.367770
4,1,66560,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
4,1,66560,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
4,1,66560,31,gripper,0,"","put 7up can on carpet",-0.091906,0.037734,1.004965,-0.293745,-0.664992,-0.241718,0.642707
4,1,66560,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.084999,0.074226,0.887304,0.735183,-0.022579,0.017078,0.677278
4,1,66560,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204567,0.075011,0.878547,0.706891,0.007945,0.010849,0.707194
4,1,66560,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
4,1,66560,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
4,1,66560,32,gripper,0,"","put carrot on sheet metal",-0.040356,0.072234,0.996941,-0.180539,-0.737806,-0.203456,0.617781
4,1,66560,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237045,0.078299,0.887429,0.910493,-0.018606,0.034746,0.411642
4,1,66560,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
4,1,66560,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
4,1,66560,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
4,1,66560,33,gripper,0,"","put carrot on sheet metal",-0.192225,0.072923,1.026330,0.199949,-0.640982,0.200852,0.713316
4,1,66560,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087170,-0.071604,0.887344,0.911017,-0.010026,0.034827,0.410773
4,1,66560,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383052
4,1,66560,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
4,1,66560,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
4,1,66560,34,gripper,0,"","put carrot on sheet metal",-0.051500,0.030442,1.028309,-0.238720,-0.704990,-0.264108,0.613391
4,1,66560,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236605,0.044742,0.887471,0.735875,-0.021711,0.024491,0.676326
4,1,66560,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007930,0.010833,0.707290
4,1,66560,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,1,66560,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
4,1,66560,35,gripper,0,"","put carrot on sheet metal",-0.065632,0.100294,0.981735,0.150876,-0.699643,0.108361,0.689923
4,1,66560,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086918,-0.072211,0.887552,0.911027,-0.009396,0.026913,0.411360
4,1,66560,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234682,0.074692,0.878547,0.923638,0.011497,0.006986,0.383029
4,1,66560,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000002
4,1,66560,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
4,1,66560,36,gripper,0,"","put carrot on flat bowl",-0.049524,0.031714,1.024832,0.036476,-0.711954,-0.046996,0.699702
4,1,66560,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.113359,0.054823,0.887575,0.914692,-0.007368,0.024019,0.403369
4,1,66560,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011499,0.006988,0.383040
4,1,66560,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,1,66560,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
4,1,66560,37,gripper,0,"","put carrot on flat bowl",-0.061958,0.135239,0.976801,0.314927,-0.632158,0.091448,0.702022
4,1,66560,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118126,-0.077237,0.887203,0.354670,-0.031703,0.002959,0.934449
4,1,66560,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044708,0.878547,0.382233,0.003189,0.013064,0.923968
4,1,66560,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
4,1,66560,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000000
4,1,66560,38,gripper,0,"","put carrot on flat bowl",-0.036804,0.030758,1.030641,0.132637,-0.625529,0.041276,0.767735
4,1,66560,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088146,0.074459,0.887552,0.744262,-0.022015,0.022300,0.667152
4,1,66560,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007969,0.010890,0.707296
4,1,66560,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
4,1,66560,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
4,1,66560,39,gripper,0,"","put carrot on flat bowl",-0.065090,0.104589,0.994156,0.346351,-0.588648,0.201768,0.702014
4,1,66560,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086441,-0.075325,0.887417,0.734727,-0.024112,0.030603,0.677243
4,1,66560,40,obj,1,"013_banana_1","put banana on sheet metal",-0.204575,-0.074989,0.878547,0.707232,0.007947,0.010841,0.706853
4,1,66560,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
4,1,66560,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
4,1,66560,40,gripper,0,"","put banana on sheet metal",-0.166489,-0.032385,0.984138,-0.027701,-0.716545,0.005165,0.696971
4,1,66560,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234974,-0.071402,0.887288,0.362658,0.003871,-0.001508,0.931913
4,1,66560,41,obj,1,"013_banana_1","put banana on sheet metal",-0.114697,-0.044668,0.878547,0.382685,0.003189,0.013051,0.923781
4,1,66560,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
4,1,66560,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
4,1,66560,41,gripper,0,"","put banana on sheet metal",-0.069395,-0.013043,0.981108,-0.046826,-0.705613,-0.035598,0.706152
4,1,66560,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117451,-0.071829,0.887374,0.996983,-0.004359,0.024887,0.073398
4,1,66560,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204998,0.074518,0.878547,0.999910,0.013298,0.002047,-0.000011
4,1,66560,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
4,1,66560,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000148
4,1,66560,42,gripper,0,"","put banana on sheet metal",-0.168100,0.077775,0.966133,0.141203,-0.699848,0.102690,0.692624
4,1,66560,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086874,0.073223,0.887522,0.997404,-0.000549,0.029772,0.065568
4,1,66560,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234991,-0.045427,0.878547,0.999910,0.013295,0.002049,0.000097
4,1,66560,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114990,-0.075012,0.871345,0.999999,-0.000156,0.001164,-0.000056
4,1,66560,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000105
4,1,66560,43,gripper,0,"","put banana on sheet metal",-0.207105,-0.041703,0.982571,-0.153389,-0.699769,-0.102496,0.690138
4,1,66560,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087771,0.079029,0.887482,0.996781,-0.002985,0.021562,0.077156
4,1,66560,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234988,-0.075436,0.878547,0.999909,0.013312,0.002052,0.000251
4,1,66560,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
4,1,66560,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
4,1,66560,44,gripper,0,"","put banana on flat bowl",-0.216087,-0.020658,1.009140,-0.099036,-0.673430,-0.078056,0.728417
4,1,66560,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087034,-0.041883,0.887508,0.996504,-0.001852,0.032143,0.077086
4,1,66560,45,obj,1,"013_banana_1","put banana on flat bowl",-0.114990,0.074566,0.878547,0.999909,0.013308,0.002047,-0.000197
4,1,66560,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
4,1,66560,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
4,1,66560,45,gripper,0,"","put banana on flat bowl",-0.074156,0.083700,0.999539,0.097022,-0.744182,0.087738,0.655044
4,1,66560,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088528,-0.076784,0.887409,0.349863,-0.037180,0.010327,0.936006
4,1,66560,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075329,0.878547,0.382695,0.003194,0.013066,0.923777
4,1,66560,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
4,1,66560,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
4,1,66560,46,gripper,0,"","put banana on flat bowl",-0.044060,0.088283,0.963586,0.235890,-0.713377,0.170134,0.637576
4,1,66560,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.116287,0.077965,0.887540,0.909005,-0.018026,0.039549,0.414513
4,1,66560,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234669,0.044693,0.878547,0.923858,0.011510,0.006984,0.382500
4,1,66560,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
4,1,66560,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
4,1,66560,47,gripper,0,"","put banana on flat bowl",-0.175758,0.019813,1.037029,-0.316356,-0.648592,-0.384114,0.575937
4,1,66560,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084351,-0.074078,0.888112,0.999583,-0.023241,0.014777,-0.008626
4,1,66560,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055626,0.075848,0.887026,0.704494,-0.017215,0.709499,0.001355
4,1,66560,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
4,1,66560,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
4,1,66560,48,gripper,0,"","put hamburger on frying pan",-0.138531,-0.060274,0.985277,-0.181740,-0.714314,-0.102624,0.667978
4,1,66560,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205219,0.076080,0.888112,0.927251,-0.027121,0.004791,0.373427
4,1,66560,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.072018,-0.042854,0.887029,0.585348,-0.407782,0.581301,0.391370
4,1,66560,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,1,66560,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
4,1,66560,49,gripper,0,"","put hamburger on frying pan",-0.041067,-0.048241,0.946853,0.057119,-0.733474,0.041663,0.676031
4,1,66560,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205936,-0.074409,0.888112,0.712919,-0.026881,-0.005984,0.700706
4,1,66560,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.075527,0.021275,0.889573,0.529285,-0.476830,0.527317,0.463063
4,1,66560,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
4,1,66560,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.116123,0.043270,0.870883,0.999894,0.000711,0.000705,-0.014487
4,1,66560,50,gripper,0,"","put hamburger on frying pan",-0.019274,0.032909,0.977841,0.123238,-0.711030,0.105554,0.684184
4,1,66560,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.237675,0.082275,0.888112,0.906623,-0.027336,0.003368,0.421042
4,1,66560,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.095043,0.066483,0.887026,0.649653,-0.289082,0.648164,0.272518
4,1,66560,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
4,1,66560,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
4,1,66560,51,gripper,0,"","put hamburger on frying pan",-0.215463,0.082993,0.951072,-0.002831,-0.744215,-0.026848,0.667395
4,1,66560,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086986,-0.074120,0.888112,0.733808,-0.027049,-0.005175,0.678798
4,1,66560,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.079622,0.111935,0.888264,0.703854,-0.266750,0.280710,0.595513
4,1,66560,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
4,1,66560,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204996,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000009
4,1,66560,52,gripper,0,"","put hamburger on cutting board",-0.137996,-0.039188,0.987048,-0.038611,-0.718869,-0.047363,0.692454
4,1,66560,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205183,-0.043888,0.888112,0.934064,-0.027031,0.005289,0.356043
4,1,66560,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.095024,0.066467,0.887026,0.649737,-0.288883,0.648253,0.272318
4,1,66560,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,1,66560,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
4,1,66560,53,gripper,0,"","put hamburger on cutting board",0.007834,0.048717,0.947335,-0.289900,-0.704113,-0.161777,0.627703
4,1,66560,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115955,-0.074375,0.888112,0.712314,-0.026876,-0.006016,0.701321
4,1,66560,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.212692,0.001389,0.887026,0.505995,-0.505074,0.498572,0.490198
4,1,66560,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,1,66560,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.075024,0.870870,1.000000,0.000000,-0.000001,-0.000004
4,1,66560,54,gripper,0,"","put hamburger on cutting board",-0.182339,0.051439,0.976620,0.099811,-0.730033,-0.007648,0.676040
4,1,66560,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.201782,-0.068169,0.888423,0.973562,-0.016730,-0.027914,0.226093
4,1,66560,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085609,0.045807,0.887026,0.704495,-0.017109,0.709501,0.001249
4,1,66560,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
4,1,66560,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
4,1,66560,55,gripper,0,"","put hamburger on cutting board",-0.181608,-0.058847,0.952574,-0.148597,-0.723946,-0.132920,0.660419
4,1,66560,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236130,-0.075195,0.888112,0.410773,-0.022888,-0.015320,0.911322
4,1,66560,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.106773,-0.053497,0.887026,0.269601,-0.661582,0.256882,0.650873
4,1,66560,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000001
4,1,66560,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
4,1,66560,56,gripper,0,"","put plastic bottle on frying pan",-0.079258,0.078041,0.958979,0.019129,-0.734573,0.046565,0.676659
4,1,66560,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236099,-0.075241,0.888112,0.387603,-0.022494,-0.015894,0.921415
4,1,66560,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256359,0.094910,0.887026,0.266267,-0.662893,0.253495,0.652238
4,1,66560,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
4,1,66560,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084976,0.075188,0.870870,1.000000,-0.000000,-0.000001,-0.000183
4,1,66560,57,gripper,0,"","put plastic bottle on frying pan",-0.101231,0.091766,0.931411,-0.087097,-0.789072,-0.127938,0.594484
4,1,66560,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206081,-0.075222,0.888112,0.387346,-0.022489,-0.015900,0.921523
4,1,66560,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.122128,0.099297,0.887817,0.306523,-0.666365,0.328041,0.595306
4,1,66560,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
4,1,66560,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
4,1,66560,58,gripper,0,"","put plastic bottle on frying pan",-0.094749,0.100695,0.939372,0.178340,-0.701306,0.052140,0.688219
4,1,66560,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235205,-0.073864,0.888112,0.934206,-0.027027,0.005298,0.355669
4,1,66560,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.145079,0.039696,0.892463,0.498963,-0.577012,0.380429,0.522846
4,1,66560,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.080961,0.072742,0.872199,0.999656,0.000000,-0.000001,0.026233
4,1,66560,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
4,1,66560,59,gripper,0,"","put plastic bottle on frying pan",-0.122396,0.048038,0.975536,-0.099805,-0.729019,-0.054225,0.675003
4,1,66560,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205965,-0.044399,0.888112,0.712521,-0.026880,-0.006005,0.701110
4,1,66560,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.108399,0.074665,0.887026,0.468968,-0.540032,0.460491,0.525722
4,1,66560,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235456,0.074928,0.872199,0.999992,-0.000000,-0.000001,0.004119
4,1,66560,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
4,1,66560,60,gripper,0,"","put plastic bottle on cutting board",-0.037342,-0.058512,0.986493,-0.340362,-0.625785,-0.340396,0.613740
4,1,66560,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.044750,0.888112,0.388349,-0.022509,-0.015874,0.921101
4,1,66560,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.107567,-0.052849,0.887056,0.246692,-0.659455,0.230115,0.671795
4,1,66560,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205011,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000191
4,1,66560,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000009
4,1,66560,61,gripper,0,"","put plastic bottle on cutting board",-0.112245,0.031744,0.954612,-0.131077,-0.759569,-0.194760,0.606582
4,1,66560,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116108,0.044739,0.888112,0.386899,-0.022483,-0.015912,0.921711
4,1,66560,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.265587,-0.046524,0.887027,0.324323,-0.637170,0.312570,0.625403
4,1,66560,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
4,1,66560,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
4,1,66560,62,gripper,0,"","put plastic bottle on cutting board",-0.209433,0.007292,1.006938,-0.019221,-0.774897,-0.022044,0.631411
4,1,66560,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115955,0.045609,0.888113,0.713044,-0.026882,-0.005986,0.700578
4,1,66560,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.192516,0.087196,0.889459,0.531003,-0.474872,0.529137,0.461028
4,1,66560,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
4,1,66560,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234440,0.075455,0.870884,0.999997,0.000705,0.000724,0.002092
4,1,66560,63,gripper,0,"","put plastic bottle on cutting board",-0.167051,0.063305,1.058051,0.117299,-0.716341,0.067563,0.684494
4,2,71680,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.125839,0.057533,0.879125,-0.631196,0.072374,0.770006,0.058686
4,2,71680,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.168831,-0.074684,0.882156,0.980005,-0.000394,-0.039654,-0.194980
4,2,71680,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000053
4,2,71680,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.062134,0.068153,0.871288,0.999822,-0.000135,-0.001022,0.018848
4,2,71680,0,gripper,0,"","put ketchup bottle on cloth",-0.211246,-0.091717,0.917304,-0.072501,-0.755583,-0.054011,0.648784
4,2,71680,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.167290,-0.051201,0.878982,-0.495745,0.488032,-0.430991,-0.574725
4,2,71680,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205814,-0.076393,0.881638,0.763427,0.021838,-0.032749,0.644694
4,2,71680,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.080585,-0.047325,0.869532,0.999640,0.000000,-0.000001,0.026820
4,2,71680,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234997,0.045013,0.871288,0.999999,-0.000153,-0.001020,0.000740
4,2,71680,1,gripper,0,"","put ketchup bottle on cloth",-0.231396,0.033157,0.988470,0.150975,-0.692484,0.096666,0.698804
4,2,71680,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.076946,-0.072357,0.885085,0.583709,0.347391,-0.306176,0.666979
4,2,71680,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.228340,0.095703,0.881638,0.684633,0.025450,-0.030040,0.727824
4,2,71680,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
4,2,71680,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000178
4,2,71680,2,gripper,0,"","put ketchup bottle on cloth",-0.205633,0.101986,0.942856,0.037286,-0.733028,0.071492,0.675403
4,2,71680,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.098866,0.006294,0.882427,-0.620014,-0.156430,0.767581,-0.043950
4,2,71680,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.058218,-0.077652,0.881641,0.992785,-0.008933,0.039187,0.112973
4,2,71680,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235003,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000012
4,2,71680,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.097939,0.063240,0.871288,0.982054,0.000041,-0.001030,0.188595
4,2,71680,3,gripper,0,"","put ketchup bottle on cloth",-0.191783,-0.105015,0.917218,-0.028617,-0.779626,0.168785,0.602393
4,2,71680,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.211160,0.054184,0.885123,0.517195,0.446353,-0.631856,0.366110
4,2,71680,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205753,-0.075554,0.881638,0.923223,0.010851,-0.037830,0.382244
4,2,71680,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235129,0.075058,0.869533,1.000000,0.000001,-0.000002,-0.000261
4,2,71680,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084992,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000005
4,2,71680,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.169125,0.010124,1.121657,0.109168,-0.747940,0.181546,0.629054
4,2,71680,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.176067,0.072762,0.885060,0.572203,0.354425,-0.301670,0.675250
4,2,71680,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.169760,-0.068336,0.881638,0.033538,0.038938,-0.005755,0.998662
4,2,71680,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234989,0.075005,0.869532,1.000000,-0.000000,-0.000001,-0.000230
4,2,71680,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
4,2,71680,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.184712,0.082527,1.032680,-0.033672,-0.759484,-0.037368,0.648578
4,2,71680,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.170116,-0.036163,0.879212,-0.266467,-0.274136,0.920538,-0.080339
4,2,71680,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085964,-0.074875,0.881638,0.999225,-0.004456,-0.039111,-0.000306
4,2,71680,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000011
4,2,71680,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
4,2,71680,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.343275,-0.260628,0.912541,-0.080659,-0.539135,0.235541,0.804579
4,2,71680,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.218681,-0.070656,0.885084,0.438472,0.401616,-0.230480,0.770276
4,2,71680,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205894,0.074379,0.881638,0.423666,0.033514,-0.020601,0.904964
4,2,71680,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235073,-0.075157,0.869532,1.000000,-0.000000,-0.000000,-0.000472
4,2,71680,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
4,2,71680,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.194120,-0.060150,1.012755,-0.098300,-0.749592,-0.154225,0.636132
4,2,71680,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.121475,-0.078773,0.879045,0.745825,-0.048420,0.661441,0.062426
4,2,71680,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.184464,-0.018108,0.883735,0.977739,0.038387,-0.033003,0.203625
4,2,71680,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000045
4,2,71680,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.203926,0.075558,0.871288,0.999995,-0.000150,-0.001019,0.002964
4,2,71680,8,gripper,0,"","put kitchen shovel on cloth",-0.208565,-0.087011,0.914242,-0.028434,-0.777761,-0.035200,0.626929
4,2,71680,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.243774,0.019928,0.885122,0.473447,0.513711,-0.578157,0.421524
4,2,71680,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115761,0.074402,0.881638,0.923184,0.010857,-0.037837,0.382338
4,2,71680,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234993,0.044994,0.869532,1.000000,-0.000000,-0.000000,0.000115
4,2,71680,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.215633,-0.081966,0.871288,0.999989,-0.000149,-0.001019,0.004633
4,2,71680,9,gripper,0,"","put kitchen shovel on cloth",-0.097309,0.060232,0.990902,-0.054807,-0.711584,-0.077172,0.696196
4,2,71680,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097107,-0.073898,0.888178,0.533529,0.345573,-0.331281,0.697265
4,2,71680,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205109,0.074047,0.881638,0.706705,0.024492,-0.030790,0.706414
4,2,71680,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000004
4,2,71680,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000041
4,2,71680,10,gripper,0,"","put kitchen shovel on cloth",-0.103165,-0.007364,1.107334,-0.025597,-0.736275,0.008299,0.676147
4,2,71680,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097605,0.062332,0.879125,0.585794,0.294860,-0.714986,0.242275
4,2,71680,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.191759,0.081234,0.881675,0.925195,-0.008537,0.009081,0.379288
4,2,71680,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.044998,0.869532,1.000000,0.000001,-0.000000,0.000006
4,2,71680,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000067
4,2,71680,11,gripper,0,"","put kitchen shovel on cloth",-0.210974,0.108248,0.934753,0.206497,-0.709057,0.181280,0.649411
4,2,71680,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.000048,0.164177,0.886781,-0.744299,0.269362,-0.466908,-0.394283
4,2,71680,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083114,-0.043976,0.883989,0.707300,-0.004207,0.053265,0.704891
4,2,71680,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115015,0.075031,0.869532,1.000000,-0.000001,-0.000001,0.000403
4,2,71680,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.199428,-0.074371,0.871288,0.999999,-0.000154,-0.001019,0.000057
4,2,71680,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.031364,0.173237,0.927638,0.256906,-0.750133,0.143697,0.592158
4,2,71680,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.149607,0.087246,0.878982,0.758282,-0.020823,0.650751,0.033116
4,2,71680,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235950,-0.074890,0.881637,0.999225,-0.004446,-0.039119,-0.000057
4,2,71680,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,-0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000015
4,2,71680,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
4,2,71680,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.161968,0.098949,0.952466,0.035217,-0.750290,0.034509,0.659267
4,2,71680,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.180489,-0.058727,0.879089,0.884440,0.028571,-0.462180,0.057787
4,2,71680,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085762,-0.075607,0.881638,0.923192,0.010863,-0.037846,0.382317
4,2,71680,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
4,2,71680,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000193
4,2,71680,14,gripper,0,"","put ketchup bottle on yellow_plate",0.599792,0.028000,0.741646,0.700910,-0.000006,0.713250,-0.000000
4,2,71680,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.204239,0.091362,0.885122,0.557906,0.366476,-0.681094,0.300911
4,2,71680,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115761,0.044395,0.881638,0.923190,0.010850,-0.037815,0.382324
4,2,71680,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074989,0.869532,1.000000,0.000001,-0.000001,0.000071
4,2,71680,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
4,2,71680,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.244335,0.032629,1.099106,0.057259,-0.701663,0.189324,0.684505
4,2,71680,16,obj,0,"003_bread_1","put bread on carpet",-0.235527,0.075115,0.883544,0.999916,0.001788,-0.012533,-0.002674
4,2,71680,16,obj,1,"005_7up can_1","put bread on carpet",-0.165703,-0.048508,0.885756,0.850764,-0.055205,0.513605,0.096769
4,2,71680,16,recep,0,"004_newspaper_1","put bread on carpet",-0.083199,-0.075897,0.869490,0.999929,0.000190,0.000872,-0.011886
4,2,71680,16,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
4,2,71680,16,gripper,0,"","put bread on carpet",-0.165840,-0.059269,0.973440,0.021108,-0.736753,-0.004355,0.675818
4,2,71680,17,obj,0,"003_bread_1","put bread on carpet",-0.104671,0.064350,0.883544,0.393012,0.012232,-0.003256,0.919446
4,2,71680,17,obj,1,"005_7up can_1","put bread on carpet",-0.232769,0.042828,0.885654,0.381537,0.089286,-0.035448,0.919348
4,2,71680,17,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000048
4,2,71680,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
4,2,71680,17,gripper,0,"","put bread on carpet",-0.242662,0.034380,0.943327,0.048567,-0.707571,0.001831,0.704969
4,2,71680,18,obj,0,"003_bread_1","put bread on carpet",-0.230129,0.074059,0.883544,0.486033,0.011837,-0.004490,0.873848
4,2,71680,18,obj,1,"005_7up can_1","put bread on carpet",-0.155495,-0.024349,0.886638,0.626498,0.238191,-0.184924,0.718727
4,2,71680,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205338,-0.075115,0.869490,0.999997,0.000178,0.000875,0.002113
4,2,71680,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074978,0.870447,0.999999,-0.000923,-0.000845,-0.000071
4,2,71680,18,gripper,0,"","put bread on carpet",-0.138863,-0.008701,0.980876,-0.144047,-0.758859,-0.132147,0.621226
4,2,71680,19,obj,0,"003_bread_1","put bread on carpet",-0.217569,0.076641,0.883544,0.787384,0.009155,-0.008740,0.616333
4,2,71680,19,obj,1,"005_7up can_1","put bread on carpet",-0.240486,-0.080261,0.885627,0.898429,0.084224,-0.217264,0.372193
4,2,71680,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000006
4,2,71680,19,recep,1,"003_carpet_1","put bread on carpet",-0.114975,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000070
4,2,71680,19,gripper,0,"","put bread on carpet",-0.203469,0.046089,0.963905,0.228612,-0.579436,0.003441,0.782290
4,2,71680,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.205492,-0.075516,0.883544,0.924239,0.006465,-0.010883,0.381605
4,2,71680,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.139854,0.053440,0.887633,-0.095008,-0.721245,0.663620,-0.174320
4,2,71680,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
4,2,71680,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.071991,0.055103,0.870447,0.999988,-0.003106,-0.002741,0.002608
4,2,71680,20,gripper,0,"","put 7up can on newspaper",-0.161205,-0.011698,0.991626,-0.163755,-0.632781,-0.147309,0.742343
4,2,71680,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.143730,-0.057926,0.883544,0.486694,0.011826,-0.004507,0.873481
4,2,71680,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.196733,0.069832,0.885636,0.557835,0.228342,-0.170054,0.779591
4,2,71680,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
4,2,71680,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234987,-0.075001,0.870460,1.000000,0.000018,-0.000159,-0.000044
4,2,71680,21,gripper,0,"","put 7up can on newspaper",-0.195441,0.063107,0.940075,-0.112539,-0.704177,-0.209909,0.668885
4,2,71680,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.084904,0.074028,0.883544,0.387611,0.012261,-0.003170,0.921736
4,2,71680,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.083954,-0.013416,0.885626,0.655468,0.168474,-0.160952,0.718382
4,2,71680,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000048
4,2,71680,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000047
4,2,71680,22,gripper,0,"","put 7up can on newspaper",-0.088427,-0.004206,0.986938,-0.149621,-0.727039,-0.182360,0.644804
4,2,71680,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.235535,0.075123,0.883544,0.999916,0.001783,-0.012534,-0.002607
4,2,71680,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.065643,0.029518,0.885949,0.354620,0.149276,0.920856,-0.063125
4,2,71680,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
4,2,71680,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,-0.076195,0.870448,0.999967,-0.000545,-0.000506,-0.008080
4,2,71680,23,gripper,0,"","put 7up can on newspaper",-0.059652,-0.089567,0.947076,-0.398410,-0.626670,-0.291905,0.602782
4,2,71680,24,obj,0,"003_bread_1","put 7up can on carpet",-0.051620,0.013042,0.883544,0.985420,-0.000325,-0.012662,-0.169665
4,2,71680,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.218483,-0.074881,0.885687,0.915070,0.002593,-0.403286,-0.000831
4,2,71680,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000082
4,2,71680,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.085495,0.077696,0.870418,0.999746,-0.000527,-0.001185,0.022509
4,2,71680,24,gripper,0,"","put 7up can on carpet",-0.047276,0.003173,1.034081,-0.137800,-0.674092,-0.157192,0.708450
4,2,71680,25,obj,0,"003_bread_1","put 7up can on carpet",-0.116173,0.084631,0.883544,0.704480,0.010171,-0.007530,0.709610
4,2,71680,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.145153,0.047575,0.890491,0.757281,0.053634,-0.043740,0.649412
4,2,71680,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
4,2,71680,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.044975,0.870447,0.999999,-0.000923,-0.000846,-0.000036
4,2,71680,25,gripper,0,"","put 7up can on carpet",-0.125996,0.037520,0.930296,0.116860,-0.734841,0.001421,0.668095
4,2,71680,26,obj,0,"003_bread_1","put 7up can on carpet",-0.233147,0.050974,0.883544,0.247359,0.012592,-0.001332,0.968841
4,2,71680,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.109360,0.072744,0.885746,0.523507,0.448210,-0.394629,0.607714
4,2,71680,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000089
4,2,71680,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,-0.074995,0.870447,0.999995,-0.000544,-0.000517,0.003042
4,2,71680,26,gripper,0,"","put 7up can on carpet",-0.152246,0.035400,0.952580,-0.015948,-0.729462,-0.086176,0.678384
4,2,71680,27,obj,0,"003_bread_1","put 7up can on carpet",-0.084490,-0.075480,0.883545,0.383771,0.012264,-0.003124,0.923342
4,2,71680,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.180187,0.066805,0.888298,0.357282,0.648704,-0.594423,0.313358
4,2,71680,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234985,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000021
4,2,71680,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235041,0.075012,0.870462,1.000000,0.000037,-0.000158,-0.000106
4,2,71680,27,gripper,0,"","put 7up can on carpet",-0.173424,0.054718,1.122462,0.028869,-0.702096,0.041714,0.710273
4,2,71680,28,obj,0,"003_bread_1","put bread on newspaper",-0.084663,-0.068089,0.883544,0.995583,0.000643,-0.012637,-0.093026
4,2,71680,28,obj,1,"005_7up can_1","put bread on newspaper",-0.244328,0.075176,0.885636,0.958606,-0.005111,-0.284688,0.001033
4,2,71680,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000004
4,2,71680,28,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.045004,0.870447,0.999999,-0.000922,-0.000845,0.000004
4,2,71680,28,gripper,0,"","put bread on newspaper",-0.088833,-0.070578,0.944651,-0.039788,-0.773285,-0.021753,0.632435
4,2,71680,29,obj,0,"003_bread_1","put bread on newspaper",-0.214830,0.056700,0.886411,0.479036,0.013396,-0.002486,0.877689
4,2,71680,29,obj,1,"005_7up can_1","put bread on newspaper",-0.112089,0.003948,0.888174,-0.587468,-0.234878,0.170815,-0.755338
4,2,71680,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.114813,0.045105,0.869489,0.999997,0.000543,0.001425,0.001895
4,2,71680,29,recep,1,"003_carpet_1","put bread on newspaper",-0.234972,0.074966,0.870461,1.000000,-0.000064,-0.000235,0.000034
4,2,71680,29,gripper,0,"","put bread on newspaper",-0.185218,0.045375,1.099876,0.092520,-0.681867,0.047687,0.724032
4,2,71680,30,obj,0,"003_bread_1","put bread on newspaper",-0.084019,0.075817,0.883545,0.999837,0.001659,-0.012556,-0.012878
4,2,71680,30,obj,1,"005_7up can_1","put bread on newspaper",-0.216351,0.077887,0.885675,0.931851,0.011972,-0.361894,0.023301
4,2,71680,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000027
4,2,71680,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
4,2,71680,30,gripper,0,"","put bread on newspaper",-0.202715,0.081326,0.977414,0.181581,-0.712904,0.141854,0.662325
4,2,71680,31,obj,0,"003_bread_1","put bread on newspaper",-0.112305,0.048756,0.883544,0.927250,0.006374,-0.010934,0.374229
4,2,71680,31,obj,1,"005_7up can_1","put bread on newspaper",-0.238533,0.083727,0.885633,0.812064,0.064802,-0.086998,0.573396
4,2,71680,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
4,2,71680,31,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.074995,0.870447,0.999995,-0.000544,-0.000517,0.003042
4,2,71680,31,gripper,0,"","put bread on newspaper",-0.207666,0.082887,0.958531,0.279920,-0.663061,0.141192,0.679749
4,2,71680,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086708,0.073674,0.887555,0.741361,-0.019485,0.024779,0.670365
4,2,71680,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204567,0.075011,0.878547,0.706891,0.007942,0.010845,0.707194
4,2,71680,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
4,2,71680,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
4,2,71680,32,gripper,0,"","put carrot on flat bowl",-0.058815,-0.048607,0.992890,-0.167236,-0.687828,-0.270294,0.652584
4,2,71680,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240875,0.080061,0.887556,0.915043,-0.013553,0.025545,0.402318
4,2,71680,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084682,0.074692,0.878547,0.923633,0.011467,0.006971,0.383043
4,2,71680,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
4,2,71680,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
4,2,71680,33,gripper,0,"","put carrot on flat bowl",-0.171087,0.040477,1.027102,-0.211834,-0.675192,-0.181269,0.682923
4,2,71680,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091125,-0.070103,0.887323,0.916838,-0.003458,0.014009,0.398999
4,2,71680,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011509,0.006993,0.383052
4,2,71680,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
4,2,71680,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
4,2,71680,34,gripper,0,"","put carrot on flat bowl",-0.031200,0.080580,0.980220,0.098394,-0.722445,0.028417,0.683801
4,2,71680,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240599,0.043945,0.887538,0.745325,-0.024967,0.026299,0.665714
4,2,71680,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007951,0.010856,0.707290
4,2,71680,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,2,71680,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
4,2,71680,35,gripper,0,"","put carrot on flat bowl",-0.116009,-0.017260,0.982806,0.109008,-0.685899,0.101432,0.712300
4,2,71680,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089954,-0.070609,0.887484,0.916191,-0.011950,0.026638,0.399678
4,2,71680,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234682,0.074692,0.878547,0.923638,0.011498,0.006986,0.383029
4,2,71680,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000002
4,2,71680,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
4,2,71680,36,gripper,0,"","put banana on sheet metal",-0.028771,0.007225,1.010284,0.162760,-0.707166,0.133656,0.674953
4,2,71680,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.115875,0.055862,0.887284,0.919004,-0.004549,0.023721,0.393508
4,2,71680,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011498,0.006987,0.383039
4,2,71680,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,2,71680,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
4,2,71680,37,gripper,0,"","put banana on sheet metal",-0.100623,-0.032591,1.025437,-0.185335,-0.748498,-0.160345,0.616191
4,2,71680,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118938,-0.080174,0.887516,0.366808,-0.015495,0.002395,0.930164
4,2,71680,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003198,0.013091,0.923968
4,2,71680,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
4,2,71680,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000000
4,2,71680,38,gripper,0,"","put banana on sheet metal",-0.176453,-0.037320,0.968838,-0.036837,-0.700335,-0.003659,0.712854
4,2,71680,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092281,0.073701,0.887491,0.753248,-0.021251,0.024469,0.656937
4,2,71680,39,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007966,0.010887,0.707296
4,2,71680,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
4,2,71680,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
4,2,71680,39,gripper,0,"","put banana on sheet metal",-0.182499,-0.046536,0.970979,-0.040272,-0.672657,0.023137,0.738495
4,2,71680,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089088,-0.076008,0.887434,0.740254,-0.021706,0.021784,0.671624
4,2,71680,40,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,-0.074986,0.878547,0.707650,0.007939,0.010819,0.706435
4,2,71680,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
4,2,71680,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
4,2,71680,40,gripper,0,"","put banana on flat bowl",-0.174263,-0.034062,0.961666,0.122804,-0.736047,0.216953,0.629353
4,2,71680,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236641,-0.067225,0.887918,0.349420,-0.048414,0.018073,0.935540
4,2,71680,41,obj,1,"013_banana_1","put banana on flat bowl",-0.114700,-0.044664,0.878547,0.383119,0.003196,0.013050,0.923601
4,2,71680,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
4,2,71680,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
4,2,71680,41,gripper,0,"","put banana on flat bowl",-0.060919,0.005932,0.993078,0.228058,-0.688973,0.279957,0.628435
4,2,71680,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117554,-0.071354,0.887243,0.996995,0.005325,0.032627,0.070060
4,2,71680,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204994,0.074514,0.878547,0.999909,0.013283,0.002038,-0.000610
4,2,71680,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
4,2,71680,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000268
4,2,71680,42,gripper,0,"","put banana on flat bowl",-0.051626,-0.037957,0.998392,-0.019692,-0.740340,-0.016296,0.671747
4,2,71680,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086878,0.073051,0.887554,0.997238,-0.000440,0.032829,0.066619
4,2,71680,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,-0.045429,0.878547,0.999910,0.013290,0.002046,-0.000119
4,2,71680,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114990,-0.075024,0.871345,0.999999,-0.000156,0.001164,-0.000083
4,2,71680,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000206
4,2,71680,43,gripper,0,"","put banana on flat bowl",-0.188869,-0.010756,1.004405,-0.049949,-0.703604,-0.033899,0.708024
4,2,71680,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088450,0.080374,0.887217,0.997015,-0.009188,0.024806,0.072532
4,2,71680,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,-0.075436,0.878547,0.999909,0.013303,0.002049,0.000126
4,2,71680,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,-0.045002,0.871344,0.999999,-0.000157,0.001164,-0.000034
4,2,71680,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000001
4,2,71680,44,gripper,0,"","put carrot on sheet metal",-0.145916,0.082678,1.016514,-0.064425,-0.690209,-0.114736,0.711545
4,2,71680,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087767,-0.041061,0.887527,0.996950,-0.001062,0.032228,0.071065
4,2,71680,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.114988,0.074562,0.878547,0.999909,0.013311,0.002042,-0.000627
4,2,71680,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
4,2,71680,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
4,2,71680,45,gripper,0,"","put carrot on sheet metal",-0.104242,-0.057582,1.021653,-0.034655,-0.688083,-0.092730,0.718848
4,2,71680,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090385,-0.080416,0.887388,0.363401,-0.022161,0.010863,0.931306
4,2,71680,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,0.075335,0.878547,0.383163,0.003194,0.013041,0.923583
4,2,71680,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
4,2,71680,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
4,2,71680,46,gripper,0,"","put carrot on sheet metal",-0.035904,-0.051570,0.963243,0.011118,-0.668640,0.124430,0.733017
4,2,71680,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.119991,0.078741,0.887457,0.913432,-0.007143,0.011374,0.406770
4,2,71680,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234665,0.044693,0.878547,0.924096,0.011509,0.006974,0.381923
4,2,71680,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
4,2,71680,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
4,2,71680,47,gripper,0,"","put carrot on sheet metal",-0.107126,-0.027314,1.014143,-0.216487,-0.717349,-0.210687,0.627817
4,2,71680,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.088593,-0.063713,0.888112,0.999049,-0.023849,0.013775,0.033803
4,2,71680,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055626,0.075848,0.887026,0.704494,-0.017190,0.709500,0.001330
4,2,71680,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
4,2,71680,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000031
4,2,71680,48,gripper,0,"","put hamburger on cutting board",-0.081245,-0.054333,0.962215,-0.184463,-0.734287,-0.048816,0.651470
4,2,71680,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205215,0.076084,0.888112,0.927438,-0.027121,0.004796,0.372961
4,2,71680,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.060982,-0.009560,0.889773,0.028523,-0.626406,0.778560,0.025415
4,2,71680,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
4,2,71680,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
4,2,71680,49,gripper,0,"","put hamburger on cutting board",-0.059717,-0.055721,1.020280,-0.154348,-0.699114,-0.068841,0.694749
4,2,71680,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205936,-0.074409,0.888112,0.713156,-0.026883,-0.005975,0.700464
4,2,71680,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.075600,0.021271,0.889574,0.529081,-0.477070,0.527138,0.463253
4,2,71680,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
4,2,71680,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.116127,0.043228,0.870884,0.999894,0.000725,0.000708,-0.014522
4,2,71680,50,gripper,0,"","put hamburger on cutting board",-0.118113,0.004915,1.061093,-0.063670,-0.801119,0.073974,0.590493
4,2,71680,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.237650,0.082272,0.888112,0.913899,-0.027273,0.003852,0.405007
4,2,71680,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.092714,0.076618,0.887026,0.595281,-0.392856,0.591057,0.376770
4,2,71680,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
4,2,71680,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
4,2,71680,51,gripper,0,"","put hamburger on cutting board",-0.070354,0.070690,0.965344,0.030059,-0.766819,-0.028016,0.640547
4,2,71680,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.074353,0.004490,0.888113,0.770979,-0.027300,-0.003641,0.636265
4,2,71680,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.079622,0.111935,0.888264,0.703856,-0.266747,0.280707,0.595514
4,2,71680,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
4,2,71680,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204996,-0.044998,0.870870,1.000000,0.000000,0.000000,0.000009
4,2,71680,52,gripper,0,"","put plastic bottle on frying pan",-0.028899,0.083193,0.960663,0.142293,-0.703069,0.070880,0.693125
4,2,71680,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205147,-0.043896,0.888112,0.943059,-0.026880,0.005995,0.331485
4,2,71680,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.095024,0.066467,0.887026,0.649737,-0.288883,0.648252,0.272318
4,2,71680,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,2,71680,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
4,2,71680,53,gripper,0,"","put plastic bottle on frying pan",-0.042891,-0.068159,0.935098,-0.187817,-0.725042,-0.144589,0.646631
4,2,71680,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115955,-0.074375,0.888112,0.712592,-0.026878,-0.006005,0.701038
4,2,71680,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.212692,0.001389,0.887026,0.505993,-0.505077,0.498575,0.490196
4,2,71680,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
4,2,71680,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,0.075024,0.870870,1.000000,0.000000,-0.000000,0.000002
4,2,71680,54,gripper,0,"","put plastic bottle on frying pan",-0.138454,0.084436,0.999714,0.185482,-0.679911,0.073770,0.705603
4,2,71680,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.200508,-0.067513,0.888112,0.972613,-0.026105,0.008778,0.230792
4,2,71680,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.085880,0.046009,0.887027,0.704494,-0.013978,0.709570,-0.001860
4,2,71680,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
4,2,71680,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
4,2,71680,55,gripper,0,"","put plastic bottle on frying pan",-0.069880,0.053810,0.967817,0.047695,-0.719422,-0.006387,0.692904
4,2,71680,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236122,-0.075161,0.888112,0.432258,-0.023246,-0.014766,0.901329
4,2,71680,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106773,-0.053497,0.887026,0.269604,-0.661581,0.256885,0.650872
4,2,71680,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
4,2,71680,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000006
4,2,71680,56,gripper,0,"","put plastic bottle on cutting board",-0.017979,0.004061,0.989003,-0.332871,-0.687989,-0.298044,0.571873
4,2,71680,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236099,-0.075241,0.888112,0.386395,-0.022473,-0.015924,0.921922
4,2,71680,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.260330,0.097279,0.887027,0.285608,-0.655035,0.273159,0.644004
4,2,71680,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
4,2,71680,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084976,0.075188,0.870870,1.000000,-0.000000,-0.000001,-0.000170
4,2,71680,57,gripper,0,"","put plastic bottle on cutting board",-0.097511,0.071878,0.968799,0.165932,-0.736809,-0.105881,0.646814
4,2,71680,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206081,-0.075222,0.888112,0.386146,-0.022468,-0.015930,0.922026
4,2,71680,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.126129,0.102936,0.887067,0.368238,-0.598277,0.344271,0.622851
4,2,71680,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.239189,0.075653,0.872199,0.998632,0.000000,-0.000001,0.052286
4,2,71680,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
4,2,71680,58,gripper,0,"","put plastic bottle on cutting board",0.012146,0.023439,0.996061,-0.125467,-0.671877,-0.207170,0.699943
4,2,71680,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235170,-0.073872,0.888112,0.942620,-0.026890,0.005964,0.332731
4,2,71680,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.145508,0.041233,0.892449,0.484047,-0.594861,0.374988,0.520792
4,2,71680,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.080078,0.072628,0.872199,0.999921,-0.000001,-0.000001,0.012566
4,2,71680,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
4,2,71680,59,gripper,0,"","put plastic bottle on cutting board",-0.017899,0.004303,0.978562,-0.246875,-0.744801,-0.159815,0.598986
4,2,71680,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205965,-0.044399,0.888112,0.712521,-0.026879,-0.006006,0.701110
4,2,71680,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.217086,0.091206,0.898137,0.032689,-0.654966,0.754406,0.028695
4,2,71680,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235467,0.074944,0.872199,0.999991,-0.000000,-0.000001,0.004189
4,2,71680,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
4,2,71680,60,gripper,0,"","put hamburger on frying pan",-0.181514,0.069027,1.058456,0.050425,-0.738794,0.060489,0.669314
4,2,71680,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236103,0.044750,0.888112,0.388350,-0.022510,-0.015873,0.921100
4,2,71680,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.108063,-0.053299,0.887027,0.241057,-0.672127,0.227885,0.661971
4,2,71680,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.212555,-0.074207,0.872199,0.999109,-0.000000,-0.000000,0.042212
4,2,71680,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
4,2,71680,61,gripper,0,"","put hamburger on frying pan",-0.120977,-0.052937,0.983447,-0.083817,-0.714062,-0.114283,0.685587
4,2,71680,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116108,0.044735,0.888112,0.385407,-0.022456,-0.015948,0.922336
4,2,71680,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.265587,-0.046524,0.887027,0.324269,-0.637198,0.312514,0.625431
4,2,71680,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
4,2,71680,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
4,2,71680,62,gripper,0,"","put hamburger on frying pan",-0.191431,-0.038683,0.974859,0.004102,-0.726482,0.078222,0.682707
4,2,71680,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.104313,0.064167,0.888113,0.420196,-0.023043,-0.015082,0.907015
4,2,71680,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.192482,0.087532,0.889463,0.531589,-0.474281,0.529866,0.460122
4,2,71680,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
4,2,71680,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234432,0.075874,0.870885,0.999999,0.000700,0.000724,0.000854
4,2,71680,63,gripper,0,"","put hamburger on frying pan",-0.091175,0.031988,1.005277,-0.076409,-0.713382,-0.100398,0.689324
4,3,76800,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.125832,0.057533,0.879125,-0.631184,0.072332,0.770022,0.058654
4,3,76800,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.160866,-0.075516,0.881638,0.984698,-0.011024,-0.037794,-0.169765
4,3,76800,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000032
4,3,76800,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.062134,0.068153,0.871289,0.999821,-0.000138,-0.001022,0.018876
4,3,76800,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.271980,0.035629,0.922569,0.020821,-0.678238,0.011196,0.734462
4,3,76800,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.167290,-0.051201,0.878982,-0.495741,0.488036,-0.430995,-0.574721
4,3,76800,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205814,-0.076393,0.881638,0.763545,0.021830,-0.032751,0.644554
4,3,76800,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.080585,-0.047325,0.869532,0.999640,-0.000000,-0.000000,0.026831
4,3,76800,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234856,0.045029,0.871282,0.999994,-0.000447,-0.001267,0.003206
4,3,76800,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.162827,0.031170,1.013392,0.024572,-0.686884,-0.043127,0.725070
4,3,76800,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.076946,-0.072365,0.885085,0.583770,0.347364,-0.306209,0.666923
4,3,76800,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.227329,0.083061,0.881638,0.652556,0.026714,-0.028907,0.756717
4,3,76800,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000068
4,3,76800,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000238
4,3,76800,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.152210,-0.026909,1.050425,-0.143066,-0.755598,-0.091585,0.632626
4,3,76800,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.100424,0.005936,0.882300,-0.627725,-0.100771,0.771881,0.002202
4,3,76800,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.051514,-0.076981,0.881489,0.990315,-0.010338,0.060864,0.124359
4,3,76800,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235003,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000029
4,3,76800,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.097969,0.063988,0.871282,0.982647,-0.000209,-0.001327,0.185479
4,3,76800,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.075358,-0.029892,0.925524,0.040141,-0.717936,0.023679,0.694547
4,3,76800,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211145,0.054245,0.885123,0.516956,0.446994,-0.631126,0.366924
4,3,76800,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205753,-0.075554,0.881638,0.923224,0.010843,-0.037812,0.382244
4,3,76800,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235129,0.075058,0.869533,1.000000,-0.000000,-0.000001,-0.000244
4,3,76800,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084992,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000005
4,3,76800,4,gripper,0,"","put kitchen shovel on cloth",-0.146685,0.014725,1.121855,0.084706,-0.812793,0.207145,0.537851
4,3,76800,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.176039,0.072830,0.885081,0.572491,0.352130,-0.299776,0.677047
4,3,76800,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.169762,-0.068336,0.881638,0.033528,0.038946,-0.005755,0.998662
4,3,76800,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234959,0.075005,0.869532,1.000000,0.000000,-0.000001,-0.000358
4,3,76800,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
4,3,76800,5,gripper,0,"","put kitchen shovel on cloth",-0.201466,0.030067,0.999483,0.063086,-0.706161,0.057540,0.702885
4,3,76800,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.082478,0.030487,0.885232,-0.213735,0.824672,0.238591,0.466163
4,3,76800,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085949,-0.074867,0.881638,0.999225,-0.004470,-0.039107,-0.000705
4,3,76800,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000016
4,3,76800,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000109
4,3,76800,6,gripper,0,"","put kitchen shovel on cloth",-0.226143,-0.126228,0.914613,-0.117832,-0.725429,-0.044643,0.676665
4,3,76800,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.218685,-0.070656,0.885085,0.438443,0.401629,-0.230470,0.770289
4,3,76800,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205898,0.074387,0.881638,0.423602,0.033544,-0.020610,0.904992
4,3,76800,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235073,-0.075157,0.869532,1.000000,0.000000,-0.000000,-0.000504
4,3,76800,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
4,3,76800,7,gripper,0,"","put kitchen shovel on cloth",-0.219063,-0.100693,0.958309,0.044068,-0.757523,0.086545,0.645544
4,3,76800,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.119888,-0.079033,0.879055,0.744677,-0.040251,0.664117,0.052774
4,3,76800,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.177353,-0.019623,0.883863,0.970756,0.020495,0.056247,0.232485
4,3,76800,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000034
4,3,76800,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.203552,0.074486,0.871289,0.999955,-0.000144,-0.001021,0.009476
4,3,76800,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.207817,-0.137348,0.916551,-0.033166,-0.771452,0.079231,0.630464
4,3,76800,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.243774,0.019928,0.885122,0.473441,0.513717,-0.578162,0.421517
4,3,76800,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115757,0.074406,0.881638,0.923145,0.010848,-0.037808,0.382434
4,3,76800,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234993,0.044994,0.869532,1.000000,0.000000,-0.000000,0.000115
4,3,76800,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.215633,-0.081966,0.871288,0.999989,-0.000149,-0.001019,0.004674
4,3,76800,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.116486,0.035830,1.155107,0.021353,-0.792499,0.238681,0.560822
4,3,76800,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.098274,-0.071190,0.888159,0.520160,0.346265,-0.322326,0.711084
4,3,76800,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205109,0.074047,0.881638,0.706707,0.024507,-0.030803,0.706411
4,3,76800,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000005
4,3,76800,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084801,-0.074615,0.871288,0.999996,-0.000156,-0.001019,-0.002446
4,3,76800,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.143860,-0.066652,0.980411,0.099656,-0.730542,0.096235,0.668667
4,3,76800,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.214708,-0.031330,0.885120,0.493282,0.485075,-0.602364,0.398161
4,3,76800,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.191273,0.081711,0.881641,0.924488,-0.019260,0.035251,0.379089
4,3,76800,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235010,-0.045002,0.869532,1.000000,0.000000,-0.000001,-0.000010
4,3,76800,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000086
4,3,76800,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.232929,0.002594,1.109853,0.039969,-0.733219,0.138517,0.664534
4,3,76800,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.002095,0.165897,0.878982,-0.661564,0.312488,-0.571231,-0.371993
4,3,76800,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.055057,-0.043873,0.884380,0.646567,0.034171,0.023391,0.761733
4,3,76800,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115015,0.075031,0.869532,1.000000,-0.000001,-0.000001,0.000415
4,3,76800,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.149461,-0.080307,0.871288,0.988911,-0.000001,-0.001031,0.148509
4,3,76800,12,gripper,0,"","put ketchup bottle on cloth",-0.308146,-0.099972,0.913339,-0.023699,-0.705990,-0.008919,0.707769
4,3,76800,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.130037,0.096588,0.879200,0.718980,0.030841,0.693877,-0.025524
4,3,76800,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.233799,-0.082134,0.881641,0.996795,-0.001670,0.040136,-0.069187
4,3,76800,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,-0.044998,0.869532,1.000000,-0.000000,0.000000,0.000025
4,3,76800,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.073204,0.077770,0.871288,0.999250,-0.000193,-0.001013,-0.038712
4,3,76800,13,gripper,0,"","put ketchup bottle on cloth",-0.145755,0.108805,0.934522,0.101060,-0.766577,-0.003235,0.634142
4,3,76800,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.157154,-0.060253,0.879373,0.958610,-0.011775,0.277995,0.060385
4,3,76800,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085758,-0.075600,0.881638,0.923159,0.010867,-0.037848,0.382397
4,3,76800,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000000
4,3,76800,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.075024,0.871210,0.999984,-0.003908,-0.004129,0.000263
4,3,76800,14,gripper,0,"","put ketchup bottle on cloth",-0.209808,-0.072374,0.913171,0.006802,-0.723926,0.011902,0.689741
4,3,76800,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.204224,0.091431,0.885121,0.557498,0.367347,-0.680659,0.301589
4,3,76800,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115757,0.044399,0.881638,0.923145,0.010864,-0.037836,0.382430
4,3,76800,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074993,0.869532,1.000000,-0.000000,-0.000000,0.000068
4,3,76800,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
4,3,76800,15,gripper,0,"","put ketchup bottle on cloth",-0.184294,-0.040800,0.960624,0.018505,-0.765146,0.032174,0.642787
4,3,76800,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.235527,0.075115,0.883544,0.999916,0.001790,-0.012532,-0.002557
4,3,76800,16,obj,1,"005_7up can_1","put 7up can on newspaper",0.224915,-0.011669,0.017161,-0.371411,0.135615,-0.917190,-0.049250
4,3,76800,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.062332,-0.079563,0.869490,0.999609,0.000204,0.000869,-0.027946
4,3,76800,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075043,0.870448,0.999999,-0.000923,-0.000845,-0.000084
4,3,76800,16,gripper,0,"","put 7up can on newspaper",-0.171967,-0.075867,0.960579,-0.038756,-0.730626,0.012196,0.681568
4,3,76800,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.169289,-0.036518,0.884953,0.630741,0.027513,0.007938,0.775465
4,3,76800,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.231441,0.041550,0.885637,0.378864,0.141942,-0.055914,0.912792
4,3,76800,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204971,-0.075008,0.869490,1.000000,0.000180,0.000875,0.000106
4,3,76800,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000102
4,3,76800,17,gripper,0,"","put 7up can on newspaper",-0.095541,0.037794,1.024589,-0.122184,-0.731224,-0.122995,0.659738
4,3,76800,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.230125,0.074062,0.883544,0.485823,0.011838,-0.004487,0.873966
4,3,76800,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.155560,-0.023830,0.886670,0.629858,0.226834,-0.175384,0.721848
4,3,76800,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205338,-0.075115,0.869490,0.999998,0.000178,0.000876,0.002058
4,3,76800,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000098
4,3,76800,18,gripper,0,"","put 7up can on newspaper",-0.207447,0.073584,0.969641,-0.025239,-0.720497,-0.072524,0.689193
4,3,76800,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.198351,0.076965,0.883544,0.676487,0.010456,-0.007131,0.736345
4,3,76800,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.240488,-0.080261,0.885627,0.898445,0.084212,-0.217254,0.372164
4,3,76800,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000007
4,3,76800,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114962,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000106
4,3,76800,19,gripper,0,"","put 7up can on newspaper",-0.172196,0.085878,0.951158,-0.054756,-0.701168,-0.060500,0.708311
4,3,76800,20,obj,0,"003_bread_1","put 7up can on carpet",-0.205492,-0.075516,0.883544,0.924239,0.006465,-0.010882,0.381605
4,3,76800,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.139854,0.053440,0.887633,-0.095005,-0.721246,0.663621,-0.174317
4,3,76800,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
4,3,76800,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.071991,0.055103,0.870447,0.999988,-0.003107,-0.002741,0.002608
4,3,76800,20,gripper,0,"","put 7up can on carpet",-0.147156,0.051151,1.105384,0.009158,-0.839963,0.068995,0.538162
4,3,76800,21,obj,0,"003_bread_1","put 7up can on carpet",-0.143730,-0.057926,0.883544,0.486603,0.011831,-0.004509,0.873531
4,3,76800,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.217094,-0.053108,0.888618,0.494615,0.201298,-0.122364,0.836577
4,3,76800,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
4,3,76800,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235006,-0.075008,0.870460,1.000000,0.000018,-0.000158,-0.000045
4,3,76800,21,gripper,0,"","put 7up can on carpet",-0.120229,-0.004959,1.095566,-0.081799,-0.688197,-0.033195,0.720133
4,3,76800,22,obj,0,"003_bread_1","put 7up can on carpet",-0.084904,0.074028,0.883544,0.387563,0.012261,-0.003170,0.921756
4,3,76800,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.182537,0.006180,0.885675,0.672410,0.252866,-0.259159,0.645569
4,3,76800,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000076
4,3,76800,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000079
4,3,76800,22,gripper,0,"","put 7up can on carpet",-0.119211,-0.003736,1.096955,0.062301,-0.735445,0.098815,0.667439
4,3,76800,23,obj,0,"003_bread_1","put 7up can on carpet",-0.235535,0.075123,0.883544,0.999917,0.001786,-0.012530,-0.002398
4,3,76800,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.054218,0.035633,0.902836,0.461640,0.142812,0.872258,-0.075224
4,3,76800,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
4,3,76800,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.205009,-0.076572,0.870422,0.999955,-0.000248,-0.000824,-0.009429
4,3,76800,23,gripper,0,"","put 7up can on carpet",-0.056725,0.044767,0.940744,-0.483483,-0.551880,-0.328596,0.594725
4,3,76800,24,obj,0,"003_bread_1","put bread on newspaper",-0.052223,0.017113,0.883544,0.988484,-0.000081,-0.012660,-0.150796
4,3,76800,24,obj,1,"005_7up can_1","put bread on newspaper",-0.218483,-0.074881,0.885687,0.915143,0.002613,-0.403121,-0.000826
4,3,76800,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000119
4,3,76800,24,recep,1,"003_carpet_1","put bread on newspaper",-0.088181,0.080448,0.870460,0.999169,0.000025,-0.000157,0.040760
4,3,76800,24,gripper,0,"","put bread on newspaper",-0.053364,0.089269,0.962499,0.095073,-0.730454,0.012569,0.676195
4,3,76800,25,obj,0,"003_bread_1","put bread on newspaper",-0.116173,0.084631,0.883544,0.704502,0.010172,-0.007531,0.709589
4,3,76800,25,obj,1,"005_7up can_1","put bread on newspaper",-0.146561,-0.037586,0.888052,0.246826,0.547702,-0.760450,0.246607
4,3,76800,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000071
4,3,76800,25,recep,1,"003_carpet_1","put bread on newspaper",-0.084969,-0.044979,0.870447,0.999999,-0.000921,-0.000841,-0.000177
4,3,76800,25,gripper,0,"","put bread on newspaper",-0.139433,-0.001981,1.052644,0.090664,-0.719958,0.073146,0.684171
4,3,76800,26,obj,0,"003_bread_1","put bread on newspaper",-0.233147,0.050974,0.883544,0.247379,0.012592,-0.001332,0.968836
4,3,76800,26,obj,1,"005_7up can_1","put bread on newspaper",-0.110085,0.082909,0.885675,0.626454,0.270082,-0.241173,0.690251
4,3,76800,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000131
4,3,76800,26,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,-0.074993,0.870420,0.999990,-0.000187,-0.000799,0.004474
4,3,76800,26,gripper,0,"","put bread on newspaper",-0.114985,0.087707,0.959119,-0.159700,-0.702585,-0.192626,0.666157
4,3,76800,27,obj,0,"003_bread_1","put bread on newspaper",-0.087835,-0.051733,0.883544,0.412882,0.012158,-0.003513,0.910696
4,3,76800,27,obj,1,"005_7up can_1","put bread on newspaper",-0.180130,0.066776,0.888293,0.357422,0.648318,-0.594802,0.313279
4,3,76800,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.234982,-0.075001,0.869489,1.000000,0.000180,0.000875,0.000035
4,3,76800,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235041,0.075012,0.870462,1.000000,0.000036,-0.000159,-0.000108
4,3,76800,27,gripper,0,"","put bread on newspaper",-0.159009,-0.057805,0.978449,-0.044069,-0.770061,0.014550,0.636281
4,3,76800,28,obj,0,"003_bread_1","put bread on carpet",-0.084663,-0.068089,0.883544,0.995583,0.000643,-0.012637,-0.093026
4,3,76800,28,obj,1,"005_7up can_1","put bread on carpet",-0.188939,0.070662,0.886007,0.133103,-0.182696,0.973920,0.019633
4,3,76800,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000004
4,3,76800,28,recep,1,"003_carpet_1","put bread on carpet",-0.115002,0.045004,0.870447,0.999999,-0.000922,-0.000845,0.000004
4,3,76800,28,gripper,0,"","put bread on carpet",-0.192981,0.069603,0.965910,0.305463,-0.690123,0.233830,0.612981
4,3,76800,29,obj,0,"003_bread_1","put bread on carpet",-0.214796,0.056602,0.886417,0.478809,0.016519,-0.004072,0.877754
4,3,76800,29,obj,1,"005_7up can_1","put bread on carpet",-0.112007,0.003992,0.888170,-0.587288,-0.234952,0.170802,-0.755458
4,3,76800,29,recep,0,"004_newspaper_1","put bread on carpet",-0.114828,0.045107,0.869489,0.999997,0.000542,0.001424,0.001918
4,3,76800,29,recep,1,"003_carpet_1","put bread on carpet",-0.234972,0.074951,0.870461,1.000000,-0.000067,-0.000238,0.000030
4,3,76800,29,gripper,0,"","put bread on carpet",-0.084460,-0.068582,1.022551,0.119525,-0.819908,-0.026286,0.559261
4,3,76800,30,obj,0,"003_bread_1","put bread on carpet",-0.084019,0.075817,0.883545,0.999838,0.001661,-0.012549,-0.012788
4,3,76800,30,obj,1,"005_7up can_1","put bread on carpet",-0.215134,0.084612,0.885636,0.958463,-0.000419,-0.284720,0.016830
4,3,76800,30,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000036
4,3,76800,30,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
4,3,76800,30,gripper,0,"","put bread on carpet",-0.065842,0.070493,0.951692,0.047291,-0.775989,0.084723,0.623238
4,3,76800,31,obj,0,"003_bread_1","put bread on carpet",-0.173416,-0.036577,0.886474,0.914118,0.008530,-0.005587,0.405319
4,3,76800,31,obj,1,"005_7up can_1","put bread on carpet",-0.238533,0.083757,0.885633,0.813019,0.064663,-0.087115,0.572040
4,3,76800,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
4,3,76800,31,recep,1,"003_carpet_1","put bread on carpet",-0.204914,-0.074991,0.870368,0.999994,0.000130,-0.001103,0.003135
4,3,76800,31,gripper,0,"","put bread on carpet",-0.080770,0.036777,1.035368,0.030411,-0.699856,0.051893,0.711747
4,3,76800,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088577,0.072906,0.887444,0.748206,-0.016035,0.017783,0.663034
4,3,76800,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204567,0.075011,0.878546,0.706892,0.007929,0.010831,0.707194
4,3,76800,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
4,3,76800,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
4,3,76800,32,gripper,0,"","put banana on sheet metal",-0.143265,0.095139,1.006373,0.116148,-0.666293,0.081717,0.732042
4,3,76800,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.244061,0.081814,0.887482,0.920242,-0.009836,0.019978,0.390715
4,3,76800,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084682,0.074692,0.878547,0.923633,0.011472,0.006973,0.383043
4,3,76800,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
4,3,76800,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
4,3,76800,33,gripper,0,"","put banana on sheet metal",-0.071863,0.092671,0.997436,-0.005845,-0.799589,0.138081,0.584429
4,3,76800,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.094692,-0.066694,0.887578,0.921077,-0.010339,0.031508,0.387965
4,3,76800,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,0.074693,0.878547,0.923628,0.011522,0.007000,0.383052
4,3,76800,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
4,3,76800,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
4,3,76800,34,gripper,0,"","put banana on sheet metal",-0.048235,0.096545,0.987962,0.171726,-0.721818,0.259570,0.618153
4,3,76800,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.244875,0.042774,0.887327,0.754676,-0.014597,0.023482,0.655515
4,3,76800,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007935,0.010838,0.707290
4,3,76800,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,3,76800,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
4,3,76800,35,gripper,0,"","put banana on sheet metal",-0.034843,0.012446,0.985349,0.376577,-0.604859,0.339281,0.614185
4,3,76800,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094153,-0.068588,0.887199,0.923334,-0.014063,0.015474,0.383429
4,3,76800,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234682,0.074692,0.878547,0.923639,0.011492,0.006983,0.383029
4,3,76800,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000002
4,3,76800,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
4,3,76800,36,gripper,0,"","put banana on flat bowl",-0.057079,0.092765,1.000665,0.133039,-0.724198,0.046026,0.675070
4,3,76800,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118864,0.057297,0.887434,0.921746,-0.008645,0.021770,0.387085
4,3,76800,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011496,0.006986,0.383039
4,3,76800,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,3,76800,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
4,3,76800,37,gripper,0,"","put banana on flat bowl",-0.034240,-0.028249,1.010932,0.122903,-0.738336,0.152616,0.645339
4,3,76800,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122276,-0.084015,0.887221,0.382967,-0.025808,0.019560,0.923194
4,3,76800,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234715,-0.044707,0.878548,0.382233,0.003199,0.013096,0.923968
4,3,76800,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
4,3,76800,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
4,3,76800,38,gripper,0,"","put banana on flat bowl",-0.179916,-0.031298,0.961685,-0.141102,-0.720074,-0.103278,0.671504
4,3,76800,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096317,0.072788,0.887512,0.762621,-0.017192,0.017400,0.646383
4,3,76800,39,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007953,0.010872,0.707296
4,3,76800,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000029
4,3,76800,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,0.000001,-0.000000
4,3,76800,39,gripper,0,"","put banana on flat bowl",-0.188057,-0.046616,0.988243,0.026275,-0.691890,0.087141,0.716243
4,3,76800,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090988,-0.076385,0.887333,0.746660,-0.027523,0.023196,0.664232
4,3,76800,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.204567,-0.074982,0.878546,0.708054,0.007947,0.010817,0.706031
4,3,76800,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
4,3,76800,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
4,3,76800,40,gripper,0,"","put carrot on sheet metal",-0.073345,-0.004348,1.012162,-0.029105,-0.677613,0.120297,0.724929
4,3,76800,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236301,-0.065519,0.887529,0.347918,-0.040518,0.015051,0.936528
4,3,76800,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.114700,-0.044659,0.878547,0.383581,0.003200,0.013041,0.923410
4,3,76800,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
4,3,76800,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
4,3,76800,41,gripper,0,"","put carrot on sheet metal",-0.178493,0.006612,1.005156,0.110855,-0.696541,0.057095,0.706599
4,3,76800,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118515,-0.071413,0.887313,0.997208,-0.005530,0.021786,0.071204
4,3,76800,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,0.074512,0.878547,0.999909,0.013290,0.002031,-0.001189
4,3,76800,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
4,3,76800,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000389
4,3,76800,42,gripper,0,"","put carrot on sheet metal",-0.120756,-0.013402,1.002937,-0.214155,-0.620254,-0.150717,0.739397
4,3,76800,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087183,0.073978,0.887242,0.997043,-0.009702,0.031564,0.069384
4,3,76800,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234987,-0.045431,0.878547,0.999910,0.013295,0.002043,-0.000336
4,3,76800,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114990,-0.075039,0.871345,0.999999,-0.000157,0.001164,-0.000113
4,3,76800,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000305
4,3,76800,43,gripper,0,"","put carrot on sheet metal",-0.142631,0.082470,1.011843,-0.012511,-0.696139,-0.083027,0.712980
4,3,76800,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088910,0.081085,0.887371,0.997383,-0.004452,0.025596,0.067470
4,3,76800,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234983,-0.075438,0.878547,0.999910,0.013291,0.002047,0.000005
4,3,76800,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
4,3,76800,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000003
4,3,76800,44,gripper,0,"","put carrot on flat bowl",-0.071718,0.098843,0.999287,0.077968,-0.707980,0.093898,0.695606
4,3,76800,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087692,-0.039948,0.887516,0.996675,-0.002611,0.042626,0.069390
4,3,76800,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.114985,0.074560,0.878547,0.999909,0.013312,0.002036,-0.001045
4,3,76800,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
4,3,76800,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
4,3,76800,45,gripper,0,"","put carrot on flat bowl",-0.135617,-0.058448,1.007228,-0.303450,-0.635746,-0.262822,0.659295
4,3,76800,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092335,-0.083412,0.887470,0.375221,-0.028929,0.011301,0.926415
4,3,76800,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,0.075338,0.878547,0.383646,0.003201,0.013042,0.923383
4,3,76800,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
4,3,76800,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
4,3,76800,46,gripper,0,"","put carrot on flat bowl",-0.065060,-0.032286,0.974519,0.026171,-0.736362,0.070483,0.672397
4,3,76800,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122128,0.080492,0.887550,0.917455,-0.010295,0.028921,0.396654
4,3,76800,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234657,0.044695,0.878547,0.924336,0.011508,0.006964,0.381343
4,3,76800,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
4,3,76800,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
4,3,76800,47,gripper,0,"","put carrot on flat bowl",-0.029984,-0.064186,1.018378,0.011056,-0.748742,-0.021553,0.662419
4,3,76800,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.088593,-0.063713,0.888112,0.999035,-0.023857,0.013761,0.034226
4,3,76800,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060776,0.126034,0.887027,0.696320,-0.123455,0.698888,0.107023
4,3,76800,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001270
4,3,76800,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000001,-0.000028
4,3,76800,48,gripper,0,"","put plastic bottle on frying pan",-0.016281,0.047327,0.931944,0.204608,-0.658882,-0.033260,0.723121
4,3,76800,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205215,0.076084,0.888112,0.927708,-0.027116,0.004817,0.372290
4,3,76800,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.086304,-0.091278,0.887026,0.662632,-0.255864,0.661976,0.239250
4,3,76800,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
4,3,76800,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
4,3,76800,49,gripper,0,"","put plastic bottle on frying pan",-0.057562,-0.094486,0.954834,-0.365288,-0.603828,-0.259974,0.659067
4,3,76800,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205936,-0.074409,0.888112,0.713403,-0.026884,-0.005968,0.700212
4,3,76800,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.236370,0.075634,0.893979,0.594862,-0.385354,-0.574995,-0.408684
4,3,76800,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235085,0.074959,0.872199,1.000000,-0.000000,-0.000001,0.000014
4,3,76800,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.110466,0.048134,0.870871,0.999920,0.000000,-0.000000,0.012666
4,3,76800,50,gripper,0,"","put plastic bottle on frying pan",-0.146109,0.054176,1.140500,0.128643,-0.661138,0.105338,0.731609
4,3,76800,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.237623,0.082272,0.888112,0.921907,-0.027186,0.004402,0.386431
4,3,76800,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.076664,0.018635,0.891200,-0.439516,-0.480661,0.513682,-0.558499
4,3,76800,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084974,-0.074978,0.872199,1.000000,-0.000001,-0.000001,-0.000173
4,3,76800,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
4,3,76800,51,gripper,0,"","put plastic bottle on frying pan",-0.031440,0.022703,0.947719,-0.085863,-0.782918,-0.107293,0.606758
4,3,76800,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.074353,0.004490,0.888113,0.770979,-0.027301,-0.003642,0.636265
4,3,76800,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078146,0.067837,0.971105,0.513735,-0.467981,0.540169,0.474645
4,3,76800,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000000,0.000000
4,3,76800,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204996,-0.044998,0.870870,1.000000,0.000001,0.000000,0.000009
4,3,76800,52,gripper,0,"","put plastic bottle on cutting board",-0.055648,0.064058,1.006937,0.072752,-0.722324,0.026554,0.687204
4,3,76800,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.194445,-0.045288,0.888112,0.848306,-0.027543,0.000003,0.528789
4,3,76800,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.095024,0.066467,0.887026,0.649737,-0.288883,0.648252,0.272319
4,3,76800,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,3,76800,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
4,3,76800,53,gripper,0,"","put plastic bottle on cutting board",-0.091494,-0.063847,0.963396,-0.013181,-0.753538,0.021590,0.656918
4,3,76800,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115955,-0.074375,0.888112,0.712899,-0.026881,-0.005992,0.700726
4,3,76800,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.167969,-0.010201,0.922450,0.506029,-0.487312,0.536248,0.467867
4,3,76800,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
4,3,76800,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.075024,0.870870,1.000000,0.000000,-0.000001,-0.000007
4,3,76800,54,gripper,0,"","put plastic bottle on cutting board",-0.152565,-0.012150,0.959316,0.062008,-0.765319,0.034008,0.639754
4,3,76800,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.200512,-0.067513,0.888112,0.971658,-0.026138,0.008671,0.234782
4,3,76800,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085880,0.046009,0.887027,0.704494,-0.013945,0.709571,-0.001893
4,3,76800,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
4,3,76800,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
4,3,76800,55,gripper,0,"","put plastic bottle on cutting board",0.013128,0.053757,0.979509,0.011211,-0.768173,0.091949,0.633507
4,3,76800,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206703,0.060223,0.894795,0.586707,-0.072856,0.030290,0.805946
4,3,76800,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106773,-0.053497,0.887026,0.269604,-0.661581,0.256885,0.650872
4,3,76800,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204994,0.074997,0.872199,1.000000,-0.000000,-0.000001,0.000139
4,3,76800,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000005
4,3,76800,56,gripper,0,"","put hamburger on frying pan",-0.167912,0.022453,1.067466,0.015749,-0.748782,0.080010,0.657781
4,3,76800,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236099,-0.075245,0.888112,0.385169,-0.022452,-0.015953,0.922435
4,3,76800,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.260330,0.097279,0.887027,0.285590,-0.655043,0.273140,0.644013
4,3,76800,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
4,3,76800,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084473,0.075375,0.870870,0.999995,0.000000,-0.000000,-0.002974
4,3,76800,57,gripper,0,"","put hamburger on frying pan",-0.092480,-0.008402,0.950763,-0.155619,-0.744543,-0.145686,0.632625
4,3,76800,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206081,-0.075226,0.888112,0.384960,-0.022447,-0.015959,0.922522
4,3,76800,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.125610,0.103588,0.887063,0.370857,-0.599868,0.349370,0.616899
4,3,76800,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.239521,0.075550,0.872199,0.998482,-0.000000,-0.000001,0.055083
4,3,76800,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
4,3,76800,58,gripper,0,"","put hamburger on frying pan",-0.182941,0.084982,0.982907,-0.048995,-0.697626,-0.165989,0.695244
4,3,76800,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235142,-0.073879,0.888112,0.949912,-0.026746,0.006566,0.311302
4,3,76800,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.138474,0.044437,0.895386,0.430717,-0.557003,0.404989,0.583279
4,3,76800,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.075823,0.078152,0.872202,0.999703,-0.000045,-0.000018,0.024385
4,3,76800,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
4,3,76800,59,gripper,0,"","put hamburger on frying pan",-0.127730,0.042843,0.956224,-0.138738,-0.731157,-0.096709,0.660915
4,3,76800,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205965,-0.044399,0.888112,0.712521,-0.026880,-0.006006,0.701110
4,3,76800,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.217073,0.091248,0.898134,0.031710,-0.654919,0.754511,0.028099
4,3,76800,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235467,0.074944,0.872199,0.999991,-0.000000,-0.000001,0.004189
4,3,76800,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
4,3,76800,60,gripper,0,"","put hamburger on cutting board",-0.071808,-0.043926,0.963778,0.003433,-0.738300,0.051043,0.672530
4,3,76800,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236105,0.044750,0.888112,0.388354,-0.022502,-0.015873,0.921099
4,3,76800,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.108049,-0.053299,0.887026,0.241039,-0.672132,0.227867,0.661978
4,3,76800,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.212555,-0.074207,0.872199,0.999109,-0.000000,-0.000001,0.042199
4,3,76800,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
4,3,76800,61,gripper,0,"","put hamburger on cutting board",-0.107029,-0.039322,1.015565,-0.105751,-0.802558,-0.212743,0.547227
4,3,76800,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116108,0.044735,0.888112,0.383927,-0.022432,-0.015985,0.922953
4,3,76800,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.265682,-0.044746,0.887026,0.316382,-0.641075,0.304479,0.629458
4,3,76800,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
4,3,76800,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
4,3,76800,62,gripper,0,"","put hamburger on cutting board",-0.222401,-0.027977,0.976832,-0.038047,-0.702353,-0.003901,0.710800
4,3,76800,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.104313,0.064167,0.888113,0.420166,-0.023043,-0.015083,0.907029
4,3,76800,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.192493,0.087742,0.889461,0.531998,-0.473735,0.529987,0.460074
4,3,76800,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
4,3,76800,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234421,0.076248,0.870884,0.999999,0.000705,0.000719,-0.000942
4,3,76800,63,gripper,0,"","put hamburger on cutting board",-0.117577,0.041767,1.128093,0.090834,-0.834135,0.106052,0.533592
4,4,81920,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.126724,0.040024,0.879212,-0.276506,-0.105978,0.954627,-0.031646
4,4,81920,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.160873,-0.075523,0.881638,0.984730,-0.011018,-0.037792,-0.169580
4,4,81920,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000044
4,4,81920,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.061104,0.068527,0.871288,0.999863,-0.000137,-0.001021,0.016550
4,4,81920,0,gripper,0,"","put kitchen shovel on cloth",-0.166443,0.058273,0.964332,0.025002,-0.729366,0.001103,0.683665
4,4,81920,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.171894,-0.019661,0.879216,0.188512,0.705929,-0.650901,0.206045
4,4,81920,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.224724,-0.044563,0.883131,0.762980,0.077420,-0.107814,0.632649
4,4,81920,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.080585,-0.047318,0.869532,0.999641,-0.000000,-0.000001,0.026780
4,4,81920,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234856,0.045029,0.871282,0.999994,-0.000447,-0.001266,0.003162
4,4,81920,1,gripper,0,"","put kitchen shovel on cloth",-0.237955,-0.042843,0.974705,0.081576,-0.750802,0.027834,0.654879
4,4,81920,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.076946,-0.072372,0.885085,0.583946,0.347288,-0.306307,0.666764
4,4,81920,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.227329,0.083061,0.881638,0.652525,0.026725,-0.028913,0.756744
4,4,81920,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000037
4,4,81920,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000300
4,4,81920,2,gripper,0,"","put kitchen shovel on cloth",-0.186903,-0.045383,0.998266,-0.099258,-0.672577,-0.085485,0.728341
4,4,81920,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.100389,0.005936,0.882299,-0.627947,-0.099361,0.771880,0.003411
4,4,81920,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.050858,-0.076309,0.881641,0.991636,-0.009316,0.039073,0.122655
4,4,81920,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235003,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000045
4,4,81920,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.097948,0.063988,0.871282,0.982669,-0.000210,-0.001328,0.185362
4,4,81920,3,gripper,0,"","put kitchen shovel on cloth",-0.271801,-0.145210,0.918642,-0.061066,-0.709481,0.095781,0.695510
4,4,81920,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.211148,0.054253,0.885122,0.516645,0.447524,-0.630760,0.367344
4,4,81920,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205753,-0.075554,0.881638,0.923224,0.010843,-0.037812,0.382244
4,4,81920,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235129,0.075058,0.869533,1.000000,0.000001,-0.000002,-0.000258
4,4,81920,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084992,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000005
4,4,81920,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.160461,0.001549,1.116259,0.033313,-0.724239,0.322715,0.608459
4,4,81920,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.176020,0.072792,0.885081,0.573006,0.351871,-0.299996,0.676649
4,4,81920,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.169762,-0.068336,0.881638,0.033521,0.038947,-0.005754,0.998662
4,4,81920,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234941,0.075005,0.869532,1.000000,0.000000,-0.000001,-0.000442
4,4,81920,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871289,1.000000,-0.000157,-0.001019,0.000009
4,4,81920,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.145758,0.038403,1.136149,-0.046129,-0.816278,0.210433,0.535986
4,4,81920,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085979,0.028419,0.884014,-0.249950,0.706123,0.193308,0.633677
4,4,81920,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.299210,-0.735588,0.004849,0.090700,0.958686,0.268463,0.024932
4,4,81920,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000021
4,4,81920,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000153
4,4,81920,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.264545,-0.116467,0.906203,0.319007,-0.316430,0.113138,0.886175
4,4,81920,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218693,-0.070663,0.885084,0.438487,0.401609,-0.230485,0.770270
4,4,81920,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205898,0.074387,0.881638,0.423531,0.033546,-0.020608,0.905025
4,4,81920,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235073,-0.075157,0.869532,1.000000,0.000000,-0.000000,-0.000457
4,4,81920,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
4,4,81920,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.237516,-0.073963,1.026058,-0.192781,-0.762382,-0.120141,0.605950
4,4,81920,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.094948,-0.074024,0.879212,-0.277484,-0.071058,0.957857,-0.021533
4,4,81920,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.175392,-0.017334,0.882372,0.880633,0.028275,-0.030272,0.471985
4,4,81920,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000052
4,4,81920,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.203995,0.074780,0.871288,0.999985,-0.000148,-0.001020,0.005388
4,4,81920,8,gripper,0,"","put ketchup bottle on cloth",-0.107430,-0.076397,0.954161,-0.054262,-0.698895,-0.068695,0.709847
4,4,81920,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.243774,0.019932,0.885122,0.473469,0.513692,-0.578130,0.421561
4,4,81920,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.121891,0.083382,0.881638,0.918837,0.011271,-0.037692,0.392671
4,4,81920,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234993,0.044994,0.869532,1.000000,0.000000,-0.000000,0.000116
4,4,81920,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.215633,-0.081966,0.871288,0.999988,-0.000149,-0.001020,0.004713
4,4,81920,9,gripper,0,"","put ketchup bottle on cloth",-0.082254,0.055889,0.930540,0.280982,-0.672661,0.142897,0.669445
4,4,81920,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.099060,-0.070721,0.888151,0.527593,0.334099,-0.308325,0.717606
4,4,81920,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.182453,-0.015572,0.884965,0.580745,-0.047661,0.069684,0.809696
4,4,81920,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205044,-0.075039,0.869532,1.000000,0.000000,-0.000002,0.000313
4,4,81920,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084805,-0.074619,0.871288,0.999997,-0.000156,-0.001018,-0.002368
4,4,81920,10,gripper,0,"","put ketchup bottle on cloth",-0.237938,-0.089821,0.957053,-0.116344,-0.709804,-0.087050,0.689249
4,4,81920,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.214718,-0.031406,0.885122,0.494495,0.483317,-0.603774,0.396657
4,4,81920,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.198343,0.048592,0.881638,0.742386,0.022877,-0.032033,0.668815
4,4,81920,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235016,-0.045002,0.869532,1.000000,0.000000,-0.000000,-0.000035
4,4,81920,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000086
4,4,81920,11,gripper,0,"","put ketchup bottle on cloth",-0.192493,0.028831,1.016895,-0.018905,-0.793255,0.086752,0.602381
4,4,81920,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.002095,0.165897,0.878982,-0.661569,0.312485,-0.571226,-0.371996
4,4,81920,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.055053,-0.043884,0.884379,0.646542,0.035294,0.022437,0.761731
4,4,81920,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115015,0.075031,0.869532,1.000000,-0.000000,-0.000001,0.000430
4,4,81920,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.149461,-0.080307,0.871288,0.988910,-0.000001,-0.001031,0.148509
4,4,81920,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.244313,-0.094793,0.913998,-0.130084,-0.735226,-0.130316,0.652333
4,4,81920,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.131172,0.096642,0.878982,0.758553,0.029983,0.650397,-0.026111
4,4,81920,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.177401,-0.109875,0.883597,0.983694,-0.003688,-0.091956,-0.154519
4,4,81920,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.090862,-0.056023,0.869532,0.999211,0.000001,-0.000000,-0.039710
4,4,81920,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.073206,0.077770,0.871288,0.999252,-0.000193,-0.001012,-0.038657
4,4,81920,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.220190,-0.134142,0.915902,-0.129122,-0.775290,-0.139683,0.602280
4,4,81920,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.157154,-0.060253,0.879373,0.958608,-0.011780,0.277998,0.060403
4,4,81920,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085754,-0.075600,0.881638,0.923117,0.010861,-0.037823,0.382500
4,4,81920,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.044998,0.869532,1.000000,-0.000001,-0.000001,-0.000000
4,4,81920,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235031,0.074917,0.871282,0.999999,-0.000450,-0.001264,-0.000088
4,4,81920,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.243481,-0.092447,0.913607,0.105658,-0.730098,0.115387,0.665191
4,4,81920,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204235,0.091442,0.885122,0.557537,0.367258,-0.680707,0.301517
4,4,81920,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115757,0.044403,0.881638,0.923100,0.010856,-0.037809,0.382543
4,4,81920,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.074993,0.869532,1.000000,-0.000001,-0.000001,0.000068
4,4,81920,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.083652,-0.072762,0.871288,0.999899,-0.000168,-0.001017,-0.014171
4,4,81920,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.097059,-0.027905,0.973900,-0.104943,-0.724410,-0.141748,0.666427
4,4,81920,16,obj,0,"003_bread_1","put 7up can on carpet",-0.234688,0.079597,0.883544,0.999541,0.002171,-0.012472,0.027524
4,4,81920,16,obj,1,"005_7up can_1","put 7up can on carpet",0.225395,-0.011524,0.017148,-0.357090,0.136488,-0.922839,-0.047187
4,4,81920,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.062332,-0.079563,0.869490,0.999611,0.000204,0.000869,-0.027865
4,4,81920,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.077492,0.870350,0.999976,-0.000089,-0.001456,0.006723
4,4,81920,16,gripper,0,"","put 7up can on carpet",-0.190468,0.084017,0.991776,0.034574,-0.704903,-0.001772,0.708459
4,4,81920,17,obj,0,"003_bread_1","put 7up can on carpet",-0.169220,-0.036518,0.884953,0.630932,0.027459,0.007915,0.775312
4,4,81920,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.230793,0.068172,0.885633,0.679498,0.081029,-0.072106,0.725615
4,4,81920,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204910,-0.075008,0.869490,1.000000,0.000180,0.000874,0.000116
4,4,81920,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.082912,-0.072876,0.870350,0.999998,-0.000674,-0.002014,-0.000040
4,4,81920,17,gripper,0,"","put 7up can on carpet",-0.199659,0.056215,0.991727,0.065911,-0.685617,0.006123,0.724946
4,4,81920,18,obj,0,"003_bread_1","put 7up can on carpet",-0.230103,0.073689,0.883544,0.498706,0.011769,-0.004669,0.866679
4,4,81920,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.155506,-0.023823,0.886670,0.629656,0.226900,-0.175344,0.722014
4,4,81920,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205307,-0.075119,0.869490,0.999998,0.000179,0.000876,0.001842
4,4,81920,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.084404,-0.074352,0.870351,0.999999,-0.000216,-0.001563,0.000090
4,4,81920,18,gripper,0,"","put 7up can on carpet",-0.199429,0.079042,0.973972,-0.073847,-0.742668,-0.035169,0.664645
4,4,81920,19,obj,0,"003_bread_1","put 7up can on carpet",-0.198351,0.076965,0.883544,0.676429,0.010457,-0.007131,0.736399
4,4,81920,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.105215,-0.007793,0.885993,0.461466,0.537993,-0.528308,0.467444
4,4,81920,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085018,-0.075020,0.869490,1.000000,0.000180,0.000875,0.000260
4,4,81920,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.114077,0.046734,0.870461,0.999997,0.000019,-0.000158,0.002532
4,4,81920,19,gripper,0,"","put 7up can on carpet",-0.116424,0.011528,1.042268,-0.047053,-0.738623,-0.031689,0.671728
4,4,81920,20,obj,0,"003_bread_1","put bread on newspaper",-0.197988,-0.069149,0.883544,0.904853,0.006981,-0.010563,0.425535
4,4,81920,20,obj,1,"005_7up can_1","put bread on newspaper",-0.139854,0.053440,0.887633,-0.095008,-0.721245,0.663620,-0.174319
4,4,81920,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
4,4,81920,20,recep,1,"003_carpet_1","put bread on newspaper",-0.071991,0.055103,0.870447,0.999988,-0.003106,-0.002741,0.002608
4,4,81920,20,gripper,0,"","put bread on newspaper",-0.173033,-0.055893,0.990245,-0.043638,-0.696666,-0.012579,0.715957
4,4,81920,21,obj,0,"003_bread_1","put bread on newspaper",-0.143730,-0.057926,0.883544,0.486504,0.011826,-0.004504,0.873587
4,4,81920,21,obj,1,"005_7up can_1","put bread on newspaper",-0.217091,-0.053120,0.888618,0.494682,0.201325,-0.122406,0.836525
4,4,81920,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
4,4,81920,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,-0.075008,0.870460,1.000000,0.000019,-0.000158,-0.000069
4,4,81920,21,gripper,0,"","put bread on newspaper",-0.093226,-0.050905,0.987591,0.066455,-0.743021,0.081003,0.661016
4,4,81920,22,obj,0,"003_bread_1","put bread on newspaper",-0.084904,0.074028,0.883544,0.387564,0.012260,-0.003168,0.921756
4,4,81920,22,obj,1,"005_7up can_1","put bread on newspaper",-0.182537,0.006180,0.885675,0.672387,0.252872,-0.259146,0.645597
4,4,81920,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000069
4,4,81920,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000100
4,4,81920,22,gripper,0,"","put bread on newspaper",-0.117537,-0.061203,1.037510,-0.093278,-0.812144,-0.129091,0.561299
4,4,81920,23,obj,0,"003_bread_1","put bread on newspaper",-0.235535,0.075123,0.883544,0.999917,0.001789,-0.012527,-0.002194
4,4,81920,23,obj,1,"005_7up can_1","put bread on newspaper",-0.059715,0.074940,0.885857,0.729261,-0.101529,0.667360,0.111808
4,4,81920,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
4,4,81920,23,recep,1,"003_carpet_1","put bread on newspaper",-0.205009,-0.076584,0.870367,0.999952,0.000183,-0.001159,-0.009751
4,4,81920,23,gripper,0,"","put bread on newspaper",-0.061415,0.057682,0.940450,0.095037,-0.714228,-0.024713,0.692990
4,4,81920,24,obj,0,"003_bread_1","put bread on carpet",-0.052223,0.017113,0.883544,0.988450,-0.000084,-0.012662,-0.151015
4,4,81920,24,obj,1,"005_7up can_1","put bread on carpet",-0.201546,-0.097538,0.885615,0.987749,-0.002339,0.154930,-0.018508
4,4,81920,24,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000156
4,4,81920,24,recep,1,"003_carpet_1","put bread on carpet",-0.088181,0.080444,0.870460,0.999167,0.000025,-0.000158,0.040797
4,4,81920,24,gripper,0,"","put bread on carpet",-0.185619,-0.077610,0.944624,-0.001053,-0.742794,0.048089,0.667790
4,4,81920,25,obj,0,"003_bread_1","put bread on carpet",-0.116173,0.084631,0.883544,0.704523,0.010172,-0.007532,0.709568
4,4,81920,25,obj,1,"005_7up can_1","put bread on carpet",-0.146561,-0.037601,0.888053,0.246694,0.548262,-0.760011,0.246847
4,4,81920,25,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000092
4,4,81920,25,recep,1,"003_carpet_1","put bread on carpet",-0.084969,-0.044981,0.870447,0.999999,-0.000922,-0.000843,-0.000159
4,4,81920,25,gripper,0,"","put bread on carpet",-0.169252,-0.060088,1.005774,-0.008047,-0.714093,-0.003312,0.699997
4,4,81920,26,obj,0,"003_bread_1","put bread on carpet",-0.233147,0.050974,0.883544,0.247405,0.012593,-0.001333,0.968829
4,4,81920,26,obj,1,"005_7up can_1","put bread on carpet",-0.107697,0.089062,0.885633,0.550486,0.091808,-0.057748,0.827769
4,4,81920,26,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000165
4,4,81920,26,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.074993,0.870367,0.999980,0.000184,-0.001145,0.006176
4,4,81920,26,gripper,0,"","put bread on carpet",-0.130331,0.017854,1.011224,-0.131088,-0.700235,-0.162814,0.682627
4,4,81920,27,obj,0,"003_bread_1","put bread on carpet",-0.087835,-0.051733,0.883544,0.412869,0.012161,-0.003515,0.910702
4,4,81920,27,obj,1,"005_7up can_1","put bread on carpet",-0.180120,0.066771,0.888292,0.357398,0.648305,-0.594840,0.313260
4,4,81920,27,recep,0,"004_newspaper_1","put bread on carpet",-0.234972,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000048
4,4,81920,27,recep,1,"003_carpet_1","put bread on carpet",-0.235041,0.075010,0.870462,1.000000,0.000038,-0.000158,-0.000107
4,4,81920,27,gripper,0,"","put bread on carpet",-0.127162,-0.050035,1.001491,-0.124679,-0.753243,-0.107866,0.636745
4,4,81920,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.084663,-0.068089,0.883544,0.995583,0.000641,-0.012640,-0.093026
4,4,81920,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.142605,0.057787,0.889005,0.644394,-0.354948,0.516142,0.438595
4,4,81920,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000004
4,4,81920,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.106949,0.042007,0.870426,0.999790,-0.000817,-0.001301,-0.020416
4,4,81920,28,gripper,0,"","put 7up can on newspaper",-0.157851,0.072010,1.090080,0.084716,-0.745541,0.052094,0.658998
4,4,81920,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.214796,0.056604,0.886417,0.479492,0.016508,-0.004060,0.877381
4,4,81920,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.112074,0.003992,0.888170,-0.587399,-0.234906,0.170817,-0.755383
4,4,81920,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114908,0.045109,0.869489,0.999996,0.000543,0.001425,0.002153
4,4,81920,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234972,0.074953,0.870461,1.000000,-0.000064,-0.000235,0.000082
4,4,81920,29,gripper,0,"","put 7up can on newspaper",-0.104892,0.067636,1.142088,0.136458,-0.767988,0.207377,0.590397
4,4,81920,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.084019,0.075817,0.883545,0.999839,0.001661,-0.012550,-0.012734
4,4,81920,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.213760,0.097597,0.886558,0.973581,-0.021418,-0.225304,0.030318
4,4,81920,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000056
4,4,81920,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
4,4,81920,30,gripper,0,"","put 7up can on newspaper",-0.205532,0.078889,0.943794,0.046862,-0.712777,-0.037224,0.698833
4,4,81920,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.172344,-0.033400,0.886502,0.878422,0.009497,-0.005481,0.477760
4,4,81920,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.238853,0.082436,0.885637,0.806046,0.090518,-0.122801,0.571853
4,4,81920,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
4,4,81920,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204830,-0.074987,0.870447,1.000000,-0.000570,-0.000542,0.000547
4,4,81920,31,gripper,0,"","put 7up can on newspaper",-0.207415,0.074679,0.972401,-0.058455,-0.698757,-0.086224,0.707734
4,4,81920,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091309,0.072617,0.887395,0.751739,-0.016207,0.016167,0.659063
4,4,81920,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,0.075011,0.878547,0.706892,0.007941,0.010845,0.707194
4,4,81920,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
4,4,81920,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
4,4,81920,32,gripper,0,"","put banana on flat bowl",-0.136597,0.096979,1.025884,-0.000314,-0.678411,-0.077329,0.730601
4,4,81920,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.246761,0.084040,0.887439,0.926908,-0.011269,0.032837,0.373679
4,4,81920,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
4,4,81920,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
4,4,81920,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
4,4,81920,33,gripper,0,"","put banana on flat bowl",-0.181839,-0.064876,1.010971,-0.111915,-0.669820,-0.278618,0.679108
4,4,81920,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.098537,-0.064481,0.887327,0.927301,-0.006898,0.029959,0.373051
4,4,81920,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383053
4,4,81920,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
4,4,81920,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
4,4,81920,34,gripper,0,"","put banana on flat bowl",-0.052589,0.088894,1.002914,0.124170,-0.723602,-0.015937,0.678769
4,4,81920,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247452,0.041901,0.887522,0.763362,-0.018252,0.018583,0.645445
4,4,81920,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007946,0.010851,0.707290
4,4,81920,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,4,81920,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000001,0.000000,-0.000000
4,4,81920,35,gripper,0,"","put banana on flat bowl",-0.018239,0.059198,0.972721,0.205981,-0.709312,0.235468,0.631667
4,4,81920,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095354,-0.068007,0.887151,0.925895,-0.001590,0.030365,0.376556
4,4,81920,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234682,0.074692,0.878547,0.923639,0.011475,0.006974,0.383029
4,4,81920,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000002
4,4,81920,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000002,0.000002
4,4,81920,36,gripper,0,"","put carrot on sheet metal",-0.036523,0.083410,0.969746,0.359350,-0.644313,0.314245,0.597477
4,4,81920,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.121239,0.058969,0.887347,0.927377,-0.008258,0.032837,0.372593
4,4,81920,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011528,0.007002,0.383039
4,4,81920,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
4,4,81920,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000001
4,4,81920,37,gripper,0,"","put carrot on sheet metal",-0.073556,0.101467,0.977817,-0.130465,-0.687141,-0.122762,0.704092
4,4,81920,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.123451,-0.086450,0.887532,0.394523,-0.025487,0.012978,0.918441
4,4,81920,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003196,0.013085,0.923968
4,4,81920,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
4,4,81920,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000000
4,4,81920,38,gripper,0,"","put carrot on sheet metal",0.001116,0.052001,1.001412,0.256934,-0.752517,0.257829,0.548843
4,4,81920,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097958,0.072332,0.887522,0.769173,-0.020496,0.022651,0.638310
4,4,81920,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007963,0.010884,0.707296
4,4,81920,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
4,4,81920,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000001,-0.000001
4,4,81920,39,gripper,0,"","put carrot on sheet metal",-0.034548,0.081870,0.956612,0.248772,-0.681606,0.210220,0.655235
4,4,81920,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091789,-0.077398,0.887478,0.750889,-0.020723,0.023899,0.659670
4,4,81920,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.204559,-0.074976,0.878547,0.708465,0.007953,0.010813,0.705618
4,4,81920,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
4,4,81920,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
4,4,81920,40,gripper,0,"","put carrot on flat bowl",-0.030811,-0.055264,0.983541,0.064353,-0.728971,0.038577,0.680420
4,4,81920,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236301,-0.065519,0.887529,0.347875,-0.040520,0.015050,0.936544
4,4,81920,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.114700,-0.044655,0.878547,0.384035,0.003215,0.013068,0.923221
4,4,81920,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
4,4,81920,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
4,4,81920,41,gripper,0,"","put carrot on flat bowl",-0.190235,-0.014889,1.006811,-0.013069,-0.712555,0.009684,0.701427
4,4,81920,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118378,-0.070398,0.887457,0.996735,-0.000886,0.040437,0.069881
4,4,81920,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204987,0.074509,0.878547,0.999908,0.013305,0.002024,-0.001748
4,4,81920,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
4,4,81920,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000002,-0.000002,0.000508
4,4,81920,42,gripper,0,"","put carrot on flat bowl",-0.133926,-0.054502,0.983015,-0.458315,-0.515519,-0.344014,0.637057
4,4,81920,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087633,0.073421,0.887500,0.997232,-0.002897,0.027726,0.068923
4,4,81920,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234985,-0.045431,0.878547,0.999910,0.013289,0.002040,-0.000535
4,4,81920,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114990,-0.075050,0.871344,0.999999,-0.000158,0.001164,-0.000138
4,4,81920,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000405
4,4,81920,43,gripper,0,"","put carrot on flat bowl",-0.144506,0.078923,1.010914,-0.140291,-0.815641,-0.097728,0.552719
4,4,81920,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089218,0.080992,0.887309,0.997025,0.003289,0.032237,0.069942
4,4,81920,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234980,-0.075438,0.878547,0.999910,0.013295,0.002046,-0.000116
4,4,81920,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
4,4,81920,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000003
4,4,81920,44,gripper,0,"","put banana on sheet metal",-0.208583,-0.057687,1.005713,-0.024758,-0.712163,0.035668,0.700670
4,4,81920,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088449,-0.039307,0.887540,0.997046,-0.000928,0.033956,0.068878
4,4,81920,45,obj,1,"013_banana_1","put banana on sheet metal",-0.114981,0.074558,0.878547,0.999908,0.013306,0.002029,-0.001468
4,4,81920,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
4,4,81920,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
4,4,81920,45,gripper,0,"","put banana on sheet metal",-0.104295,-0.017273,0.986464,-0.142611,-0.721971,-0.086829,0.671477
4,4,81920,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093563,-0.086187,0.887492,0.388395,-0.020802,0.010254,0.921201
4,4,81920,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,0.075344,0.878547,0.384122,0.003216,0.013067,0.923184
4,4,81920,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
4,4,81920,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
4,4,81920,46,gripper,0,"","put banana on sheet metal",-0.032328,0.090172,0.995867,0.277801,-0.755478,0.242248,0.541660
4,4,81920,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.125782,0.082067,0.887069,0.922072,0.004520,0.014947,0.386703
4,4,81920,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234650,0.044695,0.878547,0.924583,0.011517,0.006959,0.380742
4,4,81920,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
4,4,81920,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
4,4,81920,47,gripper,0,"","put banana on sheet metal",-0.174189,0.052414,0.992990,-0.087811,-0.714831,-0.094771,0.687258
4,4,81920,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.088737,-0.061619,0.888112,0.999594,-0.023266,0.014740,-0.007371
4,4,81920,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.062981,0.137222,0.887026,0.689220,-0.162465,0.690863,0.145914
4,4,81920,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
4,4,81920,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000002,-0.000035
4,4,81920,48,gripper,0,"","put plastic bottle on cutting board",-0.033455,0.086752,0.951451,0.156521,-0.745883,0.021915,0.647055
4,4,81920,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205288,0.078365,0.888112,0.937193,-0.026980,0.005529,0.347722
4,4,81920,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.086300,-0.091278,0.887026,0.662624,-0.255880,0.661972,0.239265
4,4,81920,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
4,4,81920,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
4,4,81920,49,gripper,0,"","put plastic bottle on cutting board",-0.063520,-0.088421,0.999698,0.044230,-0.703915,-0.004445,0.708892
4,4,81920,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205936,-0.074406,0.888112,0.713661,-0.026891,-0.005956,0.699950
4,4,81920,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.236313,0.075588,0.893979,0.595174,-0.385027,-0.574729,-0.408910
4,4,81920,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235077,0.074959,0.872199,1.000000,0.000000,-0.000001,0.000010
4,4,81920,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.110466,0.048122,0.870871,0.999920,0.000000,-0.000001,0.012657
4,4,81920,50,gripper,0,"","put plastic bottle on cutting board",-0.054079,0.039480,0.991516,-0.027909,-0.751996,-0.047631,0.656852
4,4,81920,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.237591,0.082268,0.888112,0.930322,-0.027084,0.005011,0.365708
4,4,81920,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.080410,0.024235,0.889773,0.015417,-0.892851,0.448729,0.034954
4,4,81920,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084976,-0.074978,0.872199,1.000000,-0.000001,-0.000001,-0.000248
4,4,81920,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
4,4,81920,51,gripper,0,"","put plastic bottle on cutting board",-0.099883,0.029970,1.001292,-0.269363,-0.645320,-0.259126,0.666228
4,4,81920,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.070469,0.002083,0.888112,0.800829,-0.027445,-0.002317,0.598260
4,4,81920,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.083556,0.059650,0.887027,0.529050,-0.480439,0.522365,0.465209
4,4,81920,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
4,4,81920,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204996,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000009
4,4,81920,52,gripper,0,"","put hamburger on frying pan",-0.136917,0.006626,1.010200,-0.167593,-0.706072,-0.194322,0.660011
4,4,81920,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.194439,-0.045284,0.888112,0.850976,-0.027541,0.000149,0.524482
4,4,81920,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.095060,0.066498,0.887026,0.649761,-0.288825,0.648279,0.272259
4,4,81920,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
4,4,81920,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085005,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000011
4,4,81920,53,gripper,0,"","put hamburger on frying pan",-0.135844,0.040903,1.014687,0.000184,-0.718786,-0.121156,0.684593
4,4,81920,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.112598,-0.079750,0.888112,0.709253,-0.026848,-0.006130,0.704416
4,4,81920,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.136120,0.095322,0.894996,0.621276,-0.450251,0.550984,0.328186
4,4,81920,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084915,0.075096,0.872199,1.000000,-0.000001,-0.000001,-0.000385
4,4,81920,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205986,0.075764,0.870870,0.999963,0.000007,0.000006,0.008540
4,4,81920,54,gripper,0,"","put hamburger on frying pan",-0.094296,0.041008,1.107125,0.169396,-0.691789,0.278858,0.644182
4,4,81920,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.200520,-0.067509,0.888112,0.970671,-0.026176,0.008563,0.238829
4,4,81920,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.084759,0.047291,0.886092,0.999748,-0.010957,0.019582,-0.001110
4,4,81920,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
4,4,81920,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
4,4,81920,55,gripper,0,"","put hamburger on frying pan",-0.080612,0.038015,0.987586,-0.029962,-0.773968,-0.053617,0.630239
4,4,81920,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206703,0.060223,0.894795,0.586704,-0.072855,0.030288,0.805949
4,4,81920,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106773,-0.053497,0.887026,0.269605,-0.661580,0.256885,0.650873
4,4,81920,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204994,0.074997,0.872199,1.000000,-0.000000,-0.000001,0.000137
4,4,81920,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
4,4,81920,56,gripper,0,"","put hamburger on cutting board",-0.147060,0.059319,1.095967,0.141268,-0.766220,0.069955,0.622942
4,4,81920,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236099,-0.075245,0.888112,0.383947,-0.022431,-0.015983,0.922944
4,4,81920,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.260330,0.097279,0.887027,0.285568,-0.655053,0.273119,0.644021
4,4,81920,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
4,4,81920,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084473,0.075375,0.870870,0.999996,0.000000,-0.000001,-0.002975
4,4,81920,57,gripper,0,"","put hamburger on cutting board",-0.028164,-0.004778,0.971127,-0.121279,-0.704582,-0.206031,0.668137
4,4,81920,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.200657,-0.076969,0.888113,0.347074,-0.021780,-0.016859,0.937433
4,4,81920,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.125610,0.103596,0.887063,0.371350,-0.599426,0.349710,0.616839
4,4,81920,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.239521,0.075550,0.872199,0.998481,-0.000000,-0.000001,0.055105
4,4,81920,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
4,4,81920,58,gripper,0,"","put hamburger on cutting board",-0.054615,0.042122,1.009203,0.067832,-0.863044,0.018999,0.500193
4,4,81920,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235123,-0.073883,0.888112,0.952976,-0.026679,0.006835,0.301793
4,4,81920,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.141832,0.048969,0.892191,0.525528,-0.554461,0.418841,0.490882
4,4,81920,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.073135,0.078953,0.872199,0.999894,-0.000001,-0.000001,0.014556
4,4,81920,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085005,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000011
4,4,81920,59,gripper,0,"","put hamburger on cutting board",-0.035195,0.046488,0.991802,-0.149963,-0.779779,-0.188732,0.577785
4,4,81920,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205965,-0.044399,0.888112,0.712521,-0.026879,-0.006006,0.701110
4,4,81920,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.217073,0.091248,0.898134,0.031711,-0.654919,0.754510,0.028094
4,4,81920,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235467,0.074944,0.872199,0.999991,-0.000001,-0.000001,0.004189
4,4,81920,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
4,4,81920,60,gripper,0,"","put plastic bottle on frying pan",-0.161442,0.029482,1.128322,0.118900,-0.734102,0.232516,0.626812
4,4,81920,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236103,0.044750,0.888112,0.388347,-0.022509,-0.015871,0.921101
4,4,81920,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.110685,-0.050114,0.887026,0.241759,-0.671883,0.228596,0.661717
4,4,81920,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.213711,-0.074051,0.872199,0.999005,-0.000000,-0.000000,0.044599
4,4,81920,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115004,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000044
4,4,81920,61,gripper,0,"","put plastic bottle on frying pan",-0.061172,-0.023582,1.008247,-0.006830,-0.739125,0.013389,0.673401
4,4,81920,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.110989,0.046890,0.888112,0.371605,-0.022216,-0.016283,0.927982
4,4,81920,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.265678,-0.044746,0.887026,0.316315,-0.641107,0.304411,0.629492
4,4,81920,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
4,4,81920,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
4,4,81920,62,gripper,0,"","put plastic bottle on frying pan",-0.084312,0.043909,0.990198,-0.102688,-0.775156,-0.057563,0.620704
4,4,81920,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.104313,0.064167,0.888113,0.420188,-0.023044,-0.015083,0.907019
4,4,81920,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.188774,0.079899,0.889430,0.550786,-0.451140,0.549759,0.436890
4,4,81920,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
4,4,81920,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.237118,0.074078,0.870883,0.999535,0.000723,0.000692,-0.030478
4,4,81920,63,gripper,0,"","put plastic bottle on frying pan",-0.176027,0.079380,1.009366,0.029777,-0.758988,0.072968,0.646317
5,1,87040,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.006355,-0.041504,0.878982,-0.741733,0.130592,-0.637881,-0.160887
5,1,87040,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205727,-0.075600,0.881638,0.923150,0.010864,-0.037838,0.382418
5,1,87040,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000026
5,1,87040,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235023,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000022
5,1,87040,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.012985,-0.034626,0.933700,0.153463,-0.796652,0.106364,0.574875
5,1,87040,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.244682,0.075111,0.879139,0.880749,0.000409,-0.473577,0.002674
5,1,87040,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085960,0.075119,0.881638,0.999225,-0.004454,-0.039113,-0.000267
5,1,87040,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000000,-0.000026
5,1,87040,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
5,1,87040,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.285229,0.053982,0.919668,0.116422,-0.729764,0.057707,0.671238
5,1,87040,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085026,0.065262,0.879089,0.626447,0.326434,-0.328437,0.627004
5,1,87040,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.092731,-0.074158,0.887369,0.648028,0.016987,-0.029874,0.760841
5,1,87040,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000024
5,1,87040,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001019,-0.002154
5,1,87040,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.255272,-0.122715,0.913486,-0.105512,-0.708187,-0.017056,0.697888
5,1,87040,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.131512,-0.039452,0.879048,0.622407,-0.028629,-0.781836,-0.022852
5,1,87040,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235947,0.075111,0.881638,0.999225,-0.004447,-0.039114,-0.000116
5,1,87040,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
5,1,87040,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
5,1,87040,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.147182,-0.025822,0.929543,0.050057,-0.735602,0.038670,0.674454
5,1,87040,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078003,0.089645,0.884978,0.658609,-0.316986,0.568750,0.377197
5,1,87040,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085113,-0.045975,0.881637,0.706786,0.024490,-0.030791,0.706333
5,1,87040,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
5,1,87040,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.045021,0.871288,0.999999,-0.000154,-0.001019,0.000011
5,1,87040,4,gripper,0,"","put ketchup bottle on cloth",-0.109307,0.067970,1.031910,0.455364,-0.583378,0.362351,0.566583
5,1,87040,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.173620,-0.017715,0.885083,0.580734,0.348317,-0.304124,0.670024
5,1,87040,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235947,0.075111,0.881638,0.999225,-0.004447,-0.039114,-0.000116
5,1,87040,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.200510,-0.042770,0.869532,0.994600,-0.000001,-0.000001,0.103779
5,1,87040,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
5,1,87040,5,gripper,0,"","put ketchup bottle on cloth",-0.239803,-0.053844,0.973422,0.088469,-0.744051,0.113001,0.652527
5,1,87040,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.212723,-0.003090,0.887571,0.537628,0.370209,-0.272485,0.706861
5,1,87040,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114388,-0.075714,0.881638,0.382440,0.034435,-0.019079,0.923141
5,1,87040,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000007
5,1,87040,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000005
5,1,87040,6,gripper,0,"","put ketchup bottle on cloth",-0.208784,-0.026539,1.070425,-0.044913,-0.763797,-0.050446,0.641913
5,1,87040,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.182598,-0.035927,0.888197,0.300278,-0.677966,0.567085,0.358622
5,1,87040,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
5,1,87040,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
5,1,87040,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205017,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000028
5,1,87040,7,gripper,0,"","put ketchup bottle on cloth",-0.198082,-0.046478,1.101128,-0.022412,-0.761694,0.002670,0.647544
5,1,87040,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.070740,0.042049,0.885120,0.485159,0.497388,-0.591822,0.408622
5,1,87040,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084442,-0.075768,0.881638,0.382484,0.034428,-0.019080,0.923123
5,1,87040,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114998,0.044998,0.869532,1.000000,-0.000000,0.000000,0.000022
5,1,87040,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.193619,-0.052994,0.871289,0.999597,-0.000129,-0.001023,0.028375
5,1,87040,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.207481,-0.074957,0.945608,-0.012979,-0.771171,-0.010319,0.636412
5,1,87040,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.169601,-0.019569,0.885370,0.710138,-0.183293,0.209766,0.646611
5,1,87040,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.232552,0.075539,0.881638,0.712926,0.024234,-0.031018,0.700134
5,1,87040,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.044991,0.869532,1.000000,-0.000000,-0.000001,0.000014
5,1,87040,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
5,1,87040,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.234640,0.044060,0.970871,-0.051714,-0.730944,-0.064391,0.677422
5,1,87040,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.221729,0.092522,0.878984,0.765026,0.013444,0.643791,-0.009377
5,1,87040,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084496,-0.075726,0.883730,0.999185,0.030392,0.026572,-0.000499
5,1,87040,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
5,1,87040,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115009,0.045002,0.871282,0.999999,-0.000450,-0.001265,0.000050
5,1,87040,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.233084,0.090574,0.930430,0.069418,-0.717742,0.033261,0.692041
5,1,87040,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.087454,-0.082016,0.885209,0.159731,0.784689,-0.553895,0.227925
5,1,87040,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235113,-0.075947,0.881638,0.706642,0.024493,-0.030785,0.706477
5,1,87040,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084995,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000006
5,1,87040,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
5,1,87040,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.112011,-0.033985,1.122267,-0.115366,-0.714208,-0.047839,0.688701
5,1,87040,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085015,-0.084702,0.879088,0.626263,0.326532,-0.328347,0.627184
5,1,87040,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.222437,0.027905,0.884825,0.812947,0.014155,-0.040161,0.580779
5,1,87040,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,1,87040,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
5,1,87040,12,gripper,0,"","put kitchen shovel on cloth",-0.231702,-0.004755,0.948877,0.064729,-0.771366,0.042743,0.631647
5,1,87040,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.150774,0.001587,0.879373,0.477125,-0.238593,0.143156,0.833625
5,1,87040,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.078592,0.045002,0.881638,0.347729,0.035123,-0.017781,0.936768
5,1,87040,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114870,-0.075077,0.869532,0.999999,0.000000,-0.000000,-0.001342
5,1,87040,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205017,0.075024,0.871282,0.999999,-0.000451,-0.001265,0.000052
5,1,87040,13,gripper,0,"","put kitchen shovel on cloth",-0.210750,-0.018227,0.914276,-0.059177,-0.785298,-0.079334,0.611156
5,1,87040,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198151,-0.051773,0.879088,0.339160,0.427213,-0.178704,0.818856
5,1,87040,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.097294,0.041153,0.989891,0.784291,0.053326,0.054929,0.615652
5,1,87040,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
5,1,87040,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000155,-0.001019,0.000014
5,1,87040,14,gripper,0,"","put kitchen shovel on cloth",-0.141342,0.050919,1.029159,0.099525,-0.706556,0.078906,0.696166
5,1,87040,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.025803,0.038139,0.929919,0.486278,0.457982,-0.622211,0.408215
5,1,87040,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.236290,0.084026,0.881638,0.423718,0.033542,-0.020618,0.904938
5,1,87040,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000001,-0.000026
5,1,87040,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
5,1,87040,15,gripper,0,"","put kitchen shovel on cloth",-0.079014,0.048449,0.961712,0.273420,-0.706951,0.125479,0.640091
5,1,87040,16,obj,0,"003_bread_1","put bread on newspaper",-0.084473,0.074532,0.883544,0.383666,0.012270,-0.003118,0.923385
5,1,87040,16,obj,1,"005_7up can_1","put bread on newspaper",-0.194237,-0.041817,0.886967,0.636802,-0.154883,0.171908,0.735488
5,1,87040,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.235008,-0.074997,0.869489,1.000000,0.000191,0.000891,0.000208
5,1,87040,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205009,0.044998,0.870441,0.999999,-0.000676,-0.001047,-0.000004
5,1,87040,16,gripper,0,"","put bread on newspaper",-0.130001,-0.028385,1.005071,-0.066266,-0.737218,-0.055186,0.670129
5,1,87040,17,obj,0,"003_bread_1","put bread on newspaper",-0.202499,0.073391,0.883544,0.715496,0.010053,-0.007689,0.698502
5,1,87040,17,obj,1,"005_7up can_1","put bread on newspaper",-0.235287,-0.048798,0.885607,0.715277,0.095600,-0.093370,0.685946
5,1,87040,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,0.044998,0.869490,1.000000,0.000180,0.000874,0.000024
5,1,87040,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000037
5,1,87040,17,gripper,0,"","put bread on newspaper",-0.233740,-0.044828,0.930571,-0.014060,-0.707362,0.048336,0.705057
5,1,87040,18,obj,0,"003_bread_1","put bread on newspaper",-0.085129,0.074444,0.883544,0.709180,0.010119,-0.007601,0.704914
5,1,87040,18,obj,1,"005_7up can_1","put bread on newspaper",-0.153408,-0.038258,0.886635,0.774375,0.078548,-0.061921,0.624772
5,1,87040,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205032,-0.075005,0.869490,1.000000,0.000180,0.000875,-0.000031
5,1,87040,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
5,1,87040,18,gripper,0,"","put bread on newspaper",-0.102741,-0.002325,1.034131,0.178814,-0.713089,0.196437,0.648801
5,1,87040,19,obj,0,"003_bread_1","put bread on newspaper",-0.204477,-0.075478,0.883544,0.383700,0.012259,-0.003124,0.923371
5,1,87040,19,obj,1,"005_7up can_1","put bread on newspaper",-0.201599,0.049007,0.888691,0.509254,-0.481711,0.539957,0.465898
5,1,87040,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
5,1,87040,19,recep,1,"003_carpet_1","put bread on newspaper",-0.234999,0.044998,0.870461,1.000000,0.000019,-0.000158,-0.000003
5,1,87040,19,gripper,0,"","put bread on newspaper",-0.162999,0.050680,1.079329,0.088457,-0.711186,0.090537,0.691515
5,1,87040,20,obj,0,"003_bread_1","put bread on carpet",-0.225852,-0.016754,0.886587,0.337492,0.014767,-0.001659,0.941211
5,1,87040,20,obj,1,"005_7up can_1","put bread on carpet",-0.109742,-0.080517,0.885627,0.370584,0.213310,-0.093698,0.899103
5,1,87040,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
5,1,87040,20,recep,1,"003_carpet_1","put bread on carpet",-0.235006,-0.044994,0.870446,0.999999,-0.000726,-0.001047,0.000037
5,1,87040,20,gripper,0,"","put bread on carpet",-0.080757,-0.032660,1.020029,-0.014557,-0.774496,0.022776,0.632001
5,1,87040,21,obj,0,"003_bread_1","put bread on carpet",-0.085514,0.075104,0.883544,0.999917,0.001785,-0.012530,-0.002519
5,1,87040,21,obj,1,"005_7up can_1","put bread on carpet",-0.242596,-0.074837,0.885626,0.972477,-0.005065,-0.232942,0.001153
5,1,87040,21,recep,0,"004_newspaper_1","put bread on carpet",-0.205118,0.045067,0.869489,0.999999,0.000547,0.001424,-0.000168
5,1,87040,21,recep,1,"003_carpet_1","put bread on carpet",-0.115040,-0.044884,0.871110,0.999983,0.000057,0.005816,0.000478
5,1,87040,21,gripper,0,"","put bread on carpet",-0.192875,0.007492,0.972608,-0.001194,-0.726413,0.019517,0.686980
5,1,87040,22,obj,0,"003_bread_1","put bread on carpet",-0.234478,0.074680,0.883544,0.381740,0.012272,-0.003096,0.924183
5,1,87040,22,obj,1,"005_7up can_1","put bread on carpet",-0.078526,0.068291,0.885636,0.365923,0.261031,-0.113667,0.886026
5,1,87040,22,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
5,1,87040,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
5,1,87040,22,gripper,0,"","put bread on carpet",-0.201956,0.057058,0.969832,0.042758,-0.714823,0.004873,0.697980
5,1,87040,23,obj,0,"003_bread_1","put bread on carpet",-0.086128,-0.075058,0.883544,0.932899,0.006209,-0.011035,0.359917
5,1,87040,23,obj,1,"005_7up can_1","put bread on carpet",-0.247921,-0.074532,0.885688,0.831914,0.170324,-0.361354,0.385139
5,1,87040,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
5,1,87040,23,recep,1,"003_carpet_1","put bread on carpet",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000068
5,1,87040,23,gripper,0,"","put bread on carpet",-0.235912,-0.084221,0.934874,0.033541,-0.749632,-0.001515,0.661003
5,1,87040,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085495,0.044489,0.883544,0.924267,0.006465,-0.010888,0.381535
5,1,87040,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.120819,-0.056526,0.889115,0.092468,-0.593168,0.797067,0.065468
5,1,87040,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.210823,0.072845,0.869490,0.998835,0.000221,0.000864,-0.048248
5,1,87040,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.074987,0.870447,0.999999,-0.000923,-0.000845,0.000092
5,1,87040,24,gripper,0,"","put 7up can on newspaper",-0.050747,-0.107658,0.986568,-0.020104,-0.750994,-0.008921,0.659942
5,1,87040,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.115540,-0.074883,0.883544,0.999916,0.001787,-0.012534,-0.002790
5,1,87040,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212849,0.075535,0.885626,0.972469,-0.004267,-0.232950,0.004486
5,1,87040,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000023
5,1,87040,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.045015,0.870447,0.999999,-0.000923,-0.000845,-0.000021
5,1,87040,25,gripper,0,"","put 7up can on newspaper",-0.190109,0.080184,0.971358,0.109365,-0.664215,0.125408,0.728787
5,1,87040,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205128,-0.075548,0.883544,0.709114,0.010117,-0.007606,0.704980
5,1,87040,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.112072,-0.008240,0.886854,-0.379258,0.625870,-0.558380,-0.390720
5,1,87040,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085033,-0.075035,0.869490,1.000000,0.000179,0.000874,0.000457
5,1,87040,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114689,0.045162,0.870461,1.000000,0.000018,-0.000158,0.000270
5,1,87040,26,gripper,0,"","put 7up can on newspaper",-0.108284,0.049751,1.026148,-0.135127,-0.775444,-0.145597,0.599357
5,1,87040,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.235481,0.074490,0.883544,0.924333,0.006461,-0.010885,0.381375
5,1,87040,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.075533,0.100498,0.885860,0.556513,-0.429830,0.570934,0.423761
5,1,87040,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
5,1,87040,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205000,-0.045000,0.870404,1.000000,0.000065,-0.000723,-0.000143
5,1,87040,27,gripper,0,"","put 7up can on newspaper",-0.090915,0.068739,0.994778,0.098652,-0.737381,-0.015399,0.668057
5,1,87040,28,obj,0,"003_bread_1","put 7up can on carpet",-0.087554,0.077042,0.886629,0.915275,0.008144,-0.008099,0.402665
5,1,87040,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.122928,-0.052900,0.885693,0.869697,0.129906,-0.313436,0.358482
5,1,87040,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
5,1,87040,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085001,0.075005,0.870448,0.999999,-0.000923,-0.000845,0.000014
5,1,87040,28,gripper,0,"","put 7up can on carpet",-0.145853,-0.072257,0.944220,-0.041189,-0.762402,-0.029886,0.645099
5,1,87040,29,obj,0,"003_bread_1","put 7up can on carpet",-0.229557,-0.080330,0.883544,0.999871,0.001708,-0.012547,-0.009829
5,1,87040,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092604,0.075182,0.885627,0.972473,-0.005086,-0.232956,0.001070
5,1,87040,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114838,-0.045080,0.870505,0.999951,0.009657,0.001370,-0.001581
5,1,87040,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.205114,0.045073,0.870461,1.000000,0.000018,-0.000158,-0.000412
5,1,87040,29,gripper,0,"","put 7up can on carpet",-0.206454,-0.063293,0.940481,-0.068816,-0.755040,-0.071467,0.648129
5,1,87040,30,obj,0,"003_bread_1","put 7up can on carpet",-0.088120,-0.070097,0.883566,0.867006,0.007637,-0.006481,0.498198
5,1,87040,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.243382,-0.083509,0.885675,0.861775,0.140711,-0.333618,0.355308
5,1,87040,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
5,1,87040,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
5,1,87040,30,gripper,0,"","put 7up can on carpet",-0.092199,-0.071034,0.940206,-0.148940,-0.751055,-0.152808,0.624806
5,1,87040,31,obj,0,"003_bread_1","put 7up can on carpet",-0.115479,0.074488,0.883544,0.924470,0.006460,-0.010886,0.381043
5,1,87040,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.090359,-0.052601,0.885636,0.885700,0.103889,-0.265093,0.366700
5,1,87040,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
5,1,87040,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000025
5,1,87040,31,gripper,0,"","put 7up can on carpet",-0.085787,-0.079643,0.956257,-0.349746,-0.650181,-0.299696,0.604255
5,1,87040,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.084999,0.074226,0.887304,0.735183,-0.022579,0.017078,0.677278
5,1,87040,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074995,0.878547,0.706686,0.007961,0.010867,0.707399
5,1,87040,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074914,0.871344,0.999999,-0.000157,0.001163,-0.000022
5,1,87040,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000000,0.000001,0.000000
5,1,87040,32,gripper,0,"","put carrot on sheet metal",-0.051773,0.077369,1.000033,0.339598,-0.631408,0.368044,0.592065
5,1,87040,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204880,0.081060,0.887171,0.368649,-0.023890,0.019662,0.929053
5,1,87040,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
5,1,87040,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
5,1,87040,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
5,1,87040,33,gripper,0,"","put carrot on sheet metal",-0.138597,0.085381,1.007612,0.178655,-0.673446,0.164407,0.698228
5,1,87040,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207336,-0.040688,0.887473,0.996210,-0.000446,0.020264,0.084580
5,1,87040,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013258,0.002051,0.000262
5,1,87040,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
5,1,87040,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
5,1,87040,34,gripper,0,"","put carrot on sheet metal",-0.055754,0.063908,0.996773,0.153665,-0.714041,0.024009,0.682610
5,1,87040,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236605,0.044742,0.887471,0.735875,-0.021711,0.024491,0.676326
5,1,87040,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084560,0.075006,0.878547,0.706773,0.007946,0.010848,0.707313
5,1,87040,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
5,1,87040,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
5,1,87040,35,gripper,0,"","put carrot on sheet metal",-0.025496,0.032438,1.013377,0.209671,-0.724520,0.089404,0.650473
5,1,87040,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088589,-0.048124,0.887509,0.356133,-0.021334,0.010137,0.934137
5,1,87040,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.045322,0.878547,0.382188,0.003192,0.013082,0.923986
5,1,87040,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000016
5,1,87040,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000000
5,1,87040,36,gripper,0,"","put carrot on flat bowl",-0.058331,-0.005103,0.985061,0.030774,-0.715418,0.087234,0.692546
5,1,87040,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234844,-0.038673,0.887649,0.356840,-0.043657,0.020147,0.932927
5,1,87040,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,0.075317,0.878547,0.382193,0.003178,0.013037,0.923985
5,1,87040,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
5,1,87040,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
5,1,87040,37,gripper,0,"","put carrot on flat bowl",-0.194742,-0.030824,0.954359,0.086934,-0.681008,0.059099,0.724691
5,1,87040,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087170,-0.071604,0.887344,0.911017,-0.010026,0.034827,0.410773
5,1,87040,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
5,1,87040,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,1,87040,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
5,1,87040,38,gripper,0,"","put carrot on flat bowl",-0.117186,0.006874,1.049881,-0.151939,-0.688564,-0.120849,0.698705
5,1,87040,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117054,-0.041940,0.887481,0.910898,-0.011108,0.022810,0.411851
5,1,87040,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204651,0.074684,0.878546,0.923980,0.011492,0.006969,0.382203
5,1,87040,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,1,87040,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
5,1,87040,39,gripper,0,"","put carrot on flat bowl",-0.143446,-0.083513,0.978247,-0.274887,-0.670845,-0.354340,0.590633
5,1,87040,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204155,0.076736,0.887529,0.918841,-0.016970,0.039750,0.392255
5,1,87040,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,0.074696,0.878547,0.923872,0.011511,0.006984,0.382464
5,1,87040,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000025
5,1,87040,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
5,1,87040,40,gripper,0,"","put banana on sheet metal",-0.037651,0.023415,0.997267,0.043636,-0.752544,0.005440,0.657073
5,1,87040,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087070,-0.071491,0.887503,0.910055,-0.018045,0.038163,0.412333
5,1,87040,41,obj,1,"013_banana_1","put banana on sheet metal",-0.204678,-0.075312,0.878547,0.923801,0.011496,0.006978,0.382636
5,1,87040,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
5,1,87040,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
5,1,87040,41,gripper,0,"","put banana on sheet metal",-0.178789,-0.019235,1.000348,-0.050567,-0.729488,-0.039083,0.681001
5,1,87040,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087616,-0.069841,0.887288,0.996615,0.003864,0.034284,0.074621
5,1,87040,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
5,1,87040,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
5,1,87040,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
5,1,87040,42,gripper,0,"","put banana on sheet metal",-0.056368,0.049739,0.983627,0.183886,-0.731831,0.100180,0.648516
5,1,87040,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117172,-0.045816,0.887395,0.741064,-0.018151,0.023904,0.670763
5,1,87040,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204569,0.075010,0.878547,0.707290,0.008007,0.010904,0.706794
5,1,87040,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
5,1,87040,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000165
5,1,87040,43,gripper,0,"","put banana on sheet metal",-0.083976,0.043924,1.159218,0.252504,-0.715696,0.117321,0.640512
5,1,87040,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118403,0.042332,0.887526,0.355097,-0.028106,0.009000,0.934364
5,1,87040,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013048,0.923966
5,1,87040,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
5,1,87040,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
5,1,87040,44,gripper,0,"","put banana on flat bowl",-0.175202,0.089732,0.980775,-0.278068,-0.617196,-0.287240,0.677673
5,1,87040,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086958,0.074533,0.887552,0.740227,-0.022949,0.022209,0.671598
5,1,87040,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.044989,0.878547,0.707042,0.007964,0.010862,0.707043
5,1,87040,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.074982,0.871344,0.999999,-0.000157,0.001164,-0.000045
5,1,87040,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
5,1,87040,45,gripper,0,"","put banana on flat bowl",-0.194300,-0.022117,0.969130,-0.135739,-0.651796,-0.144174,0.732087
5,1,87040,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236378,0.077219,0.887492,0.909963,-0.011506,0.022653,0.413911
5,1,87040,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
5,1,87040,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
5,1,87040,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
5,1,87040,46,gripper,0,"","put banana on flat bowl",-0.033983,-0.016953,0.993115,0.010460,-0.776957,-0.016651,0.629246
5,1,87040,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237476,-0.074839,0.887529,0.678482,-0.031727,0.029353,0.733344
5,1,87040,47,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075018,0.878547,0.707200,0.007956,0.010848,0.706886
5,1,87040,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
5,1,87040,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
5,1,87040,47,gripper,0,"","put banana on flat bowl",-0.061335,-0.026837,1.020408,-0.092655,-0.716368,-0.021431,0.691211
5,1,87040,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.204041,-0.073975,0.888112,0.999516,-0.023157,0.014904,-0.014475
5,1,87040,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055626,-0.074169,0.887027,0.704496,-0.017321,0.709495,0.001461
5,1,87040,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
5,1,87040,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
5,1,87040,48,gripper,0,"","put hamburger on frying pan",-0.177746,-0.044363,0.991145,-0.159904,-0.734249,-0.066128,0.656457
5,1,87040,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.122696,0.008171,0.891801,-0.089647,0.294275,0.940031,0.147332
5,1,87040,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
5,1,87040,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235012,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000186
5,1,87040,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085018,0.075035,0.870870,1.000000,0.000000,-0.000001,-0.000014
5,1,87040,49,gripper,0,"","put hamburger on frying pan",-0.069571,-0.063869,0.988002,-0.077953,-0.712294,-0.139705,0.683405
5,1,87040,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205311,-0.074963,0.888112,0.318556,-0.021260,-0.017511,0.947504
5,1,87040,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256214,0.064816,0.887026,0.267112,-0.662560,0.254352,0.651898
5,1,87040,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000049
5,1,87040,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
5,1,87040,50,gripper,0,"","put hamburger on frying pan",-0.071447,-0.001787,0.987476,-0.062115,-0.686050,-0.098351,0.718195
5,1,87040,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085951,-0.074383,0.888112,0.712513,-0.026875,-0.006006,0.701118
5,1,87040,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.255098,0.043140,0.894456,0.777673,-0.023772,0.010203,0.628136
5,1,87040,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234995,0.075005,0.872199,1.000000,-0.000000,-0.000001,0.000077
5,1,87040,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
5,1,87040,51,gripper,0,"","put hamburger on frying pan",-0.153548,0.076633,1.079352,0.099102,-0.715418,0.091901,0.685500
5,1,87040,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.114381,-0.044060,0.888112,0.999587,-0.023249,0.014762,-0.008264
5,1,87040,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175783,0.076004,0.887026,0.704492,-0.018373,0.709470,0.002505
5,1,87040,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
5,1,87040,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000015
5,1,87040,52,gripper,0,"","put hamburger on cutting board",-0.031048,0.072710,0.965086,0.071919,-0.768388,0.024464,0.635460
5,1,87040,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205196,-0.073914,0.888112,0.934043,-0.027030,0.005284,0.356097
5,1,87040,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.095055,0.096493,0.887026,0.649712,-0.288944,0.648225,0.272379
5,1,87040,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000006
5,1,87040,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000009
5,1,87040,53,gripper,0,"","put hamburger on cutting board",-0.225821,-0.165714,0.915175,-0.170139,-0.706813,-0.228553,0.647481
5,1,87040,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082157,-0.092358,0.890699,0.406629,-0.020668,-0.012741,0.913271
5,1,87040,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255856,-0.024925,0.887027,0.268842,-0.661886,0.256112,0.651181
5,1,87040,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
5,1,87040,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,-0.075008,0.870883,0.999999,0.000699,0.000713,-0.000008
5,1,87040,54,gripper,0,"","put hamburger on cutting board",-0.101137,-0.048962,1.058644,-0.022309,-0.743550,0.043665,0.666880
5,1,87040,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.227749,-0.041103,0.888112,0.997124,-0.022286,0.016185,-0.070601
5,1,87040,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107403,0.075321,0.888396,-0.722267,0.006165,0.691458,0.013350
5,1,87040,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
5,1,87040,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084705,0.075157,0.870870,0.999998,0.000000,-0.000001,-0.001861
5,1,87040,55,gripper,0,"","put hamburger on cutting board",-0.124170,-0.008972,1.021013,-0.030973,-0.735887,-0.125912,0.664572
5,1,87040,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086090,-0.045223,0.888112,0.400474,-0.022712,-0.015576,0.915894
5,1,87040,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256371,0.064903,0.887026,0.267474,-0.662422,0.254722,0.651745
5,1,87040,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
5,1,87040,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
5,1,87040,56,gripper,0,"","put plastic bottle on frying pan",-0.014137,0.104237,0.954516,0.153434,-0.764905,0.087760,0.619416
5,1,87040,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.232574,-0.074429,0.889010,0.907003,0.037999,0.066062,0.414171
5,1,87040,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215584,-0.087997,0.923463,0.388400,-0.268533,0.504986,0.722513
5,1,87040,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
5,1,87040,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.110889,0.051739,0.870870,0.998712,0.000000,-0.000000,-0.050742
5,1,87040,57,gripper,0,"","put plastic bottle on frying pan",-0.205248,-0.076838,0.958142,-0.028792,-0.723763,-0.003298,0.689440
5,1,87040,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206081,-0.075222,0.888112,0.387346,-0.022489,-0.015900,0.921523
5,1,87040,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.137943,0.093571,0.887307,0.264813,-0.628328,0.235700,0.692477
5,1,87040,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235706,0.045071,0.872199,0.999946,0.000000,-0.000001,-0.010372
5,1,87040,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
5,1,87040,58,gripper,0,"","put plastic bottle on frying pan",-0.118029,0.026251,0.966842,-0.065037,-0.756609,-0.016927,0.650404
5,1,87040,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.071602,0.080746,0.888112,0.662005,-0.026394,-0.007864,0.748993
5,1,87040,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235769,-0.045361,0.887026,0.497935,-0.513138,0.490286,0.498368
5,1,87040,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
5,1,87040,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000010
5,1,87040,59,gripper,0,"","put plastic bottle on frying pan",-0.085479,0.078680,0.955964,-0.021046,-0.807845,-0.043232,0.587431
5,1,87040,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.129885,0.079872,0.888112,0.999287,-0.022988,0.015167,-0.025830
5,1,87040,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085616,-0.044228,0.887026,0.704495,-0.017248,0.709498,0.001387
5,1,87040,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
5,1,87040,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000004
5,1,87040,60,gripper,0,"","put plastic bottle on cutting board",-0.140169,-0.022350,1.006363,-0.026308,-0.677912,-0.022433,0.734330
5,1,87040,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.104809,-0.050465,0.888112,0.997623,-0.022407,0.016018,-0.063162
5,1,87040,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.172623,-0.074005,0.887026,0.675206,0.187271,0.684555,-0.201025
5,1,87040,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
5,1,87040,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204992,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000004
5,1,87040,61,gripper,0,"","put plastic bottle on cutting board",-0.160242,-0.055731,0.979270,0.064882,-0.774432,-0.023880,0.628868
5,1,87040,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116108,0.044739,0.888112,0.386899,-0.022483,-0.015912,0.921711
5,1,87040,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.226364,-0.054985,0.887026,0.266559,-0.662778,0.253792,0.652121
5,1,87040,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
5,1,87040,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
5,1,87040,62,gripper,0,"","put plastic bottle on cutting board",-0.139925,-0.041534,1.041418,-0.098683,-0.702537,-0.055752,0.702563
5,1,87040,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236107,0.044777,0.888113,0.388054,-0.022499,-0.015886,0.921225
5,1,87040,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.107883,-0.051556,0.887026,0.243130,-0.671410,0.229991,0.661211
5,1,87040,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.207344,-0.075542,0.872199,0.999836,-0.000001,-0.000001,0.018117
5,1,87040,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
5,1,87040,63,gripper,0,"","put plastic bottle on cutting board",-0.149286,-0.045195,0.957700,0.119353,-0.675171,0.159226,0.710314
5,2,92160,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.006355,-0.041504,0.878982,-0.741727,0.130600,-0.637885,-0.160894
5,2,92160,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.187317,-0.066299,0.881680,0.885054,0.025091,-0.056272,0.461392
5,2,92160,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000049
5,2,92160,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235069,0.045074,0.871288,0.999999,-0.000154,-0.001019,-0.000517
5,2,92160,0,gripper,0,"","put ketchup bottle on cloth",-0.201378,-0.073715,0.935314,-0.043859,-0.736490,0.005064,0.675006
5,2,92160,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.228088,0.077003,0.879373,0.960495,0.004149,0.278213,0.005443
5,2,92160,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085960,0.075119,0.881638,0.999226,-0.004457,-0.039084,-0.000304
5,2,92160,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000001
5,2,92160,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
5,2,92160,1,gripper,0,"","put ketchup bottle on cloth",-0.221294,0.094257,0.952214,0.134547,-0.724546,0.175880,0.652684
5,2,92160,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.147243,0.059303,0.884335,0.692494,0.389407,-0.244254,0.556016
5,2,92160,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.092731,-0.074150,0.887369,0.648319,0.017013,-0.029907,0.760591
5,2,92160,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085003,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000013
5,2,92160,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001018,-0.002125
5,2,92160,2,gripper,0,"","put ketchup bottle on cloth",-0.158550,0.053333,0.986903,0.072660,-0.700576,0.022589,0.709510
5,2,92160,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.167049,-0.077232,0.885209,-0.270112,0.235564,0.931135,0.067352
5,2,92160,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235945,0.075111,0.881638,0.999225,-0.004444,-0.039118,-0.000046
5,2,92160,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.201242,-0.083061,0.869532,0.999634,-0.000000,-0.000000,0.027050
5,2,92160,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
5,2,92160,3,gripper,0,"","put ketchup bottle on cloth",-0.176645,-0.097324,0.950460,-0.018579,-0.853021,-0.017295,0.521259
5,2,92160,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078003,0.089645,0.884978,0.658621,-0.316979,0.568736,0.377203
5,2,92160,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085113,-0.045975,0.881637,0.706786,0.024483,-0.030786,0.706333
5,2,92160,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,2,92160,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.233153,0.043694,0.871288,0.999912,-0.000141,-0.001030,0.013215
5,2,92160,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.231495,0.031559,0.923024,-0.082489,-0.748971,-0.091288,0.651079
5,2,92160,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.170431,-0.017685,0.885084,0.533764,0.368267,-0.279760,0.707961
5,2,92160,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.232075,0.076492,0.881641,0.999153,-0.004093,0.039953,-0.008896
5,2,92160,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.200510,-0.042770,0.869532,0.994602,0.000000,-0.000000,0.103764
5,2,92160,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
5,2,92160,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.225993,0.038399,0.923374,0.119486,-0.750947,0.090831,0.643080
5,2,92160,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.175102,0.099861,0.885085,0.674727,0.298928,-0.353355,0.574913
5,2,92160,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.114391,-0.075714,0.881638,0.382361,0.034432,-0.019074,0.923174
5,2,92160,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203037,0.074478,0.869532,0.999999,-0.000000,-0.000001,-0.001408
5,2,92160,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235474,-0.046577,0.871288,0.999984,-0.000148,-0.001020,0.005554
5,2,92160,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.221346,-0.090237,0.956024,0.013648,-0.821877,-0.040134,0.568085
5,2,92160,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.042301,0.110329,0.885210,-0.218713,-0.591195,0.757013,-0.172002
5,2,92160,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
5,2,92160,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074989,0.869532,1.000000,-0.000000,-0.000000,-0.000084
5,2,92160,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205048,-0.075020,0.871282,0.999999,-0.000451,-0.001265,0.000391
5,2,92160,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.267839,-0.012840,0.914027,-0.047724,-0.672767,-0.066047,0.735354
5,2,92160,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.063797,0.030174,0.885123,0.484016,0.498980,-0.590702,0.409656
5,2,92160,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.082405,-0.073658,0.881638,0.360618,0.034874,-0.018263,0.931883
5,2,92160,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.096405,0.038624,0.869536,0.998573,-0.000034,0.000060,0.053405
5,2,92160,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.172401,-0.054657,0.871289,0.999927,-0.000146,-0.001021,0.012075
5,2,92160,8,gripper,0,"","put kitchen shovel on cloth",-0.216694,0.035522,0.947019,-0.015375,-0.766498,-0.039675,0.640835
5,2,92160,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.169601,-0.019581,0.885371,0.710130,-0.183385,0.209862,0.646563
5,2,92160,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.175114,0.087856,0.884390,0.754259,0.012063,-0.044803,0.654935
5,2,92160,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.044991,0.869532,1.000000,0.000000,-0.000001,-0.000031
5,2,92160,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000019
5,2,92160,9,gripper,0,"","put kitchen shovel on cloth",-0.218884,-0.028330,0.948451,-0.127710,-0.776401,-0.124583,0.604459
5,2,92160,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.175220,0.087109,0.879212,-0.276889,0.100247,0.955245,0.028109
5,2,92160,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084633,-0.075726,0.883728,0.999184,0.030368,0.026613,-0.000486
5,2,92160,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000004
5,2,92160,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.115036,0.045002,0.871282,0.999999,-0.000450,-0.001264,0.000122
5,2,92160,10,gripper,0,"","put kitchen shovel on cloth",-0.176279,0.098694,0.941355,0.176621,-0.714893,0.127315,0.664473
5,2,92160,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.087461,-0.081978,0.885209,0.160089,0.783833,-0.555107,0.227670
5,2,92160,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.190048,-0.204144,0.881638,0.349818,0.035055,-0.017850,0.935991
5,2,92160,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084995,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000006
5,2,92160,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
5,2,92160,11,gripper,0,"","put kitchen shovel on cloth",-0.198404,-0.004519,0.946258,0.092752,-0.718752,0.012391,0.688941
5,2,92160,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085015,-0.084702,0.879088,0.626264,0.326532,-0.328348,0.627182
5,2,92160,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.199663,0.080704,0.889778,0.860453,0.018236,-0.076615,0.503406
5,2,92160,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,2,92160,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.197675,0.083992,0.871288,0.999952,-0.000163,-0.001018,-0.009735
5,2,92160,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.228250,-0.130098,0.914891,-0.066506,-0.754872,-0.049667,0.650598
5,2,92160,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.109123,-0.071560,0.884978,0.442547,-0.524511,0.385792,0.616608
5,2,92160,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.062706,0.034096,0.881638,0.434898,0.033258,-0.021017,0.899620
5,2,92160,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.113934,-0.075966,0.869532,0.999752,-0.000000,-0.000000,-0.022257
5,2,92160,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205017,0.075024,0.871282,0.999999,-0.000451,-0.001265,0.000057
5,2,92160,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.165563,-0.050274,1.091756,0.024806,-0.751254,-0.015125,0.659373
5,2,92160,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.133148,0.002796,0.880393,0.114023,0.672756,-0.116933,0.721613
5,2,92160,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.104401,0.041473,0.886625,0.791860,-0.010305,-0.040714,0.609257
5,2,92160,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085075,-0.074989,0.869532,0.999998,0.000000,-0.000000,0.002046
5,2,92160,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084995,0.075005,0.871288,0.999999,-0.000153,-0.001018,0.000034
5,2,92160,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.187592,-0.013578,0.914177,-0.041520,-0.774181,-0.050916,0.629546
5,2,92160,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.149704,-0.020626,0.933249,0.695896,0.379550,-0.246005,0.557810
5,2,92160,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.236294,0.084030,0.881638,0.423593,0.033516,-0.020601,0.904998
5,2,92160,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000005
5,2,92160,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
5,2,92160,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.146900,-0.026300,0.971227,0.093455,-0.715012,-0.003949,0.692826
5,2,92160,16,obj,0,"003_bread_1","put bread on carpet",-0.084473,0.074532,0.883544,0.383666,0.012268,-0.003117,0.923385
5,2,92160,16,obj,1,"005_7up can_1","put bread on carpet",-0.194244,-0.041595,0.886964,0.625576,-0.158815,0.170609,0.744530
5,2,92160,16,recep,0,"004_newspaper_1","put bread on carpet",-0.235008,-0.074944,0.869490,0.999999,0.000191,0.000891,0.000779
5,2,92160,16,recep,1,"003_carpet_1","put bread on carpet",-0.205009,0.044998,0.870441,0.999999,-0.000676,-0.001047,0.000003
5,2,92160,16,gripper,0,"","put bread on carpet",-0.042130,0.080193,0.964544,-0.016516,-0.768829,-0.033490,0.638363
5,2,92160,17,obj,0,"003_bread_1","put bread on carpet",-0.202499,0.073391,0.883544,0.715499,0.010053,-0.007688,0.698499
5,2,92160,17,obj,1,"005_7up can_1","put bread on carpet",-0.235630,-0.048290,0.885588,0.717497,0.094017,-0.090708,0.684201
5,2,92160,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,0.044998,0.869490,1.000000,0.000179,0.000874,0.000031
5,2,92160,17,recep,1,"003_carpet_1","put bread on carpet",-0.115005,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000077
5,2,92160,17,gripper,0,"","put bread on carpet",-0.073551,0.020218,0.993667,0.014295,-0.739281,0.039301,0.672098
5,2,92160,18,obj,0,"003_bread_1","put bread on carpet",-0.085129,0.074444,0.883544,0.709064,0.010121,-0.007602,0.705030
5,2,92160,18,obj,1,"005_7up can_1","put bread on carpet",-0.153393,-0.038246,0.886649,0.775249,0.078581,-0.061756,0.623698
5,2,92160,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205032,-0.075008,0.869490,1.000000,0.000180,0.000876,-0.000306
5,2,92160,18,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
5,2,92160,18,gripper,0,"","put bread on carpet",0.010420,0.056015,0.916314,0.072675,-0.773149,0.038010,0.628899
5,2,92160,19,obj,0,"003_bread_1","put bread on carpet",-0.204477,-0.075478,0.883544,0.383700,0.012265,-0.003128,0.923371
5,2,92160,19,obj,1,"005_7up can_1","put bread on carpet",-0.201611,0.049004,0.888669,0.509428,-0.480962,0.540285,0.466101
5,2,92160,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114988,0.075001,0.869490,1.000000,0.000180,0.000874,0.000034
5,2,92160,19,recep,1,"003_carpet_1","put bread on carpet",-0.235025,0.044998,0.870461,1.000000,0.000019,-0.000158,-0.000082
5,2,92160,19,gripper,0,"","put bread on carpet",-0.082750,0.031109,1.158255,0.059494,-0.813968,0.120881,0.565070
5,2,92160,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.225852,-0.016754,0.886587,0.337492,0.014768,-0.001660,0.941211
5,2,92160,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.108716,-0.083401,0.885629,0.427238,0.206283,-0.106727,0.873799
5,2,92160,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
5,2,92160,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235006,-0.044994,0.870446,0.999999,-0.000726,-0.001046,0.000037
5,2,92160,20,gripper,0,"","put 7up can on newspaper",-0.118411,-0.085001,0.933377,-0.029700,-0.738033,0.009837,0.674038
5,2,92160,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.085514,0.075104,0.883544,0.999917,0.001787,-0.012532,-0.002286
5,2,92160,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242596,-0.074837,0.885626,0.972474,-0.005066,-0.232955,0.001146
5,2,92160,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205118,0.045067,0.869489,0.999999,0.000547,0.001424,-0.000157
5,2,92160,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115040,-0.044884,0.871110,0.999983,0.000057,0.005816,0.000454
5,2,92160,21,gripper,0,"","put 7up can on newspaper",-0.022803,0.098806,0.972113,0.225484,-0.703729,0.159624,0.654555
5,2,92160,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.234478,0.074680,0.883544,0.381873,0.012274,-0.003099,0.924128
5,2,92160,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.093674,0.096153,0.885795,0.373349,-0.508103,0.255023,0.733079
5,2,92160,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
5,2,92160,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
5,2,92160,22,gripper,0,"","put 7up can on newspaper",-0.104828,0.084860,0.977422,-0.103952,-0.769735,-0.100734,0.621735
5,2,92160,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.082508,0.090721,0.886259,0.997725,0.003949,0.005166,0.067098
5,2,92160,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.248997,-0.073418,0.885687,0.828519,0.173891,-0.363681,0.388657
5,2,92160,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084980,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000051
5,2,92160,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000130
5,2,92160,23,gripper,0,"","put 7up can on newspaper",-0.079941,0.071123,1.086186,0.093812,-0.775937,0.063495,0.620556
5,2,92160,24,obj,0,"003_bread_1","put 7up can on carpet",-0.085495,0.044489,0.883544,0.924357,0.006461,-0.010886,0.381317
5,2,92160,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.120819,-0.056490,0.889116,0.092530,-0.591985,0.797953,0.065300
5,2,92160,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.210823,0.072847,0.869490,0.998835,0.000221,0.000864,-0.048238
5,2,92160,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,-0.075003,0.870447,0.999999,-0.000923,-0.000847,0.000605
5,2,92160,24,gripper,0,"","put 7up can on carpet",-0.151962,0.052151,1.126118,0.051308,-0.801104,0.118490,0.584432
5,2,92160,25,obj,0,"003_bread_1","put 7up can on carpet",-0.079235,-0.020039,0.884698,0.995505,0.038213,-0.004189,0.086551
5,2,92160,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.212852,0.075535,0.885627,0.972450,-0.004268,-0.233031,0.004478
5,2,92160,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000040
5,2,92160,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.045027,0.870461,1.000000,0.000019,-0.000158,-0.000030
5,2,92160,25,gripper,0,"","put 7up can on carpet",-0.087591,-0.029548,0.992717,-0.173561,-0.686235,-0.297846,0.640504
5,2,92160,26,obj,0,"003_bread_1","put 7up can on carpet",-0.200573,-0.059668,0.883544,0.680904,0.010405,-0.007198,0.732263
5,2,92160,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.112103,-0.008129,0.886770,-0.381483,0.624333,-0.558461,-0.390897
5,2,92160,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085037,-0.075050,0.869490,1.000000,0.000180,0.000873,-0.000056
5,2,92160,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.114689,0.045391,0.870462,1.000000,0.000034,-0.000158,-0.000307
5,2,92160,26,gripper,0,"","put 7up can on carpet",-0.186247,-0.061252,0.948464,0.066495,-0.709332,0.027459,0.701194
5,2,92160,27,obj,0,"003_bread_1","put 7up can on carpet",-0.235481,0.074490,0.883544,0.924402,0.006459,-0.010886,0.381210
5,2,92160,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.194584,-0.049208,0.888632,0.617579,-0.300564,0.272755,0.673693
5,2,92160,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
5,2,92160,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.205000,-0.044987,0.870404,1.000000,0.000065,-0.000720,-0.000513
5,2,92160,27,gripper,0,"","put 7up can on carpet",-0.158184,-0.033276,1.020262,-0.011760,-0.666700,-0.051951,0.743421
5,2,92160,28,obj,0,"003_bread_1","put bread on newspaper",-0.087554,0.077042,0.886629,0.915275,0.008145,-0.008099,0.402665
5,2,92160,28,obj,1,"005_7up can_1","put bread on newspaper",-0.146863,-0.062025,0.885886,0.496830,0.256547,-0.812842,0.163192
5,2,92160,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000001
5,2,92160,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085001,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000014
5,2,92160,28,gripper,0,"","put bread on newspaper",-0.077359,-0.098516,0.968486,0.130910,-0.712177,0.067848,0.686340
5,2,92160,29,obj,0,"003_bread_1","put bread on newspaper",-0.224344,-0.090391,0.883615,0.997440,0.001702,-0.018453,-0.069067
5,2,92160,29,obj,1,"005_7up can_1","put bread on newspaper",-0.092604,0.075182,0.885627,0.972472,-0.005084,-0.232961,0.001080
5,2,92160,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.114815,-0.045080,0.870501,0.999952,0.009619,0.001370,-0.001479
5,2,92160,29,recep,1,"003_carpet_1","put bread on newspaper",-0.205114,0.045073,0.870461,1.000000,0.000019,-0.000158,-0.000498
5,2,92160,29,gripper,0,"","put bread on newspaper",-0.246204,-0.110487,0.939931,0.046614,-0.715865,0.055596,0.694459
5,2,92160,30,obj,0,"003_bread_1","put bread on newspaper",-0.088242,-0.069592,0.883544,0.869037,0.007780,-0.009988,0.494585
5,2,92160,30,obj,1,"005_7up can_1","put bread on newspaper",-0.223866,0.003901,0.885957,0.311665,-0.521976,0.767289,0.204141
5,2,92160,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235287,0.076239,0.869490,0.999999,0.000181,0.000874,-0.000967
5,2,92160,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
5,2,92160,30,gripper,0,"","put bread on newspaper",-0.234041,-0.029148,0.942919,0.137725,-0.739089,0.092602,0.652843
5,2,92160,31,obj,0,"003_bread_1","put bread on newspaper",-0.115479,0.074488,0.883544,0.924578,0.006458,-0.010887,0.380782
5,2,92160,31,obj,1,"005_7up can_1","put bread on newspaper",-0.175056,-0.032812,0.887499,0.719452,0.273520,-0.328297,0.547537
5,2,92160,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.205090,-0.075075,0.869490,0.999999,0.000180,0.000874,0.000876
5,2,92160,31,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000045
5,2,92160,31,gripper,0,"","put bread on newspaper",-0.096750,-0.046201,1.018111,-0.045247,-0.716182,0.014253,0.696299
5,2,92160,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086708,0.073674,0.887555,0.741361,-0.019485,0.024779,0.670365
5,2,92160,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074995,0.878547,0.706697,0.007937,0.010838,0.707389
5,2,92160,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074914,0.871344,0.999999,-0.000158,0.001163,-0.000022
5,2,92160,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
5,2,92160,32,gripper,0,"","put carrot on flat bowl",-0.072163,0.069951,0.993713,0.162222,-0.720498,0.016765,0.674008
5,2,92160,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204880,0.081060,0.887171,0.368650,-0.023890,0.019661,0.929053
5,2,92160,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
5,2,92160,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001163,0.000000
5,2,92160,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
5,2,92160,33,gripper,0,"","put carrot on flat bowl",-0.109407,0.033505,1.043320,0.081345,-0.672541,0.072051,0.732038
5,2,92160,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208210,-0.038283,0.887485,0.996350,-0.003071,0.023619,0.081975
5,2,92160,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013278,0.002053,0.000262
5,2,92160,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
5,2,92160,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
5,2,92160,34,gripper,0,"","put carrot on flat bowl",-0.044538,0.105000,1.013951,-0.035473,-0.760570,-0.005696,0.648262
5,2,92160,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240599,0.043945,0.887538,0.745325,-0.024967,0.026299,0.665714
5,2,92160,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084560,0.075006,0.878547,0.706785,0.007968,0.010874,0.707300
5,2,92160,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
5,2,92160,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
5,2,92160,35,gripper,0,"","put carrot on flat bowl",-0.202689,0.052168,0.994274,0.094808,-0.678511,0.037200,0.727496
5,2,92160,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091277,-0.052044,0.887098,0.374585,-0.020381,0.020441,0.926743
5,2,92160,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234689,0.045321,0.878547,0.382188,0.003188,0.013070,0.923986
5,2,92160,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000016
5,2,92160,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,0.000001
5,2,92160,36,gripper,0,"","put banana on sheet metal",-0.032648,-0.038570,1.008931,-0.170289,-0.699827,-0.119080,0.683421
5,2,92160,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234793,-0.038873,0.887529,0.357064,-0.040370,0.015447,0.933079
5,2,92160,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084686,0.075317,0.878547,0.382193,0.003181,0.013048,0.923985
5,2,92160,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
5,2,92160,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
5,2,92160,37,gripper,0,"","put banana on sheet metal",-0.095467,-0.022414,1.017723,-0.089198,-0.706448,-0.105591,0.694137
5,2,92160,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091125,-0.070103,0.887323,0.916838,-0.003458,0.014009,0.398999
5,2,92160,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
5,2,92160,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,2,92160,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
5,2,92160,38,gripper,0,"","put banana on sheet metal",-0.203112,-0.022715,1.005347,-0.172338,-0.698394,-0.047626,0.693020
5,2,92160,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120056,-0.040065,0.887406,0.918282,-0.016623,0.031374,0.394331
5,2,92160,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204651,0.074684,0.878546,0.923980,0.011489,0.006967,0.382204
5,2,92160,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,2,92160,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
5,2,92160,39,gripper,0,"","put banana on sheet metal",-0.019018,0.062543,1.014626,-0.102490,-0.714899,-0.060344,0.689038
5,2,92160,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204155,0.076736,0.887529,0.918850,-0.016969,0.039750,0.392232
5,2,92160,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,0.074696,0.878547,0.924055,0.011492,0.006967,0.382024
5,2,92160,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074974,0.871344,0.999999,-0.000157,0.001164,-0.000050
5,2,92160,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
5,2,92160,40,gripper,0,"","put banana on flat bowl",-0.047604,-0.040060,0.991792,-0.211296,-0.708084,-0.199186,0.643658
5,2,92160,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090816,-0.069616,0.887508,0.916704,-0.010119,0.026217,0.398578
5,2,92160,41,obj,1,"013_banana_1","put banana on flat bowl",-0.204670,-0.075312,0.878547,0.923971,0.011484,0.006966,0.382226
5,2,92160,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
5,2,92160,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
5,2,92160,41,gripper,0,"","put banana on flat bowl",-0.162418,-0.026071,0.974062,-0.217853,-0.696988,-0.129600,0.670784
5,2,92160,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088287,-0.068514,0.887297,0.996871,0.003843,0.034530,0.070996
5,2,92160,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
5,2,92160,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
5,2,92160,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
5,2,92160,42,gripper,0,"","put banana on flat bowl",-0.154676,0.079038,1.016026,0.105077,-0.700961,0.098056,0.698568
5,2,92160,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120277,-0.046551,0.887561,0.751064,-0.020248,0.026313,0.659395
5,2,92160,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,0.075012,0.878547,0.707506,0.007997,0.010887,0.706579
5,2,92160,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
5,2,92160,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000323
5,2,92160,43,gripper,0,"","put banana on flat bowl",-0.149661,0.096280,0.994455,0.156851,-0.716815,0.179705,0.655195
5,2,92160,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120348,0.039639,0.887478,0.363628,-0.038876,0.013667,0.930632
5,2,92160,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013047,0.923966
5,2,92160,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
5,2,92160,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
5,2,92160,44,gripper,0,"","put carrot on sheet metal",-0.052685,-0.006925,1.025829,-0.050990,-0.698389,-0.005332,0.713879
5,2,92160,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090851,0.073885,0.887545,0.751531,-0.022712,0.023428,0.658891
5,2,92160,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.044987,0.878547,0.707294,0.007949,0.010836,0.706792
5,2,92160,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.074961,0.871344,0.999999,-0.000157,0.001163,-0.000093
5,2,92160,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
5,2,92160,45,gripper,0,"","put carrot on sheet metal",-0.054460,0.044182,0.997364,0.008347,-0.702476,-0.051603,0.709785
5,2,92160,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240082,0.078983,0.887531,0.915292,-0.003876,0.017420,0.402395
5,2,92160,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
5,2,92160,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
5,2,92160,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
5,2,92160,46,gripper,0,"","put carrot on sheet metal",-0.169991,-0.011688,0.983813,0.000526,-0.727324,0.061673,0.683518
5,2,92160,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237423,-0.074924,0.887529,0.675827,-0.031825,0.029228,0.735792
5,2,92160,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.204556,0.075022,0.878547,0.707560,0.007961,0.010843,0.706525
5,2,92160,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
5,2,92160,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000001,0.000103
5,2,92160,47,gripper,0,"","put carrot on sheet metal",-0.215652,-0.065469,0.947727,0.127205,-0.717044,0.214718,0.650817
5,2,92160,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.181038,0.061794,0.890555,0.992171,-0.023438,0.020160,-0.120999
5,2,92160,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055626,-0.074169,0.887027,0.704496,-0.017308,0.709495,0.001447
5,2,92160,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
5,2,92160,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,0.074978,0.870883,0.999999,0.000700,0.000711,0.000246
5,2,92160,48,gripper,0,"","put hamburger on cutting board",-0.160900,0.041023,1.109735,0.023417,-0.722470,-0.000759,0.691005
5,2,92160,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.122658,0.008179,0.891801,-0.086536,0.313930,0.933653,0.149168
5,2,92160,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251350,0.119591,0.889793,-0.047922,-0.926623,0.366099,-0.071020
5,2,92160,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235012,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000186
5,2,92160,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085018,0.075035,0.870870,1.000000,0.000000,-0.000000,-0.000023
5,2,92160,49,gripper,0,"","put hamburger on cutting board",-0.004208,0.107265,0.952339,0.017357,-0.816658,0.019366,0.576535
5,2,92160,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.080532,0.036106,0.890768,0.416263,-0.027433,0.026377,0.908448
5,2,92160,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256214,0.064816,0.887026,0.267121,-0.662555,0.254359,0.651897
5,2,92160,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000127
5,2,92160,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,0.075024,0.870883,1.000000,0.000701,0.000714,0.000024
5,2,92160,50,gripper,0,"","put hamburger on cutting board",-0.081041,0.047888,1.142313,0.015315,-0.718434,0.041585,0.694182
5,2,92160,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065166,0.043488,0.890497,0.817979,-0.028017,0.000708,0.574565
5,2,92160,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255098,0.043289,0.894455,0.777803,-0.023725,0.010162,0.627978
5,2,92160,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234995,0.075005,0.872199,1.000000,-0.000000,-0.000001,0.000082
5,2,92160,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114996,0.045006,0.870883,1.000000,0.000700,0.000713,0.000078
5,2,92160,51,gripper,0,"","put hamburger on cutting board",-0.005110,-0.037199,1.010432,0.020865,-0.747050,0.026421,0.663914
5,2,92160,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.176209,0.046833,0.920335,0.886701,0.149002,-0.032770,-0.436447
5,2,92160,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.173366,0.100559,0.887062,0.724224,-0.083920,0.679441,0.082570
5,2,92160,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
5,2,92160,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000015
5,2,92160,52,gripper,0,"","put plastic bottle on frying pan",-0.173589,0.051241,0.949263,0.166784,-0.661602,0.226821,0.694995
5,2,92160,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205162,-0.073921,0.888112,0.942753,-0.026886,0.005968,0.332353
5,2,92160,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.117689,0.094608,0.937662,0.565368,-0.424927,0.565285,0.424558
5,2,92160,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000020
5,2,92160,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085005,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000017
5,2,92160,53,gripper,0,"","put plastic bottle on frying pan",-0.101254,0.088789,0.970073,0.123369,-0.774642,0.092694,0.613284
5,2,92160,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.077560,-0.070473,0.891084,0.192099,0.044161,-0.028181,0.979976
5,2,92160,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.255856,-0.024925,0.887027,0.268791,-0.661907,0.256060,0.651202
5,2,92160,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
5,2,92160,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.119999,-0.057915,0.870883,0.999674,0.000681,0.000731,0.025498
5,2,92160,54,gripper,0,"","put plastic bottle on frying pan",-0.101681,-0.036404,0.940658,0.100800,-0.717916,0.092929,0.682496
5,2,92160,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.227745,-0.041107,0.888112,0.997005,-0.022259,0.016222,-0.072267
5,2,92160,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.040005,0.086739,0.888514,-0.754941,-0.068186,0.648545,-0.069312
5,2,92160,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
5,2,92160,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.021046,0.085480,0.870820,0.996255,-0.000039,0.000854,0.086453
5,2,92160,55,gripper,0,"","put plastic bottle on frying pan",-0.040646,0.070650,0.953692,-0.027962,-0.765392,-0.101126,0.634954
5,2,92160,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.087624,-0.042603,0.889463,0.415148,-0.086812,0.030452,0.905091
5,2,92160,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.438675,0.359863,0.017292,-0.999747,0.011011,-0.019560,-0.001559
5,2,92160,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
5,2,92160,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000006
5,2,92160,56,gripper,0,"","put plastic bottle on cutting board",-0.084679,-0.064117,0.951602,0.071305,-0.754940,0.029720,0.651228
5,2,92160,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235561,-0.073456,0.888112,0.907580,-0.027329,0.003431,0.418975
5,2,92160,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209789,-0.123642,0.886092,0.353643,-0.022192,-0.003346,0.935111
5,2,92160,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
5,2,92160,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.110889,0.051739,0.870870,0.998713,0.000000,-0.000001,-0.050718
5,2,92160,57,gripper,0,"","put plastic bottle on cutting board",-0.028101,0.019451,0.987539,0.273945,-0.695587,-0.165370,0.643246
5,2,92160,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206081,-0.075222,0.888112,0.386146,-0.022468,-0.015930,0.922026
5,2,92160,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.141136,0.098034,0.887210,0.234505,-0.650077,0.216872,0.689473
5,2,92160,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235828,0.045055,0.872199,0.999946,0.000000,-0.000001,-0.010415
5,2,92160,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
5,2,92160,58,gripper,0,"","put plastic bottle on cutting board",-0.005091,0.031931,0.966683,-0.139076,-0.793201,-0.092131,0.585663
5,2,92160,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.071602,0.080746,0.888112,0.661637,-0.026390,-0.007875,0.749319
5,2,92160,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235769,-0.045361,0.887026,0.497970,-0.513103,0.490321,0.498333
5,2,92160,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
5,2,92160,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115004,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000020
5,2,92160,59,gripper,0,"","put plastic bottle on cutting board",-0.084580,-0.040184,0.991377,-0.073074,-0.719605,-0.047003,0.688926
5,2,92160,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.129885,0.079872,0.888112,0.999287,-0.022988,0.015167,-0.025830
5,2,92160,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.101142,-0.045551,0.887027,0.700300,-0.093085,0.703576,0.076780
5,2,92160,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
5,2,92160,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000004
5,2,92160,60,gripper,0,"","put hamburger on frying pan",-0.076780,-0.013660,1.029116,0.074330,-0.706973,0.052858,0.701334
5,2,92160,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.103811,-0.051159,0.888112,0.997694,-0.022421,0.015992,-0.062028
5,2,92160,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.166246,-0.075935,0.894103,0.649842,0.092175,0.708528,-0.259225
5,2,92160,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
5,2,92160,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204992,0.074993,0.870870,1.000000,0.000002,0.000002,0.000004
5,2,92160,61,gripper,0,"","put hamburger on frying pan",-0.133426,-0.051588,0.941223,-0.047021,-0.722932,-0.005023,0.689299
5,2,92160,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116108,0.044735,0.888112,0.385407,-0.022456,-0.015948,0.922336
5,2,92160,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.226364,-0.054905,0.887026,0.266792,-0.662687,0.254028,0.652026
5,2,92160,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
5,2,92160,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
5,2,92160,62,gripper,0,"","put hamburger on frying pan",-0.176023,-0.051210,0.986476,-0.091258,-0.742113,-0.104687,0.655730
5,2,92160,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236107,0.044777,0.888113,0.386868,-0.022480,-0.015913,0.921724
5,2,92160,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.116627,-0.049107,0.887026,0.167102,-0.693043,0.152898,0.684391
5,2,92160,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.207344,-0.075542,0.872199,0.999836,0.000000,-0.000000,0.018098
5,2,92160,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000026
5,2,92160,63,gripper,0,"","put hamburger on frying pan",-0.095184,-0.022034,0.986023,-0.036666,-0.747080,-0.075400,0.659425
5,3,97280,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.006638,-0.041901,0.878982,-0.742108,0.129234,-0.638116,-0.159320
5,3,97280,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.187401,-0.065872,0.881638,0.885116,0.014216,-0.036710,0.463703
5,3,97280,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000030
5,3,97280,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235069,0.045074,0.871288,0.999999,-0.000154,-0.001019,-0.000511
5,3,97280,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.097710,-0.059467,0.943279,0.013031,-0.759707,0.015643,0.649947
5,3,97280,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.176998,0.079765,0.879747,-0.095305,0.162773,0.982006,0.009232
5,3,97280,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085960,0.075119,0.881638,0.999226,-0.004459,-0.039089,-0.000338
5,3,97280,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000007
5,3,97280,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
5,3,97280,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.188702,0.094360,0.927023,0.098454,-0.728985,0.044945,0.675920
5,3,97280,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.113270,0.000381,0.879380,-0.422365,-0.438190,0.246638,-0.754167
5,3,97280,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.092770,-0.072548,0.887364,0.648168,-0.037466,0.016632,0.760393
5,3,97280,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084980,-0.075005,0.869532,1.000000,-0.000001,0.000001,0.000239
5,3,97280,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.186501,0.047035,0.871288,0.997759,-0.000217,-0.001008,-0.066902
5,3,97280,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.200027,0.027126,0.921531,-0.006369,-0.763709,-0.047176,0.643803
5,3,97280,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.167494,-0.077347,0.885209,-0.269650,0.240288,0.929962,0.068715
5,3,97280,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.219885,0.074852,0.881638,0.996996,-0.007044,-0.038705,-0.066715
5,3,97280,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.201338,-0.083382,0.869532,0.999706,-0.000000,-0.000001,0.024234
5,3,97280,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000010
5,3,97280,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.227573,0.012383,0.930778,0.027594,-0.739144,-0.035854,0.672026
5,3,97280,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078003,0.089645,0.884978,0.658612,-0.316984,0.568747,0.377199
5,3,97280,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085113,-0.045975,0.881637,0.706786,0.024487,-0.030789,0.706333
5,3,97280,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
5,3,97280,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.225888,0.046944,0.871288,0.998987,-0.000108,-0.001024,0.044993
5,3,97280,4,gripper,0,"","put kitchen shovel on cloth",-0.228152,-0.107597,0.925990,0.072917,-0.736501,0.059262,0.669879
5,3,97280,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.169340,-0.022682,0.885083,0.554650,0.359707,-0.290561,0.691772
5,3,97280,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.156477,0.101562,0.881641,0.943325,-0.016566,-0.033918,-0.329717
5,3,97280,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.198244,-0.044151,0.869532,0.998674,0.000000,-0.000000,0.051484
5,3,97280,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
5,3,97280,5,gripper,0,"","put kitchen shovel on cloth",-0.199526,0.050308,0.923138,-0.010945,-0.810547,-0.037244,0.584386
5,3,97280,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.175079,0.099846,0.885084,0.674777,0.298918,-0.353425,0.574817
5,3,97280,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.114391,-0.075714,0.881638,0.382283,0.034437,-0.019073,0.923206
5,3,97280,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.203037,0.074478,0.869532,0.999999,0.000001,-0.000002,-0.001393
5,3,97280,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235477,-0.046577,0.871288,0.999985,-0.000148,-0.001020,0.005466
5,3,97280,6,gripper,0,"","put kitchen shovel on cloth",-0.192875,0.112953,0.953656,0.143269,-0.745247,0.129491,0.638211
5,3,97280,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.042274,0.110435,0.885209,-0.217625,-0.596136,0.753108,-0.173460
5,3,97280,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
5,3,97280,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074989,0.869532,1.000000,0.000000,-0.000001,-0.000206
5,3,97280,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205051,-0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000402
5,3,97280,7,gripper,0,"","put kitchen shovel on cloth",-0.236166,0.046257,0.914178,0.120498,-0.688945,0.071269,0.711165
5,3,97280,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.063789,0.030132,0.885122,0.483563,0.499465,-0.590555,0.409813
5,3,97280,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.082413,-0.073654,0.881638,0.360519,0.034875,-0.018259,0.931921
5,3,97280,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.096405,0.038624,0.869532,0.998636,-0.000001,-0.000001,0.052215
5,3,97280,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.172401,-0.054657,0.871289,0.999926,-0.000142,-0.001020,0.012159
5,3,97280,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.149113,-0.024809,1.124882,0.028573,-0.855750,0.116252,0.503349
5,3,97280,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.169601,-0.019585,0.885372,0.710122,-0.183420,0.209896,0.646551
5,3,97280,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.212826,-0.076881,0.957826,0.584770,0.033250,-0.022648,0.810201
5,3,97280,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.044991,0.869532,1.000000,0.000000,-0.000001,-0.000040
5,3,97280,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000155,-0.001019,0.000020
5,3,97280,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.241642,-0.089886,1.000266,-0.068820,-0.748227,-0.137723,0.645331
5,3,97280,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.168064,0.092403,0.879855,-0.491496,0.078065,0.866243,0.044275
5,3,97280,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084763,-0.075726,0.883727,0.999185,0.030345,0.026617,-0.000530
5,3,97280,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000005
5,3,97280,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.115055,0.044998,0.871282,0.999999,-0.000450,-0.001265,0.000190
5,3,97280,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.177254,0.091669,0.929897,0.073432,-0.776852,0.040603,0.624068
5,3,97280,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.087448,-0.081947,0.885209,0.160331,0.783215,-0.555981,0.227494
5,3,97280,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.190052,-0.204140,0.881638,0.349720,0.035057,-0.017847,0.936028
5,3,97280,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084995,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000006
5,3,97280,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
5,3,97280,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.130898,0.048681,1.141863,0.038762,-0.828449,0.115484,0.546657
5,3,97280,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078531,-0.070103,0.879373,0.588658,-0.216318,0.175018,0.758984
5,3,97280,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.199636,0.080677,0.889778,0.860183,0.017239,-0.075109,0.504129
5,3,97280,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,3,97280,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.197654,0.083992,0.871288,0.999952,-0.000164,-0.001018,-0.009716
5,3,97280,12,gripper,0,"","put ketchup bottle on cloth",-0.162760,-0.106829,0.914337,-0.001924,-0.795239,-0.002580,0.606288
5,3,97280,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.109123,-0.071560,0.884978,0.442582,-0.524477,0.385795,0.616610
5,3,97280,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.062708,0.034100,0.881638,0.434797,0.033288,-0.021025,0.899667
5,3,97280,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.113934,-0.075966,0.869532,0.999752,-0.000000,-0.000001,-0.022276
5,3,97280,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205017,0.075020,0.871282,0.999999,-0.000451,-0.001265,0.000054
5,3,97280,13,gripper,0,"","put ketchup bottle on cloth",-0.144851,0.047424,1.074107,0.084589,-0.861835,0.107069,0.488489
5,3,97280,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.133282,0.002651,0.880343,0.114168,0.675786,-0.117386,0.718679
5,3,97280,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.104446,0.041142,0.886608,0.790711,0.003942,-0.059450,0.609283
5,3,97280,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085075,-0.074989,0.869532,0.999998,0.000000,0.000000,0.002043
5,3,97280,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084995,0.075005,0.871288,0.999999,-0.000155,-0.001019,0.000063
5,3,97280,14,gripper,0,"","put ketchup bottle on cloth",-0.228014,-0.048712,0.914062,0.043983,-0.769790,0.054901,0.634409
5,3,97280,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156277,-0.043289,0.885210,0.199437,0.667230,-0.690967,0.193890
5,3,97280,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.237225,0.083561,0.881638,0.427091,0.033436,-0.020726,0.903353
5,3,97280,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205143,-0.044853,0.869532,0.999994,0.000001,-0.000001,0.003478
5,3,97280,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000155,-0.001020,0.000012
5,3,97280,15,gripper,0,"","put ketchup bottle on cloth",-0.240908,-0.032001,0.970863,0.023661,-0.739336,-0.004923,0.672903
5,3,97280,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.084473,0.074532,0.883544,0.383666,0.012272,-0.003119,0.923385
5,3,97280,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.193764,-0.044281,0.886871,0.629610,-0.102071,0.111565,0.762054
5,3,97280,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,-0.074944,0.869490,0.999999,0.000539,0.001410,0.000635
5,3,97280,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,0.044998,0.870441,0.999999,-0.000675,-0.001047,0.000009
5,3,97280,16,gripper,0,"","put 7up can on newspaper",-0.163666,0.020781,1.017847,0.136997,-0.778528,0.103280,0.603704
5,3,97280,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.191841,0.082008,0.883544,0.693284,0.010287,-0.007382,0.720553
5,3,97280,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.235630,-0.048290,0.885588,0.717474,0.094020,-0.090704,0.684225
5,3,97280,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085011,0.045002,0.869490,1.000000,0.000179,0.000874,0.000047
5,3,97280,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000111
5,3,97280,17,gripper,0,"","put 7up can on newspaper",-0.171980,0.078312,0.966290,-0.079561,-0.714435,-0.076019,0.690994
5,3,97280,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.082413,0.085941,0.883544,0.701269,0.010208,-0.007488,0.712785
5,3,97280,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.153393,-0.038242,0.886649,0.776139,0.078495,-0.061858,0.622592
5,3,97280,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205032,-0.075012,0.869490,1.000000,0.000180,0.000875,-0.000602
5,3,97280,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
5,3,97280,18,gripper,0,"","put 7up can on newspaper",-0.166340,0.081436,1.006019,0.087961,-0.689738,0.037079,0.717739
5,3,97280,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.204477,-0.075478,0.883544,0.383700,0.012260,-0.003125,0.923371
5,3,97280,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.201641,0.049038,0.888691,0.509617,-0.481326,0.540043,0.465800
5,3,97280,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114985,0.075005,0.869490,1.000000,0.000180,0.000874,0.000055
5,3,97280,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235039,0.044998,0.870461,1.000000,0.000019,-0.000158,-0.000112
5,3,97280,19,gripper,0,"","put 7up can on newspaper",-0.113619,0.066767,1.147639,0.134808,-0.792820,0.104275,0.585142
5,3,97280,20,obj,0,"003_bread_1","put 7up can on carpet",-0.225852,-0.016754,0.886587,0.337492,0.014770,-0.001663,0.941211
5,3,97280,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.106793,-0.086113,0.885636,0.451074,0.248641,-0.138736,0.845850
5,3,97280,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
5,3,97280,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.235006,-0.044994,0.870446,0.999999,-0.000726,-0.001047,0.000037
5,3,97280,20,gripper,0,"","put 7up can on carpet",-0.047601,0.075159,0.943282,-0.097228,-0.805472,-0.093711,0.577044
5,3,97280,21,obj,0,"003_bread_1","put 7up can on carpet",-0.085514,0.075104,0.883544,0.999918,0.001792,-0.012524,-0.002044
5,3,97280,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.243084,-0.080254,0.885631,0.971366,-0.002652,-0.237316,0.011096
5,3,97280,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205118,0.045067,0.869489,0.999999,0.000547,0.001424,-0.000147
5,3,97280,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.115040,-0.044884,0.871110,0.999983,0.000058,0.005816,0.000427
5,3,97280,21,gripper,0,"","put 7up can on carpet",-0.237453,-0.064219,0.945467,-0.009964,-0.737954,0.007698,0.674734
5,3,97280,22,obj,0,"003_bread_1","put 7up can on carpet",-0.234478,0.074680,0.883544,0.382009,0.012269,-0.003099,0.924072
5,3,97280,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.064796,0.109642,0.885847,0.426483,-0.576828,0.522379,0.460980
5,3,97280,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
5,3,97280,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000102
5,3,97280,22,gripper,0,"","put 7up can on carpet",-0.063358,0.052832,0.952009,-0.214168,-0.751286,-0.290164,0.552727
5,3,97280,23,obj,0,"003_bread_1","put 7up can on carpet",-0.082481,0.090717,0.886258,0.997844,0.003902,0.005132,0.065318
5,3,97280,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.248997,-0.073418,0.885687,0.828515,0.173894,-0.363687,0.388658
5,3,97280,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084953,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000194
5,3,97280,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000191
5,3,97280,23,gripper,0,"","put 7up can on carpet",-0.044163,-0.021986,0.912906,-0.159846,-0.682412,-0.155425,0.696137
5,3,97280,24,obj,0,"003_bread_1","put bread on newspaper",-0.085495,0.044489,0.883544,0.924452,0.006458,-0.010888,0.381089
5,3,97280,24,obj,1,"005_7up can_1","put bread on newspaper",-0.120811,-0.056383,0.889116,0.092617,-0.590640,0.798952,0.065126
5,3,97280,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.210823,0.072847,0.869490,0.998836,0.000221,0.000864,-0.048233
5,3,97280,24,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.075012,0.870447,0.999999,-0.000922,-0.000847,0.001076
5,3,97280,24,gripper,0,"","put bread on newspaper",-0.134666,0.010410,1.065902,0.047018,-0.822094,0.099443,0.558625
5,3,97280,25,obj,0,"003_bread_1","put bread on newspaper",-0.096039,0.020744,0.886587,0.910211,0.012067,-0.011433,0.413810
5,3,97280,25,obj,1,"005_7up can_1","put bread on newspaper",-0.212852,0.075535,0.885626,0.972468,-0.004258,-0.232954,0.004524
5,3,97280,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000062
5,3,97280,25,recep,1,"003_carpet_1","put bread on newspaper",-0.088047,0.056021,0.870461,0.999482,0.000013,-0.000158,-0.032168
5,3,97280,25,gripper,0,"","put bread on newspaper",-0.047556,-0.010036,0.930104,0.174792,-0.700754,-0.032234,0.690907
5,3,97280,26,obj,0,"003_bread_1","put bread on newspaper",-0.133434,-0.044842,0.948781,0.640231,0.122672,0.111898,0.750023
5,3,97280,26,obj,1,"005_7up can_1","put bread on newspaper",-0.112103,-0.008093,0.886726,-0.382282,0.622868,-0.559472,-0.391008
5,3,97280,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.075056,0.869490,1.000000,0.000180,0.000873,-0.000666
5,3,97280,26,recep,1,"003_carpet_1","put bread on newspaper",-0.114689,0.045521,0.870462,1.000000,0.000036,-0.000158,-0.000798
5,3,97280,26,gripper,0,"","put bread on newspaper",-0.140789,-0.049493,0.994512,0.001596,-0.750228,-0.063242,0.658146
5,3,97280,27,obj,0,"003_bread_1","put bread on newspaper",-0.235483,0.074490,0.883544,0.924468,0.006459,-0.010893,0.381049
5,3,97280,27,obj,1,"005_7up can_1","put bread on newspaper",-0.194557,-0.049189,0.888633,0.618611,-0.298468,0.271154,0.674324
5,3,97280,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
5,3,97280,27,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.044945,0.870404,0.999999,0.000065,-0.000719,-0.000735
5,3,97280,27,gripper,0,"","put bread on newspaper",-0.090693,0.106062,0.934826,-0.005544,-0.764330,-0.064740,0.641543
5,3,97280,28,obj,0,"003_bread_1","put bread on carpet",-0.087554,0.077042,0.886629,0.915275,0.008149,-0.008105,0.402665
5,3,97280,28,obj,1,"005_7up can_1","put bread on carpet",-0.146863,-0.062025,0.885886,0.496835,0.256545,-0.812839,0.163194
5,3,97280,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
5,3,97280,28,recep,1,"003_carpet_1","put bread on carpet",-0.085001,0.075005,0.870448,0.999999,-0.000921,-0.000844,0.000014
5,3,97280,28,gripper,0,"","put bread on carpet",-0.146031,-0.083110,0.977808,0.164487,-0.723261,0.224004,0.632186
5,3,97280,29,obj,0,"003_bread_1","put bread on carpet",-0.182734,0.049465,0.886471,0.999065,0.002722,-0.008483,-0.042301
5,3,97280,29,obj,1,"005_7up can_1","put bread on carpet",-0.092602,0.075182,0.885627,0.972481,-0.005085,-0.232923,0.001066
5,3,97280,29,recep,0,"004_newspaper_1","put bread on carpet",-0.114788,-0.045080,0.870498,0.999952,0.009594,0.001371,-0.001367
5,3,97280,29,recep,1,"003_carpet_1","put bread on carpet",-0.205111,0.045074,0.870461,1.000000,0.000018,-0.000159,-0.000514
5,3,97280,29,gripper,0,"","put bread on carpet",-0.161012,0.009698,1.111555,0.084202,-0.768765,0.093068,0.627095
5,3,97280,30,obj,0,"003_bread_1","put bread on carpet",-0.090069,-0.067482,0.883544,0.869349,0.007778,-0.009995,0.494035
5,3,97280,30,obj,1,"005_7up can_1","put bread on carpet",-0.223808,0.004286,0.885958,0.308234,-0.523526,0.767817,0.203396
5,3,97280,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235340,0.076460,0.869490,0.999999,0.000181,0.000875,-0.001085
5,3,97280,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
5,3,97280,30,gripper,0,"","put bread on carpet",-0.080322,-0.015767,0.997627,0.019314,-0.733686,0.114033,0.669574
5,3,97280,31,obj,0,"003_bread_1","put bread on carpet",-0.115479,0.074488,0.883544,0.924683,0.006454,-0.010889,0.380527
5,3,97280,31,obj,1,"005_7up can_1","put bread on carpet",-0.175079,-0.032862,0.887501,0.719095,0.273752,-0.328155,0.547976
5,3,97280,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205090,-0.075117,0.869490,0.999999,0.000179,0.000872,0.000600
5,3,97280,31,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000068
5,3,97280,31,gripper,0,"","put bread on carpet",-0.119148,-0.066144,1.001673,-0.065371,-0.733564,-0.104982,0.668273
5,3,97280,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088577,0.072906,0.887444,0.748206,-0.016035,0.017783,0.663034
5,3,97280,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084557,-0.074995,0.878547,0.706704,0.007945,0.010848,0.707381
5,3,97280,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074914,0.871344,0.999999,-0.000158,0.001163,-0.000022
5,3,97280,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000001,0.000001,0.000000
5,3,97280,32,gripper,0,"","put banana on sheet metal",-0.039856,-0.012791,0.980231,0.096472,-0.720941,0.127462,0.674308
5,3,97280,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204880,0.081060,0.887171,0.368650,-0.023891,0.019664,0.929053
5,3,97280,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003189,0.013068,0.923940
5,3,97280,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
5,3,97280,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
5,3,97280,33,gripper,0,"","put banana on sheet metal",-0.015121,0.002412,0.988238,-0.002064,-0.646177,-0.390156,0.655919
5,3,97280,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209007,-0.035943,0.887272,0.996129,-0.007935,0.025493,0.083745
5,3,97280,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013262,0.002052,0.000263
5,3,97280,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
5,3,97280,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
5,3,97280,34,gripper,0,"","put banana on sheet metal",-0.007090,0.009045,0.926375,0.260525,-0.806599,0.331428,0.414344
5,3,97280,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.244875,0.042774,0.887327,0.754676,-0.014597,0.023482,0.655515
5,3,97280,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084560,0.075006,0.878547,0.706796,0.007963,0.010867,0.707289
5,3,97280,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
5,3,97280,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
5,3,97280,35,gripper,0,"","put banana on sheet metal",-0.102664,-0.028902,0.979870,0.076079,-0.724820,0.109609,0.675895
5,3,97280,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.093831,-0.055719,0.887403,0.390758,-0.025155,0.012960,0.920058
5,3,97280,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.045322,0.878547,0.382188,0.003190,0.013077,0.923986
5,3,97280,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000016
5,3,97280,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
5,3,97280,36,gripper,0,"","put banana on flat bowl",-0.175615,0.058758,0.972445,-0.202433,-0.655886,-0.208559,0.696661
5,3,97280,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234793,-0.038873,0.887529,0.357063,-0.040371,0.015448,0.933079
5,3,97280,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084686,0.075317,0.878547,0.382193,0.003179,0.013042,0.923985
5,3,97280,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
5,3,97280,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
5,3,97280,37,gripper,0,"","put banana on flat bowl",-0.076586,-0.032469,1.012102,-0.042352,-0.693548,-0.051356,0.717328
5,3,97280,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094692,-0.066694,0.887578,0.921077,-0.010339,0.031508,0.387965
5,3,97280,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
5,3,97280,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,3,97280,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,0.000001,-0.000000
5,3,97280,38,gripper,0,"","put banana on flat bowl",-0.179893,-0.018324,1.009459,0.103043,-0.708958,0.112972,0.688475
5,3,97280,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.123131,-0.037772,0.887526,0.924526,-0.016052,0.039881,0.378686
5,3,97280,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204651,0.074684,0.878547,0.923980,0.011517,0.006981,0.382204
5,3,97280,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,3,97280,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
5,3,97280,39,gripper,0,"","put banana on flat bowl",-0.132481,-0.029851,0.999697,-0.025265,-0.817456,0.051886,0.573092
5,3,97280,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204155,0.076736,0.887529,0.918857,-0.016967,0.039751,0.392216
5,3,97280,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,0.074697,0.878547,0.924240,0.011486,0.006956,0.381575
5,3,97280,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000073
5,3,97280,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
5,3,97280,40,gripper,0,"","put carrot on sheet metal",-0.159542,-0.036519,0.980720,-0.046744,-0.814912,-0.060403,0.574529
5,3,97280,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094589,-0.067108,0.887426,0.922456,-0.010889,0.023445,0.385237
5,3,97280,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.204666,-0.075312,0.878547,0.924149,0.011506,0.006970,0.381794
5,3,97280,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
5,3,97280,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
5,3,97280,41,gripper,0,"","put carrot on sheet metal",-0.129444,-0.018394,1.009100,0.224073,-0.590533,0.339951,0.696775
5,3,97280,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089172,-0.067060,0.887278,0.997105,-0.007902,0.028010,0.070241
5,3,97280,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
5,3,97280,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
5,3,97280,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
5,3,97280,42,gripper,0,"","put carrot on sheet metal",-0.107275,-0.058162,1.005335,-0.206154,-0.709242,-0.265709,0.619576
5,3,97280,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122599,-0.047609,0.887531,0.757752,-0.019663,0.019836,0.651944
5,3,97280,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204565,0.075016,0.878547,0.707721,0.008001,0.010885,0.706363
5,3,97280,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
5,3,97280,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000000,0.000482
5,3,97280,43,gripper,0,"","put carrot on sheet metal",-0.118146,-0.026631,1.121835,0.437705,-0.642762,0.244050,0.579405
5,3,97280,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.121900,0.036263,0.887145,0.378452,-0.022495,0.020196,0.925127
5,3,97280,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075327,0.878547,0.382239,0.003184,0.013054,0.923966
5,3,97280,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204993,-0.075006,0.871344,0.999999,-0.000157,0.001164,0.000008
5,3,97280,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
5,3,97280,44,gripper,0,"","put carrot on flat bowl",-0.047465,0.037572,0.973576,0.139991,-0.683604,0.169045,0.696069
5,3,97280,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093483,0.072908,0.887377,0.760163,-0.021935,0.020875,0.649026
5,3,97280,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234556,-0.044983,0.878547,0.707557,0.007967,0.010850,0.706528
5,3,97280,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.074940,0.871343,0.999999,-0.000158,0.001163,-0.000129
5,3,97280,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
5,3,97280,45,gripper,0,"","put carrot on flat bowl",-0.013885,0.026974,1.002954,0.148077,-0.665836,-0.038165,0.730259
5,3,97280,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243324,0.081636,0.887522,0.921629,-0.010574,0.028560,0.386874
5,3,97280,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
5,3,97280,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
5,3,97280,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
5,3,97280,46,gripper,0,"","put carrot on flat bowl",-0.078905,-0.010962,1.022418,-0.245346,-0.746399,-0.158899,0.597867
5,3,97280,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237385,-0.074923,0.887529,0.673920,-0.031907,0.029154,0.737539
5,3,97280,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.204552,0.075026,0.878546,0.707918,0.007954,0.010825,0.706167
5,3,97280,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
5,3,97280,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000288
5,3,97280,47,gripper,0,"","put carrot on flat bowl",-0.208736,-0.078009,0.992503,0.006280,-0.688578,0.058197,0.722796
5,3,97280,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.181030,0.061737,0.890556,0.992114,-0.023413,0.020138,-0.121470
5,3,97280,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.101578,-0.084938,0.887027,0.415631,-0.582245,0.405804,0.568828
5,3,97280,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
5,3,97280,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.074898,0.870883,0.999999,0.000699,0.000710,0.000731
5,3,97280,48,gripper,0,"","put plastic bottle on frying pan",-0.030575,-0.088379,0.930596,0.237438,-0.735794,0.122219,0.622328
5,3,97280,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.124218,0.005318,0.891791,-0.076432,0.302918,0.924248,0.219465
5,3,97280,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926624,0.366096,-0.071022
5,3,97280,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235012,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000186
5,3,97280,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085018,0.075035,0.870870,1.000000,-0.000000,-0.000000,-0.000023
5,3,97280,49,gripper,0,"","put plastic bottle on frying pan",-0.077923,0.075722,0.937548,0.177071,-0.805757,0.058901,0.562078
5,3,97280,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.080650,0.036171,0.890794,0.421539,-0.027114,0.024809,0.906065
5,3,97280,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.272095,0.047417,0.887026,0.332290,-0.633123,0.320688,0.621206
5,3,97280,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,0.000001,-0.000001,-0.000253
5,3,97280,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,0.075069,0.870883,0.999999,0.000700,0.000713,0.000074
5,3,97280,50,gripper,0,"","put plastic bottle on frying pan",-0.197359,0.038109,0.958277,0.121964,-0.725755,0.093455,0.670575
5,3,97280,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.065155,0.043514,0.890497,0.817957,-0.028055,0.000726,0.574595
5,3,97280,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.255114,0.043308,0.894438,0.777829,-0.022639,0.009047,0.628003
5,3,97280,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234995,0.075005,0.872199,1.000000,-0.000000,-0.000000,0.000054
5,3,97280,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114983,0.045006,0.870883,0.999999,0.000699,0.000713,0.000178
5,3,97280,51,gripper,0,"","put plastic bottle on frying pan",-0.107484,0.022383,1.150313,0.096642,-0.776103,0.194092,0.592159
5,3,97280,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.250316,0.024448,0.891736,-0.026933,0.817150,-0.032523,0.574876
5,3,97280,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186671,0.097977,0.888349,0.924367,-0.057810,0.365360,0.093360
5,3,97280,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000000
5,3,97280,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000015
5,3,97280,52,gripper,0,"","put plastic bottle on cutting board",-0.210409,0.124975,0.941548,0.139808,-0.730462,0.058323,0.665941
5,3,97280,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205130,-0.073929,0.888113,0.949711,-0.026753,0.006550,0.311914
5,3,97280,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.121677,0.089088,0.887027,0.549621,-0.456233,0.543634,0.440716
5,3,97280,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000035
5,3,97280,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085005,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000021
5,3,97280,53,gripper,0,"","put plastic bottle on cutting board",-0.067986,0.045017,0.977839,-0.120369,-0.767039,-0.136989,0.615139
5,3,97280,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.079666,-0.069710,0.890570,0.192491,-0.017744,-0.018099,0.980971
5,3,97280,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.255856,-0.024925,0.887027,0.268745,-0.661926,0.256014,0.651220
5,3,97280,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
5,3,97280,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.119999,-0.057968,0.870883,0.999677,0.000682,0.000731,0.025380
5,3,97280,54,gripper,0,"","put plastic bottle on cutting board",-0.087809,0.020626,1.035037,0.015370,-0.774475,-0.001345,0.632416
5,3,97280,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.225391,-0.038555,0.888112,0.996818,-0.022215,0.016278,-0.074804
5,3,97280,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.041866,0.086452,0.888399,-0.719318,-0.070698,0.687822,-0.066972
5,3,97280,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
5,3,97280,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.021049,0.085480,0.870872,0.996252,-0.000004,-0.000020,0.086493
5,3,97280,55,gripper,0,"","put plastic bottle on cutting board",-0.192570,-0.025190,0.952278,0.099030,-0.704343,0.057313,0.700577
5,3,97280,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.089043,-0.002045,0.890586,-0.004422,0.376872,0.769687,-0.515297
5,3,97280,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.438675,0.359863,0.017292,-0.999747,0.011011,-0.019560,-0.001545
5,3,97280,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000008
5,3,97280,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000004
5,3,97280,56,gripper,0,"","put hamburger on frying pan",-0.148312,-0.052616,1.000169,-0.005758,-0.773397,-0.050652,0.631868
5,3,97280,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234177,-0.072807,0.888112,0.951471,-0.026714,0.006701,0.306503
5,3,97280,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215427,-0.121052,0.887673,0.368180,-0.138966,0.044379,0.918239
5,3,97280,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
5,3,97280,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.110889,0.051739,0.870870,0.998714,0.000000,-0.000000,-0.050693
5,3,97280,57,gripper,0,"","put hamburger on frying pan",-0.205791,-0.111237,0.946954,-0.030885,-0.703223,-0.045880,0.708815
5,3,97280,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.254833,-0.031734,0.947771,0.320752,0.122355,0.014171,0.939120
5,3,97280,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.141136,0.098034,0.887210,0.234514,-0.650075,0.216883,0.689469
5,3,97280,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235828,0.045055,0.872199,0.999946,-0.000000,-0.000001,-0.010425
5,3,97280,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
5,3,97280,58,gripper,0,"","put hamburger on frying pan",-0.233984,-0.038889,1.001283,0.045755,-0.672109,-0.060269,0.736575
5,3,97280,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078945,0.205383,0.890586,-0.241628,0.689461,0.509039,-0.455126
5,3,97280,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235769,-0.045361,0.887026,0.498008,-0.513065,0.490361,0.498295
5,3,97280,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235321,0.074707,0.872199,0.999997,0.000000,-0.000001,-0.002420
5,3,97280,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115007,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000029
5,3,97280,59,gripper,0,"","put hamburger on frying pan",-0.024484,0.087242,0.951941,-0.008361,-0.818126,-0.069228,0.570796
5,3,97280,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.129886,0.079872,0.888112,0.999287,-0.022987,0.015165,-0.025830
5,3,97280,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.101142,-0.045551,0.887027,0.700300,-0.093085,0.703576,0.076779
5,3,97280,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000000,0.000000
5,3,97280,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234987,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000004
5,3,97280,60,gripper,0,"","put hamburger on cutting board",-0.023016,0.029903,0.954103,0.289352,-0.599559,-0.015082,0.746040
5,3,97280,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.155519,0.077000,0.892492,0.985192,0.027506,-0.102615,-0.134576
5,3,97280,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.168756,-0.080227,0.887027,0.680327,0.168947,0.689307,-0.182945
5,3,97280,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084997,0.075001,0.872199,1.000000,-0.000001,-0.000000,-0.000178
5,3,97280,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205030,0.074989,0.870883,1.000000,0.000697,0.000709,-0.000066
5,3,97280,61,gripper,0,"","put hamburger on cutting board",-0.142911,0.005070,1.094215,0.056696,-0.724942,0.002805,0.686467
5,3,97280,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116199,0.044785,0.888112,0.383688,-0.022425,-0.015989,0.923052
5,3,97280,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226364,-0.054821,0.887026,0.267040,-0.662591,0.254280,0.651924
5,3,97280,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
5,3,97280,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
5,3,97280,62,gripper,0,"","put hamburger on cutting board",0.021368,-0.063396,0.996847,-0.146417,-0.759392,-0.175635,0.609129
5,3,97280,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236107,0.044773,0.888113,0.385710,-0.022460,-0.015942,0.922209
5,3,97280,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.116600,-0.049107,0.887026,0.167065,-0.693051,0.152860,0.684400
5,3,97280,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.207344,-0.075542,0.872199,0.999837,-0.000000,-0.000000,0.018079
5,3,97280,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000041
5,3,97280,63,gripper,0,"","put hamburger on cutting board",-0.064085,0.057825,0.982378,0.024811,-0.778207,-0.006974,0.627478
5,4,102400,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.006638,-0.041901,0.878982,-0.742107,0.129236,-0.638116,-0.159323
5,4,102400,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.215950,0.014702,0.887297,0.837862,0.026260,-0.092029,0.537427
5,4,102400,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000037
5,4,102400,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.204903,0.046059,0.871289,0.999950,-0.000168,-0.001030,0.009922
5,4,102400,0,gripper,0,"","put kitchen shovel on cloth",-0.248161,-0.006443,0.936802,0.085488,-0.759656,0.104802,0.636106
5,4,102400,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.371250,0.083694,0.010412,-0.044811,-0.947428,0.157859,-0.274685
5,4,102400,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.066650,0.075356,0.881641,0.996421,-0.001464,0.040144,-0.074377
5,4,102400,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000012
5,4,102400,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
5,4,102400,1,gripper,0,"","put kitchen shovel on cloth",-0.097340,-0.045109,0.953370,-0.305693,-0.769857,-0.177265,0.531459
5,4,102400,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.113300,0.000435,0.879311,-0.423424,-0.430966,0.241521,-0.759374
5,4,102400,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.092770,-0.072578,0.887364,0.648242,-0.037518,0.016682,0.760327
5,4,102400,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084980,-0.075005,0.869532,1.000000,0.000000,-0.000001,0.000239
5,4,102400,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.186504,0.047043,0.871288,0.997760,-0.000222,-0.001006,-0.066891
5,4,102400,2,gripper,0,"","put kitchen shovel on cloth",-0.202600,-0.038651,0.914424,0.023445,-0.817686,0.023574,0.574703
5,4,102400,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.178619,-0.079803,0.885369,0.919859,0.085555,0.264898,-0.276350
5,4,102400,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219887,0.074852,0.881638,0.996992,-0.007047,-0.038737,-0.066766
5,4,102400,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.188129,-0.088623,0.869532,0.991835,0.000001,-0.000001,-0.127531
5,4,102400,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,0.000010
5,4,102400,3,gripper,0,"","put kitchen shovel on cloth",-0.231954,-0.093250,0.921967,0.027981,-0.770371,0.072645,0.632825
5,4,102400,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078003,0.089645,0.884978,0.658613,-0.316983,0.568745,0.377200
5,4,102400,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085113,-0.045975,0.881637,0.706786,0.024488,-0.030790,0.706333
5,4,102400,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,4,102400,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.225888,0.046944,0.871288,0.998987,-0.000107,-0.001025,0.044993
5,4,102400,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.164617,0.044552,1.126397,0.015662,-0.836404,0.069367,0.543480
5,4,102400,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.169298,-0.022667,0.885083,0.554157,0.359900,-0.290290,0.692180
5,4,102400,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.149094,0.098999,0.881638,0.936613,-0.017794,-0.035115,-0.348148
5,4,102400,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.198208,-0.044151,0.869532,0.998678,-0.000000,0.000000,0.051410
5,4,102400,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871289,1.000000,-0.000157,-0.001019,0.000009
5,4,102400,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.235729,-0.085079,0.944908,-0.030959,-0.794412,-0.210368,0.568943
5,4,102400,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.175056,0.099846,0.885085,0.674678,0.298939,-0.353282,0.575010
5,4,102400,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.114395,-0.075706,0.881638,0.382213,0.034436,-0.019069,0.923236
5,4,102400,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.203037,0.074478,0.869532,0.999999,-0.000000,-0.000001,-0.001406
5,4,102400,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235477,-0.046577,0.871288,0.999985,-0.000148,-0.001020,0.005373
5,4,102400,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.180672,0.000145,1.106752,0.042432,-0.800085,0.215614,0.558188
5,4,102400,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.042263,0.110466,0.885209,-0.217349,-0.597386,0.752108,-0.173849
5,4,102400,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084393,-0.075737,0.881638,0.382280,0.034440,-0.019073,0.923208
5,4,102400,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074989,0.869532,1.000000,0.000000,0.000000,-0.000120
5,4,102400,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.202988,-0.075249,0.871292,0.999935,-0.000287,-0.001060,-0.011359
5,4,102400,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.262676,-0.105228,0.916506,-0.048190,-0.756190,-0.049671,0.650682
5,4,102400,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.063789,0.030132,0.885122,0.483559,0.499466,-0.590569,0.409796
5,4,102400,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082413,-0.073654,0.881638,0.360420,0.034847,-0.018246,0.931960
5,4,102400,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.096405,0.038624,0.869532,0.998635,0.000000,-0.000001,0.052224
5,4,102400,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.172401,-0.054661,0.871289,0.999925,-0.000141,-0.001020,0.012204
5,4,102400,8,gripper,0,"","put ketchup bottle on cloth",-0.084736,0.032827,1.082667,0.173037,-0.755261,0.132774,0.618070
5,4,102400,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.167671,-0.051003,0.885122,0.455958,0.536758,-0.556817,0.440394
5,4,102400,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.061707,0.072273,0.890179,0.839004,0.014653,-0.037986,0.542600
5,4,102400,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.203457,-0.047558,0.869532,0.999356,0.000000,-0.000001,-0.035892
5,4,102400,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000029
5,4,102400,9,gripper,0,"","put ketchup bottle on cloth",-0.250357,-0.038492,0.944197,0.021438,-0.724768,0.020187,0.688363
5,4,102400,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.193371,0.096970,0.878982,0.755757,0.067610,0.647579,-0.070007
5,4,102400,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084934,-0.075726,0.883725,0.999185,0.030319,0.026625,-0.000599
5,4,102400,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000006
5,4,102400,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.115082,0.044998,0.871282,0.999999,-0.000450,-0.001264,0.000256
5,4,102400,10,gripper,0,"","put ketchup bottle on cloth",-0.179039,0.113066,0.949651,0.019926,-0.713326,0.035143,0.699667
5,4,102400,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.087444,-0.081944,0.885209,0.160471,0.782862,-0.556482,0.227383
5,4,102400,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.190054,-0.204140,0.881638,0.349639,0.035095,-0.017855,0.936057
5,4,102400,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084995,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000005
5,4,102400,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
5,4,102400,11,gripper,0,"","put ketchup bottle on cloth",-0.216893,-0.137693,0.914983,-0.103014,-0.741776,-0.148465,0.645844
5,4,102400,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078531,-0.070103,0.879373,0.588659,-0.216313,0.175015,0.758986
5,4,102400,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.199633,0.080681,0.889779,0.860144,0.017237,-0.075101,0.504197
5,4,102400,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
5,4,102400,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.197654,0.083992,0.871288,0.999952,-0.000163,-0.001018,-0.009716
5,4,102400,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.226320,-0.072975,1.002004,-0.096207,-0.730623,-0.039379,0.674821
5,4,102400,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.109123,-0.071564,0.884978,0.442615,-0.524467,0.385847,0.616561
5,4,102400,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.062710,0.034100,0.881638,0.434729,0.033281,-0.021019,0.899701
5,4,102400,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.113934,-0.075966,0.869532,0.999752,-0.000000,-0.000000,-0.022264
5,4,102400,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,0.075016,0.871282,0.999999,-0.000451,-0.001265,0.000034
5,4,102400,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.160602,0.060055,0.980108,-0.019767,-0.714707,-0.054063,0.697051
5,4,102400,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.133289,0.002647,0.880342,0.114396,0.675915,-0.117644,0.718480
5,4,102400,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.104446,0.041142,0.886608,0.790714,0.003939,-0.059447,0.609280
5,4,102400,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085075,-0.074989,0.869532,0.999998,0.000000,-0.000001,0.002048
5,4,102400,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084995,0.075005,0.871289,0.999999,-0.000158,-0.001019,0.000096
5,4,102400,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.267723,-0.064356,0.913864,-0.059681,-0.730772,-0.052873,0.677950
5,4,102400,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.156284,-0.043011,0.885210,0.198435,0.671337,-0.686872,0.195287
5,4,102400,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.238117,0.094063,0.881638,0.436777,0.033238,-0.021093,0.898708
5,4,102400,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205124,-0.044861,0.869532,0.999995,0.000001,-0.000001,0.003291
5,4,102400,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001019,0.000011
5,4,102400,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.225756,0.094046,0.947649,0.041830,-0.799399,0.012777,0.599206
5,4,102400,16,obj,0,"003_bread_1","put 7up can on carpet",-0.084473,0.074532,0.883544,0.383666,0.012273,-0.003120,0.923385
5,4,102400,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.193703,-0.044369,0.886867,0.630010,-0.101954,0.111459,0.761754
5,4,102400,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235001,-0.074947,0.869490,0.999999,0.000543,0.001417,0.000519
5,4,102400,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.205009,0.044998,0.870441,0.999999,-0.000675,-0.001047,0.000015
5,4,102400,16,gripper,0,"","put 7up can on carpet",-0.124313,0.044006,1.135427,0.075738,-0.832858,0.084555,0.541720
5,4,102400,17,obj,0,"003_bread_1","put 7up can on carpet",-0.191841,0.082008,0.883544,0.693247,0.010283,-0.007378,0.720589
5,4,102400,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.117535,-0.065315,0.888695,0.588783,-0.086716,0.060351,0.801357
5,4,102400,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085018,0.045002,0.869490,1.000000,0.000179,0.000874,0.000053
5,4,102400,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.111198,-0.072483,0.870447,0.999998,-0.000914,-0.000832,-0.001540
5,4,102400,17,gripper,0,"","put 7up can on carpet",-0.117390,-0.001556,1.055165,-0.093871,-0.697722,-0.133046,0.697618
5,4,102400,18,obj,0,"003_bread_1","put 7up can on carpet",-0.082413,0.085941,0.883544,0.701192,0.010209,-0.007488,0.712860
5,4,102400,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.153393,-0.038242,0.886649,0.776724,0.078440,-0.061921,0.621862
5,4,102400,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205032,-0.075016,0.869490,0.999999,0.000181,0.000875,-0.000878
5,4,102400,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
5,4,102400,18,gripper,0,"","put 7up can on carpet",-0.145052,-0.002047,1.041839,-0.003329,-0.716058,-0.006815,0.698000
5,4,102400,19,obj,0,"003_bread_1","put 7up can on carpet",-0.204477,-0.075478,0.883544,0.383700,0.012264,-0.003128,0.923371
5,4,102400,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.201624,0.049084,0.888691,0.511248,-0.479383,0.541969,0.463774
5,4,102400,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114977,0.075005,0.869490,1.000000,0.000180,0.000874,0.000072
5,4,102400,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.235031,0.044998,0.870461,1.000000,0.000019,-0.000159,-0.000091
5,4,102400,19,gripper,0,"","put 7up can on carpet",-0.112298,-0.016586,1.125973,0.023702,-0.828355,0.003877,0.559688
5,4,102400,20,obj,0,"003_bread_1","put bread on newspaper",-0.225852,-0.016754,0.886587,0.337492,0.014767,-0.001658,0.941211
5,4,102400,20,obj,1,"005_7up can_1","put bread on newspaper",-0.109273,-0.097828,0.885675,0.592713,0.281307,-0.227970,0.719435
5,4,102400,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
5,4,102400,20,recep,1,"003_carpet_1","put bread on newspaper",-0.235006,-0.044994,0.870446,0.999999,-0.000726,-0.001047,0.000037
5,4,102400,20,gripper,0,"","put bread on newspaper",-0.163630,-0.063820,0.999107,0.025623,-0.713346,0.073593,0.696466
5,4,102400,21,obj,0,"003_bread_1","put bread on newspaper",-0.085514,0.075104,0.883544,0.999918,0.001795,-0.012524,-0.001807
5,4,102400,21,obj,1,"005_7up can_1","put bread on newspaper",-0.249889,-0.058109,0.885698,0.922493,0.005492,-0.385927,0.006059
5,4,102400,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.205118,0.045067,0.869489,0.999999,0.000547,0.001424,-0.000135
5,4,102400,21,recep,1,"003_carpet_1","put bread on newspaper",-0.115040,-0.044884,0.871110,0.999983,0.000058,0.005816,0.000405
5,4,102400,21,gripper,0,"","put bread on newspaper",-0.241327,-0.063524,0.964033,0.007232,-0.698477,-0.015238,0.715434
5,4,102400,22,obj,0,"003_bread_1","put bread on newspaper",-0.232964,0.078094,0.883544,0.344158,0.012390,-0.002595,0.938827
5,4,102400,22,obj,1,"005_7up can_1","put bread on newspaper",-0.064625,0.113251,0.885866,0.421715,-0.570589,0.571997,0.411588
5,4,102400,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
5,4,102400,22,recep,1,"003_carpet_1","put bread on newspaper",-0.082912,-0.072876,0.870350,0.999998,-0.000674,-0.002014,-0.000040
5,4,102400,22,gripper,0,"","put bread on newspaper",-0.086315,0.039370,1.002435,0.100913,-0.754828,-0.060845,0.645252
5,4,102400,23,obj,0,"003_bread_1","put bread on newspaper",-0.082371,0.090717,0.886255,0.997921,0.003879,0.005232,0.064116
5,4,102400,23,obj,1,"005_7up can_1","put bread on newspaper",-0.248997,-0.073418,0.885687,0.828504,0.173905,-0.363704,0.388660
5,4,102400,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.084949,0.074997,0.869490,1.000000,0.000180,0.000875,-0.000295
5,4,102400,23,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,0.044998,0.870441,0.999999,-0.000676,-0.001047,-0.000252
5,4,102400,23,gripper,0,"","put bread on newspaper",-0.013147,-0.044699,0.957150,-0.157971,-0.717821,-0.125800,0.666298
5,4,102400,24,obj,0,"003_bread_1","put bread on carpet",-0.085449,0.045513,0.883544,0.925569,0.006428,-0.010910,0.378368
5,4,102400,24,obj,1,"005_7up can_1","put bread on carpet",-0.117210,-0.057499,0.889081,0.092693,-0.590335,0.799205,0.064689
5,4,102400,24,recep,0,"004_newspaper_1","put bread on carpet",-0.210823,0.072847,0.869490,0.998836,0.000221,0.000864,-0.048223
5,4,102400,24,recep,1,"003_carpet_1","put bread on carpet",-0.114555,-0.074392,0.870424,0.999995,-0.000764,-0.001309,-0.002659
5,4,102400,24,gripper,0,"","put bread on carpet",-0.113579,-0.050277,1.080428,0.014249,-0.701275,0.034491,0.711913
5,4,102400,25,obj,0,"003_bread_1","put bread on carpet",-0.096073,0.020758,0.886658,0.910078,0.010413,-0.011743,0.414140
5,4,102400,25,obj,1,"005_7up can_1","put bread on carpet",-0.212852,0.075535,0.885626,0.972465,-0.004259,-0.232966,0.004519
5,4,102400,25,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000084
5,4,102400,25,recep,1,"003_carpet_1","put bread on carpet",-0.088051,0.055988,0.870448,0.999483,-0.001361,-0.001151,-0.032088
5,4,102400,25,gripper,0,"","put bread on carpet",-0.215050,-0.057036,0.934202,0.327293,-0.647489,0.390003,0.567040
5,4,102400,26,obj,0,"003_bread_1","put bread on carpet",-0.123463,-0.049465,0.886634,0.669962,-0.062960,-0.065519,0.736814
5,4,102400,26,obj,1,"005_7up can_1","put bread on carpet",-0.109463,-0.007017,0.886213,-0.457304,0.535761,-0.537545,-0.463551
5,4,102400,26,recep,0,"004_newspaper_1","put bread on carpet",-0.081512,-0.073933,0.869490,0.999972,0.000186,0.000874,-0.007505
5,4,102400,26,recep,1,"003_carpet_1","put bread on carpet",-0.113987,0.047642,0.870462,0.999998,0.000036,-0.000158,-0.002170
5,4,102400,26,gripper,0,"","put bread on carpet",-0.139410,-0.058804,1.001949,-0.039619,-0.734407,-0.056080,0.675227
5,4,102400,27,obj,0,"003_bread_1","put bread on carpet",-0.235483,0.074490,0.883544,0.924516,0.006457,-0.010888,0.380933
5,4,102400,27,obj,1,"005_7up can_1","put bread on carpet",-0.194561,-0.049183,0.888633,0.618713,-0.298400,0.271163,0.674256
5,4,102400,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
5,4,102400,27,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.044933,0.870404,0.999999,0.000064,-0.000719,-0.000862
5,4,102400,27,gripper,0,"","put bread on carpet",-0.119913,0.046358,1.144977,0.132308,-0.784150,0.042082,0.604841
5,4,102400,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.087554,0.077042,0.886629,0.915275,0.008145,-0.008106,0.402665
5,4,102400,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.146863,-0.062025,0.885886,0.496823,0.256537,-0.812851,0.163183
5,4,102400,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
5,4,102400,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085001,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000014
5,4,102400,28,gripper,0,"","put 7up can on newspaper",-0.035073,0.037313,0.937714,0.180218,-0.721543,0.193068,0.640017
5,4,102400,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.182726,0.049458,0.886473,0.999014,0.002830,-0.008246,-0.043525
5,4,102400,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092602,0.075182,0.885627,0.972482,-0.005084,-0.232919,0.001067
5,4,102400,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114767,-0.045078,0.870495,0.999952,0.009568,0.001373,-0.001314
5,4,102400,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205111,0.045074,0.870461,1.000000,0.000018,-0.000159,-0.000486
5,4,102400,29,gripper,0,"","put 7up can on newspaper",-0.141829,0.054514,1.132158,0.115255,-0.835737,0.077228,0.531316
5,4,102400,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.090069,-0.067482,0.883544,0.869277,0.007778,-0.009989,0.494163
5,4,102400,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.223804,0.004322,0.885959,0.308973,-0.524230,0.766754,0.204467
5,4,102400,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235340,0.076460,0.869490,0.999999,0.000181,0.000873,-0.001120
5,4,102400,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
5,4,102400,30,gripper,0,"","put 7up can on newspaper",-0.091087,0.036991,1.145400,0.108423,-0.792007,0.133349,0.585822
5,4,102400,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.115479,0.074488,0.883544,0.924790,0.006452,-0.010892,0.380268
5,4,102400,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.175106,-0.032875,0.887503,0.719270,0.273702,-0.328240,0.547719
5,4,102400,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205090,-0.075113,0.869490,1.000000,0.000180,0.000870,-0.000023
5,4,102400,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044998,0.870460,1.000000,0.000019,-0.000158,0.000096
5,4,102400,31,gripper,0,"","put 7up can on newspaper",-0.078375,0.007635,1.030836,0.123047,-0.764935,0.112991,0.622067
5,4,102400,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090775,0.083023,0.887391,0.801117,-0.025541,0.028167,0.597299
5,4,102400,32,obj,1,"013_banana_1","put banana on flat bowl",-0.052040,-0.054188,0.878547,0.554979,0.005693,0.012234,0.831755
5,4,102400,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074914,0.871344,0.999999,-0.000157,0.001164,-0.000022
5,4,102400,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000000
5,4,102400,32,gripper,0,"","put banana on flat bowl",-0.042770,0.018303,0.978826,0.089383,-0.664644,-0.143680,0.727746
5,4,102400,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204880,0.081060,0.887171,0.368650,-0.023888,0.019662,0.929053
5,4,102400,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075314,0.878547,0.382300,0.003199,0.013098,0.923940
5,4,102400,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
5,4,102400,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
5,4,102400,33,gripper,0,"","put banana on flat bowl",-0.049328,0.009351,0.997949,0.020902,-0.753844,-0.060443,0.653934
5,4,102400,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.209213,-0.033518,0.887552,0.994772,-0.004041,0.043548,0.092276
5,4,102400,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013282,0.002053,0.000263
5,4,102400,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
5,4,102400,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
5,4,102400,34,gripper,0,"","put banana on flat bowl",-0.037939,0.107349,1.001883,0.021513,-0.691562,0.007834,0.721954
5,4,102400,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247452,0.041901,0.887522,0.763362,-0.018252,0.018583,0.645445
5,4,102400,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084558,0.075006,0.878547,0.706807,0.007966,0.010870,0.707278
5,4,102400,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
5,4,102400,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
5,4,102400,35,gripper,0,"","put banana on flat bowl",-0.142379,0.002011,0.977894,0.065754,-0.683718,-0.005700,0.726756
5,4,102400,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095998,-0.058503,0.887343,0.399701,-0.030987,0.018956,0.915925
5,4,102400,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.045321,0.878546,0.382188,0.003189,0.013074,0.923986
5,4,102400,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000016
5,4,102400,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,0.000001
5,4,102400,36,gripper,0,"","put carrot on sheet metal",-0.020692,0.004934,0.997117,0.025480,-0.718964,-0.004509,0.694566
5,4,102400,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.234793,-0.038873,0.887529,0.357063,-0.040370,0.015448,0.933079
5,4,102400,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,0.075317,0.878547,0.382193,0.003185,0.013058,0.923985
5,4,102400,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
5,4,102400,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
5,4,102400,37,gripper,0,"","put carrot on sheet metal",-0.169423,-0.030758,0.997259,0.016656,-0.638262,0.013132,0.769527
5,4,102400,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.098537,-0.064481,0.887327,0.927301,-0.006898,0.029959,0.373051
5,4,102400,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011501,0.006989,0.383091
5,4,102400,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,4,102400,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000001,-0.000001
5,4,102400,38,gripper,0,"","put carrot on sheet metal",-0.091347,0.060192,1.022233,-0.031742,-0.698521,-0.105796,0.707013
5,4,102400,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.126869,-0.036039,0.887376,0.930389,-0.008977,0.018107,0.366016
5,4,102400,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204651,0.074684,0.878546,0.923981,0.011490,0.006968,0.382203
5,4,102400,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
5,4,102400,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
5,4,102400,39,gripper,0,"","put carrot on sheet metal",-0.154196,-0.041538,1.001413,0.082175,-0.705904,-0.013164,0.703402
5,4,102400,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204155,0.076736,0.887529,0.918864,-0.016967,0.039751,0.392200
5,4,102400,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,0.074697,0.878547,0.924425,0.011515,0.006964,0.381126
5,4,102400,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000107
5,4,102400,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
5,4,102400,40,gripper,0,"","put carrot on flat bowl",-0.111046,-0.027438,1.003752,-0.201539,-0.702548,-0.168349,0.661413
5,4,102400,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097263,-0.065550,0.887077,0.926789,-0.019972,0.018792,0.374581
5,4,102400,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.204662,-0.075310,0.878547,0.924333,0.011505,0.006962,0.381351
5,4,102400,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
5,4,102400,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
5,4,102400,41,gripper,0,"","put carrot on flat bowl",-0.159138,-0.029772,0.972782,0.164747,-0.717399,0.161928,0.657249
5,4,102400,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089348,-0.067015,0.887525,0.996988,-0.001388,0.033704,0.069830
5,4,102400,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
5,4,102400,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
5,4,102400,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
5,4,102400,42,gripper,0,"","put carrot on flat bowl",-0.121641,-0.036125,1.026011,0.085984,-0.703012,0.064671,0.702992
5,4,102400,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.125448,-0.047895,0.887353,0.769432,-0.024852,0.023187,0.637824
5,4,102400,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204563,0.075018,0.878547,0.707931,0.008024,0.010906,0.706151
5,4,102400,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
5,4,102400,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000639
5,4,102400,43,gripper,0,"","put carrot on flat bowl",-0.113468,-0.023553,0.993771,0.063811,-0.725183,0.069740,0.682037
5,4,102400,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123914,0.033306,0.887233,0.389051,-0.032327,0.005295,0.920633
5,4,102400,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013047,0.923966
5,4,102400,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
5,4,102400,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000001
5,4,102400,44,gripper,0,"","put banana on sheet metal",-0.141431,0.090507,1.034939,-0.261346,-0.790006,-0.264257,0.487604
5,4,102400,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.096458,0.072460,0.887306,0.769689,-0.015729,0.027719,0.637623
5,4,102400,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.044981,0.878547,0.707823,0.007952,0.010824,0.706262
5,4,102400,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.074921,0.871343,0.999999,-0.000158,0.001164,-0.000171
5,4,102400,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
5,4,102400,45,gripper,0,"","put banana on sheet metal",-0.171130,-0.025343,0.983526,-0.030562,-0.644138,-0.024992,0.763890
5,4,102400,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246204,0.083101,0.887492,0.925539,-0.009324,0.025174,0.377700
5,4,102400,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
5,4,102400,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
5,4,102400,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
5,4,102400,46,gripper,0,"","put banana on sheet metal",-0.043789,-0.031816,0.988578,-0.048464,-0.736237,-0.107550,0.666362
5,4,102400,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237350,-0.074921,0.887529,0.671966,-0.031984,0.029069,0.739319
5,4,102400,47,obj,1,"013_banana_1","put banana on sheet metal",-0.204548,0.075029,0.878547,0.708272,0.007973,0.010837,0.705811
5,4,102400,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
5,4,102400,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000472
5,4,102400,47,gripper,0,"","put banana on sheet metal",-0.175529,-0.062041,1.101068,0.291606,-0.681126,0.240882,0.626904
5,4,102400,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.181007,0.061684,0.890556,0.992198,-0.023452,0.020076,-0.120793
5,4,102400,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.099426,-0.086754,0.887026,0.400245,-0.592908,0.390060,0.579757
5,4,102400,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
5,4,102400,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235001,0.074825,0.870883,0.999999,0.000699,0.000712,0.001236
5,4,102400,48,gripper,0,"","put plastic bottle on cutting board",-0.118782,-0.016783,0.988515,0.133832,-0.702380,0.021999,0.698761
5,4,102400,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.124218,0.005329,0.891791,-0.076410,0.302996,0.924222,0.219473
5,4,102400,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.251350,0.119591,0.889793,-0.047923,-0.926619,0.366109,-0.071022
5,4,102400,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235012,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000186
5,4,102400,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085018,0.075035,0.870870,1.000000,0.000000,-0.000000,-0.000033
5,4,102400,49,gripper,0,"","put plastic bottle on cutting board",-0.170967,-0.029104,0.961524,-0.059297,-0.686426,-0.076609,0.720718
5,4,102400,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.080696,0.036186,0.890794,0.423218,-0.027008,0.024429,0.905296
5,4,102400,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.272095,0.047417,0.887026,0.332260,-0.633139,0.320658,0.621223
5,4,102400,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000310
5,4,102400,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.075089,0.870883,0.999999,0.000700,0.000713,0.000108
5,4,102400,50,gripper,0,"","put plastic bottle on cutting board",-0.106741,0.039284,1.038181,0.096282,-0.900095,0.047929,0.422211
5,4,102400,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.065166,0.043530,0.890496,0.817902,-0.028047,0.000721,0.574674
5,4,102400,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.255106,0.043308,0.894439,0.777828,-0.022662,0.009071,0.628004
5,4,102400,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234995,0.075005,0.872199,1.000000,-0.000001,-0.000001,0.000016
5,4,102400,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.045002,0.870883,0.999999,0.000699,0.000713,0.000318
5,4,102400,51,gripper,0,"","put plastic bottle on cutting board",-0.126823,0.068590,1.159137,0.032400,-0.791726,0.056666,0.607379
5,4,102400,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.250316,0.024448,0.891736,-0.026935,0.817150,-0.032525,0.574876
5,4,102400,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.171715,0.101082,0.887026,0.700926,-0.087186,0.704324,0.070913
5,4,102400,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000000
5,4,102400,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084992,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000038
5,4,102400,52,gripper,0,"","put hamburger on frying pan",-0.138887,-0.100122,0.958062,-0.143541,-0.733380,-0.167521,0.643029
5,4,102400,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205114,-0.073929,0.888113,0.952355,-0.026696,0.006778,0.303746
5,4,102400,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.121677,0.089088,0.887027,0.549613,-0.456243,0.543626,0.440725
5,4,102400,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000052
5,4,102400,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.044998,0.870870,1.000000,0.000000,-0.000001,-0.000025
5,4,102400,53,gripper,0,"","put hamburger on frying pan",-0.170736,0.013184,0.979856,0.036902,-0.747465,0.013745,0.663132
5,4,102400,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.054859,-0.087334,0.899457,0.235989,-0.185672,0.122113,0.946004
5,4,102400,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.255798,-0.024944,0.887026,0.268876,-0.661874,0.256146,0.651167
5,4,102400,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
5,4,102400,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.105068,-0.067791,0.870871,0.999024,0.000000,-0.000001,-0.044182
5,4,102400,54,gripper,0,"","put hamburger on frying pan",-0.084999,-0.093969,0.919176,0.001207,-0.811720,-0.074321,0.579297
5,4,102400,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.225693,-0.037121,0.888112,0.995153,-0.021891,0.016712,-0.094409
5,4,102400,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.041855,0.086452,0.888399,-0.719342,-0.070713,0.687793,-0.066987
5,4,102400,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
5,4,102400,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.021038,0.085480,0.870872,0.996252,-0.000006,-0.000025,0.086496
5,4,102400,55,gripper,0,"","put hamburger on frying pan",-0.105665,0.005466,1.013679,-0.096878,-0.796168,-0.142536,0.580013
5,4,102400,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.089050,-0.002037,0.890586,-0.008077,0.382318,0.766996,-0.515253
5,4,102400,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.438675,0.359863,0.017292,-0.999747,0.011011,-0.019560,-0.001525
5,4,102400,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000006
5,4,102400,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
5,4,102400,56,gripper,0,"","put hamburger on cutting board",0.005768,0.049337,0.949648,-0.072292,-0.806022,-0.092067,0.580194
5,4,102400,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235733,-0.074146,0.888112,0.972163,-0.026118,0.008729,0.232681
5,4,102400,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.212585,-0.124195,0.886091,0.376598,-0.022265,-0.002799,0.926105
5,4,102400,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
5,4,102400,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.110889,0.051739,0.870870,0.998715,0.000000,-0.000000,-0.050671
5,4,102400,57,gripper,0,"","put hamburger on cutting board",-0.045645,0.057180,0.996663,-0.047826,-0.792262,-0.048871,0.606338
5,4,102400,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.291168,-0.023884,0.893173,0.085652,-0.608006,-0.080557,0.785177
5,4,102400,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.141132,0.098038,0.887210,0.234543,-0.650067,0.216903,0.689460
5,4,102400,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235828,0.045055,0.872199,0.999945,-0.000000,-0.000001,-0.010437
5,4,102400,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
5,4,102400,58,gripper,0,"","put hamburger on cutting board",-0.021610,0.084654,1.042662,-0.145934,-0.876785,0.012474,0.458035
5,4,102400,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.078943,0.205387,0.890586,-0.243840,0.691935,0.505671,-0.453944
5,4,102400,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235811,-0.045376,0.887026,0.497593,-0.513474,0.489920,0.498723
5,4,102400,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235321,0.074707,0.872199,0.999997,0.000000,-0.000001,-0.002512
5,4,102400,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115011,-0.044998,0.870870,1.000000,-0.000000,-0.000000,-0.000038
5,4,102400,59,gripper,0,"","put hamburger on cutting board",-0.167335,-0.070364,0.971584,-0.137661,-0.692495,-0.094967,0.701770
5,4,102400,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.129885,0.079872,0.888112,0.999287,-0.022986,0.015167,-0.025829
5,4,102400,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.101569,-0.045513,0.887025,0.700291,-0.094547,0.703229,0.078253
5,4,102400,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
5,4,102400,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234987,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000004
5,4,102400,60,gripper,0,"","put plastic bottle on frying pan",-0.077621,-0.036497,0.946366,0.128371,-0.745848,0.104718,0.645186
5,4,102400,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.155525,0.076996,0.892504,0.985216,0.027470,-0.102058,-0.134833
5,4,102400,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.186331,-0.070339,0.887026,0.697408,0.084694,0.704637,-0.099672
5,4,102400,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000352
5,4,102400,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205029,0.074989,0.870870,1.000000,0.000003,0.000002,-0.000126
5,4,102400,61,gripper,0,"","put plastic bottle on frying pan",-0.157433,-0.045679,0.961044,0.021839,-0.709198,0.045155,0.703223
5,4,102400,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116199,0.044781,0.888112,0.382660,-0.022406,-0.016015,0.923479
5,4,102400,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.233082,-0.056065,0.887026,0.305706,-0.646120,0.293607,0.634719
5,4,102400,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
5,4,102400,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
5,4,102400,62,gripper,0,"","put plastic bottle on frying pan",-0.199320,-0.023216,0.968600,-0.043661,-0.743832,-0.064754,0.663788
5,4,102400,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236107,0.044773,0.888113,0.384596,-0.022439,-0.015969,0.922674
5,4,102400,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.117157,-0.043919,0.887026,0.119412,-0.701953,0.104644,0.694300
5,4,102400,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.207344,-0.075542,0.872199,0.999837,-0.000001,-0.000001,0.018066
5,4,102400,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114975,0.075012,0.870870,1.000000,0.000000,-0.000001,0.000105
5,4,102400,63,gripper,0,"","put plastic bottle on frying pan",-0.062841,0.013327,1.021500,-0.098916,-0.748508,-0.250269,0.606067
6,1,107520,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202667,0.012459,0.885182,0.582882,-0.412096,0.457511,0.530198
6,1,107520,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113220,0.075462,0.881638,0.383838,0.034316,-0.019094,0.922565
6,1,107520,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044952,0.869532,1.000000,0.000001,-0.000001,-0.000076
6,1,107520,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000025
6,1,107520,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.187149,0.022141,0.988713,0.098072,-0.718579,0.020990,0.688176
6,1,107520,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.035210,-0.073418,0.879704,0.468801,-0.109737,0.875026,0.050125
6,1,107520,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205776,-0.075592,0.881638,0.923218,0.010858,-0.037841,0.382255
6,1,107520,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000019
6,1,107520,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
6,1,107520,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.042933,-0.036037,0.992972,0.007743,-0.780510,-0.029316,0.624408
6,1,107520,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.230053,-0.071457,0.888597,0.672943,0.091345,-0.088693,0.728654
6,1,107520,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084381,0.074272,0.881638,0.382425,0.034434,-0.019074,0.923148
6,1,107520,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000000,0.000015
6,1,107520,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.237206,-0.077583,0.871288,0.999728,-0.000132,-0.001021,0.023316
6,1,107520,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.245430,-0.035099,0.944624,0.025169,-0.767685,-0.050727,0.638321
6,1,107520,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.185080,0.045242,0.885086,0.699632,0.283015,-0.366552,0.544112
6,1,107520,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115755,0.044411,0.881638,0.923167,0.010849,-0.037817,0.382381
6,1,107520,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235004,0.075005,0.869532,1.000000,-0.000002,0.000001,-0.000142
6,1,107520,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
6,1,107520,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.221792,0.039356,1.116495,0.079488,-0.775515,0.102695,0.617829
6,1,107520,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.183120,0.060158,0.880648,0.978062,0.022962,0.197914,0.060811
6,1,107520,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085953,-0.074883,0.881638,0.999225,-0.004453,-0.039114,-0.000194
6,1,107520,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
6,1,107520,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205012,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000102
6,1,107520,4,gripper,0,"","put ketchup bottle on cloth",-0.202182,0.063656,0.932072,-0.030960,-0.744797,-0.088169,0.660716
6,1,107520,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.035130,0.202072,0.879213,0.204726,0.648260,-0.708730,0.188539
6,1,107520,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085112,-0.075974,0.881638,0.706804,0.024507,-0.030811,0.706313
6,1,107520,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
6,1,107520,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
6,1,107520,5,gripper,0,"","put ketchup bottle on cloth",-0.077484,0.197800,0.931552,0.170216,-0.760022,0.035872,0.626183
6,1,107520,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.068241,0.062645,0.879125,0.220225,0.724963,-0.269417,0.594427
6,1,107520,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.252102,-0.084793,0.888788,0.723134,-0.066735,0.003790,0.687466
6,1,107520,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.143654,-0.113892,0.872196,0.814306,0.027306,0.031002,0.578964
6,1,107520,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.233032,-0.072899,0.871288,0.999808,-0.000173,-0.001015,-0.019556
6,1,107520,6,gripper,0,"","put ketchup bottle on cloth",-0.259779,-0.077042,0.939619,-0.043649,-0.632811,0.052754,0.771273
6,1,107520,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.071102,0.069542,0.885083,0.857343,0.116320,-0.447526,0.226168
6,1,107520,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205780,0.074402,0.881638,0.923232,0.010846,-0.037823,0.382223
6,1,107520,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084995,0.075005,0.869532,1.000000,0.000000,-0.000001,0.000066
6,1,107520,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
6,1,107520,7,gripper,0,"","put ketchup bottle on cloth",-0.053988,0.063255,1.125231,0.329923,-0.642357,0.385439,0.574426
6,1,107520,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.166283,-0.094509,0.879383,0.972155,0.024112,-0.086423,0.216482
6,1,107520,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085701,0.074398,0.881638,0.923193,0.010850,-0.037818,0.382317
6,1,107520,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000036
6,1,107520,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000110
6,1,107520,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.180420,-0.090340,0.951614,-0.093591,-0.738626,-0.164585,0.646981
6,1,107520,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.048119,0.087315,0.885369,0.845251,-0.127092,0.247525,0.456211
6,1,107520,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.114391,-0.075764,0.881638,0.382564,0.034402,-0.019070,0.923091
6,1,107520,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000005
6,1,107520,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205112,0.074982,0.871282,0.999999,-0.000453,-0.001289,-0.000176
6,1,107520,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.209555,0.040049,0.919384,0.079401,-0.726671,-0.003146,0.682374
6,1,107520,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.088795,-0.052498,0.885085,0.578258,0.349866,-0.303330,0.671716
6,1,107520,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205769,-0.075615,0.881638,0.923245,0.010853,-0.037845,0.382190
6,1,107520,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085003,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000068
6,1,107520,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
6,1,107520,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.149721,-0.061686,1.005026,0.092851,-0.765664,-0.028124,0.635883
6,1,107520,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097605,0.062332,0.879125,0.585789,0.294860,-0.714994,0.242266
6,1,107520,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.195257,0.088623,0.881638,0.957879,0.006870,-0.038740,0.284465
6,1,107520,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
6,1,107520,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205013,-0.074989,0.871282,0.999999,-0.000451,-0.001266,0.000026
6,1,107520,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.138729,0.062027,0.986039,0.167174,-0.709164,0.089105,0.679117
6,1,107520,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.205481,-0.191334,0.879374,0.666887,0.068683,-0.055323,0.739921
6,1,107520,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085752,-0.075596,0.881638,0.923256,0.010843,-0.037824,0.382166
6,1,107520,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000007
6,1,107520,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205015,-0.074986,0.871282,0.999999,-0.000451,-0.001266,-0.000002
6,1,107520,12,gripper,0,"","put kitchen shovel on cloth",-0.201240,-0.032301,0.965934,-0.010803,-0.771726,-0.038262,0.634711
6,1,107520,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.197784,0.042137,0.879571,0.194503,0.764903,-0.549496,0.274129
6,1,107520,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115751,0.044403,0.881638,0.923217,0.010847,-0.037820,0.382259
6,1,107520,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205866,-0.089798,0.877025,0.980027,-0.084960,-0.075711,-0.163082
6,1,107520,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084978,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000040
6,1,107520,13,gripper,0,"","put kitchen shovel on cloth",-0.232563,-0.034119,0.915704,0.211529,-0.723417,0.198555,0.626497
6,1,107520,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078060,0.068161,0.879089,0.338011,0.427454,-0.178098,0.819337
6,1,107520,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.210342,0.047619,0.881638,0.457593,0.032735,-0.021865,0.888290
6,1,107520,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000016
6,1,107520,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
6,1,107520,14,gripper,0,"","put kitchen shovel on cloth",-0.165915,-0.030167,0.982576,-0.000363,-0.718786,0.042058,0.693958
6,1,107520,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124718,-0.074993,0.879089,0.886322,-0.001297,-0.463068,0.000624
6,1,107520,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.209309,0.076828,0.881638,0.995298,-0.000964,-0.039344,0.088503
6,1,107520,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000030
6,1,107520,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000025
6,1,107520,15,gripper,0,"","put kitchen shovel on cloth",-0.201021,0.119263,0.942230,0.163362,-0.754813,0.074534,0.630884
6,1,107520,16,obj,0,"003_bread_1","put bread on newspaper",-0.077583,-0.072300,0.883544,0.940187,0.005980,-0.011157,0.340424
6,1,107520,16,obj,1,"005_7up can_1","put bread on newspaper",-0.243393,0.036499,0.885675,0.861602,0.140875,-0.333568,0.355709
6,1,107520,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000018
6,1,107520,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075001,0.870367,0.999997,0.000177,-0.001144,0.002090
6,1,107520,16,gripper,0,"","put bread on newspaper",-0.091877,-0.050920,0.974063,-0.003700,-0.756098,-0.013127,0.654316
6,1,107520,17,obj,0,"003_bread_1","put bread on newspaper",-0.237301,-0.037670,0.883544,0.913723,0.006750,-0.010708,0.406140
6,1,107520,17,obj,1,"005_7up can_1","put bread on newspaper",-0.058468,0.011112,0.888457,0.748726,-0.144445,0.184697,0.620026
6,1,107520,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
6,1,107520,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085136,0.045059,0.870462,1.000000,0.000037,-0.000158,-0.000629
6,1,107520,17,gripper,0,"","put bread on newspaper",-0.082365,0.014503,1.014935,0.090890,-0.739688,0.047739,0.665072
6,1,107520,18,obj,0,"003_bread_1","put bread on newspaper",-0.107681,-0.052193,0.886748,0.979565,0.004640,-0.009224,0.200864
6,1,107520,18,obj,1,"005_7up can_1","put bread on newspaper",-0.212605,-0.074833,0.885626,0.972478,-0.005063,-0.232937,0.001161
6,1,107520,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,1,107520,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085007,-0.075035,0.870447,0.999999,-0.000923,-0.000845,0.000070
6,1,107520,18,gripper,0,"","put bread on newspaper",-0.050150,0.063225,0.971797,0.015796,-0.776436,-0.047674,0.628192
6,1,107520,19,obj,0,"003_bread_1","put bread on newspaper",-0.085514,0.075104,0.883544,0.999917,0.001785,-0.012530,-0.002519
6,1,107520,19,obj,1,"005_7up can_1","put bread on newspaper",-0.147005,-0.026497,0.885926,0.461184,-0.002882,-0.887296,0.002586
6,1,107520,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000006
6,1,107520,19,recep,1,"003_carpet_1","put bread on newspaper",-0.234997,0.075008,0.870447,0.999991,-0.003111,-0.002730,-0.000013
6,1,107520,19,gripper,0,"","put bread on newspaper",-0.150507,-0.068810,0.947098,-0.074419,-0.762300,-0.025798,0.642413
6,1,107520,20,obj,0,"003_bread_1","put bread on carpet",-0.102578,0.085258,0.886786,0.360936,0.015783,-0.002300,0.932454
6,1,107520,20,obj,1,"005_7up can_1","put bread on carpet",-0.061043,0.036228,0.888522,0.679391,0.288284,-0.322995,0.592448
6,1,107520,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
6,1,107520,20,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075008,0.870463,1.000000,0.000038,-0.000158,-0.000054
6,1,107520,20,gripper,0,"","put bread on carpet",-0.065833,0.043442,0.999761,0.034200,-0.805251,-0.048325,0.589971
6,1,107520,21,obj,0,"003_bread_1","put bread on carpet",-0.085485,0.074501,0.883544,0.924357,0.006462,-0.010886,0.381317
6,1,107520,21,obj,1,"005_7up can_1","put bread on carpet",-0.104776,-0.013123,0.885860,0.487282,-0.499257,0.592658,0.402561
6,1,107520,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,0.075001,0.869490,1.000000,0.000180,0.000874,0.000037
6,1,107520,21,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000009
6,1,107520,21,gripper,0,"","put bread on carpet",-0.091289,-0.022100,0.952011,0.110750,-0.745335,0.025061,0.656949
6,1,107520,22,obj,0,"003_bread_1","put bread on carpet",-0.194286,0.082558,0.883536,0.997860,0.001799,-0.009951,-0.064595
6,1,107520,22,obj,1,"005_7up can_1","put bread on carpet",-0.242615,-0.044823,0.885627,0.972473,-0.005196,-0.232958,0.000611
6,1,107520,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
6,1,107520,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
6,1,107520,22,gripper,0,"","put bread on carpet",-0.110355,-0.063581,0.979160,-0.036087,-0.735380,0.035822,0.675745
6,1,107520,23,obj,0,"003_bread_1","put bread on carpet",-0.153046,-0.013744,0.883461,0.956997,0.008380,-0.012205,0.289721
6,1,107520,23,obj,1,"005_7up can_1","put bread on carpet",-0.091728,-0.081486,0.885636,0.885291,0.104185,-0.264978,0.367685
6,1,107520,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,1,107520,23,recep,1,"003_carpet_1","put bread on carpet",-0.106110,0.052956,0.870418,0.999959,-0.000212,-0.000850,0.008952
6,1,107520,23,gripper,0,"","put bread on carpet",-0.155561,-0.015764,0.936036,-0.106050,-0.751011,-0.081714,0.646575
6,1,107520,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.115501,-0.045507,0.883544,0.924310,0.006464,-0.010886,0.381433
6,1,107520,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.224731,0.078081,0.885650,0.760537,0.083049,-0.094863,0.636936
6,1,107520,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000009
6,1,107520,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000029
6,1,107520,24,gripper,0,"","put 7up can on newspaper",-0.197838,0.066565,0.977589,0.094881,-0.708975,0.025081,0.698372
6,1,107520,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.235474,0.044479,0.883544,0.924458,0.006463,-0.010883,0.381073
6,1,107520,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.169216,-0.045736,0.888734,0.514652,0.475874,-0.427834,0.570644
6,1,107520,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000052
6,1,107520,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205082,-0.074936,0.870410,0.999998,-0.000062,-0.000780,0.001884
6,1,107520,25,gripper,0,"","put 7up can on newspaper",-0.148178,-0.021895,1.038341,-0.000234,-0.760346,-0.042739,0.648111
6,1,107520,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.160187,0.057369,0.883544,0.571305,0.011308,-0.005670,0.820640
6,1,107520,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.079742,-0.080498,0.885626,0.371169,0.213270,-0.093847,0.898856
6,1,107520,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
6,1,107520,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002733,-0.000005
6,1,107520,26,gripper,0,"","put 7up can on newspaper",-0.095314,0.046293,0.975225,0.107994,-0.777707,0.042739,0.617805
6,1,107520,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.115120,0.074465,0.883544,0.709123,0.010125,-0.007600,0.704971
6,1,107520,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.198990,0.005606,0.888467,-0.800984,0.174162,-0.304823,-0.484949
6,1,107520,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
6,1,107520,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235031,0.045036,0.870462,1.000000,0.000038,-0.000156,-0.000254
6,1,107520,27,gripper,0,"","put 7up can on newspaper",-0.204054,0.006479,0.940696,0.185769,-0.782647,0.150772,0.574649
6,1,107520,28,obj,0,"003_bread_1","put 7up can on carpet",-0.234487,0.074511,0.883544,0.383711,0.012263,-0.003126,0.923366
6,1,107520,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.108529,0.038275,0.885636,0.365494,0.261104,-0.113548,0.886197
6,1,107520,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
6,1,107520,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.235000,-0.075001,0.870461,1.000000,0.000019,-0.000158,-0.000000
6,1,107520,28,gripper,0,"","put 7up can on carpet",-0.069260,-0.018400,0.998645,-0.076055,-0.717616,-0.072361,0.688482
6,1,107520,29,obj,0,"003_bread_1","put 7up can on carpet",-0.195250,-0.064798,0.886331,0.555583,0.017668,-0.005060,0.831258
6,1,107520,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.085169,0.067404,0.885626,0.686855,0.161128,-0.168306,0.688434
6,1,107520,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000013
6,1,107520,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,-0.074989,0.870461,1.000000,0.000019,-0.000158,0.000004
6,1,107520,29,gripper,0,"","put 7up can on carpet",-0.159575,-0.045696,1.010168,-0.034962,-0.748702,-0.053848,0.659791
6,1,107520,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
6,1,107520,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.232601,-0.054167,0.885626,0.398598,0.135038,-0.055642,0.905421
6,1,107520,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000049
6,1,107520,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
6,1,107520,30,gripper,0,"","put 7up can on carpet",-0.230953,-0.037345,0.945192,0.106143,-0.737208,0.110001,0.658147
6,1,107520,31,obj,0,"003_bread_1","put 7up can on carpet",-0.232819,0.072027,0.883544,0.957865,0.005339,-0.011476,0.286940
6,1,107520,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.120510,0.039755,0.885626,0.897951,0.084494,-0.217126,0.373366
6,1,107520,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
6,1,107520,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000020
6,1,107520,31,gripper,0,"","put 7up can on carpet",-0.196037,0.064607,0.971767,0.059011,-0.734011,0.000877,0.676568
6,1,107520,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238510,-0.078253,0.887491,0.957236,-0.008879,0.030284,0.287580
6,1,107520,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.075307,0.878547,0.923688,0.011486,0.006978,0.382910
6,1,107520,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
6,1,107520,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
6,1,107520,32,gripper,0,"","put carrot on sheet metal",-0.158321,0.007774,0.995251,0.159639,-0.714709,0.084431,0.675706
6,1,107520,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.206734,-0.072131,0.887525,0.909114,-0.010612,0.027070,0.415531
6,1,107520,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.044693,0.878547,0.923634,0.011493,0.006984,0.383040
6,1,107520,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
6,1,107520,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
6,1,107520,33,gripper,0,"","put carrot on sheet metal",-0.049625,-0.035554,0.980857,0.017346,-0.757055,-0.045640,0.651524
6,1,107520,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087170,-0.071604,0.887344,0.911017,-0.010026,0.034827,0.410773
6,1,107520,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
6,1,107520,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
6,1,107520,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
6,1,107520,34,gripper,0,"","put carrot on sheet metal",-0.126137,-0.038509,1.034385,-0.061428,-0.691873,-0.038460,0.718373
6,1,107520,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236162,-0.072453,0.887529,0.374500,-0.040072,0.016201,0.926219
6,1,107520,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.114689,-0.044685,0.878547,0.382264,0.003181,0.013047,0.923956
6,1,107520,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
6,1,107520,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
6,1,107520,35,gripper,0,"","put carrot on sheet metal",-0.169041,-0.055155,0.991006,0.122293,-0.673104,0.135847,0.716604
6,1,107520,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118090,0.072601,0.887504,0.352146,-0.028755,0.011540,0.935432
6,1,107520,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.045322,0.878547,0.382188,0.003192,0.013082,0.923986
6,1,107520,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
6,1,107520,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
6,1,107520,36,gripper,0,"","put carrot on flat bowl",-0.064070,0.069029,0.996124,0.144598,-0.745117,0.248557,0.601757
6,1,107520,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234192,-0.074879,0.887510,0.710940,-0.029462,0.030582,0.701969
6,1,107520,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234560,0.075006,0.878546,0.706808,0.007921,0.010823,0.707278
6,1,107520,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
6,1,107520,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
6,1,107520,37,gripper,0,"","put carrot on flat bowl",-0.182399,-0.078734,0.986357,-0.057155,-0.715511,-0.094397,0.689831
6,1,107520,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238037,-0.067912,0.887536,0.999601,0.002285,0.027466,-0.006142
6,1,107520,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
6,1,107520,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
6,1,107520,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
6,1,107520,38,gripper,0,"","put carrot on flat bowl",-0.132551,0.037978,1.032155,0.021085,-0.691729,-0.066937,0.718739
6,1,107520,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234875,0.045115,0.887271,0.913843,-0.007101,0.032831,0.404675
6,1,107520,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011523,0.007001,0.383097
6,1,107520,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
6,1,107520,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
6,1,107520,39,gripper,0,"","put carrot on flat bowl",-0.074919,0.089597,0.992574,0.165764,-0.748582,0.089867,0.635666
6,1,107520,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.085510,0.072491,0.887396,0.997284,-0.005889,0.037760,0.062961
6,1,107520,40,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075430,0.878547,0.999910,0.013281,0.002046,-0.000091
6,1,107520,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000025
6,1,107520,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205009,0.075001,0.874362,1.000000,0.000000,0.000000,0.000026
6,1,107520,40,gripper,0,"","put banana on sheet metal",-0.035194,-0.039498,0.974176,-0.019958,-0.726670,-0.048982,0.684948
6,1,107520,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236347,0.044659,0.887143,0.914133,-0.002184,0.030105,0.404290
6,1,107520,41,obj,1,"013_banana_1","put banana on sheet metal",-0.204678,-0.075312,0.878547,0.923801,0.011496,0.006978,0.382636
6,1,107520,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
6,1,107520,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
6,1,107520,41,gripper,0,"","put banana on sheet metal",-0.012922,0.065803,0.968669,0.186919,-0.721533,-0.000300,0.666672
6,1,107520,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241131,-0.079845,0.887267,0.994426,0.009068,0.027036,-0.101507
6,1,107520,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
6,1,107520,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
6,1,107520,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
6,1,107520,42,gripper,0,"","put banana on sheet metal",-0.162134,0.058987,1.014721,-0.011278,-0.687186,-0.070826,0.722933
6,1,107520,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086996,-0.075871,0.887502,0.741144,-0.018190,0.021548,0.670754
6,1,107520,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114561,0.045012,0.878548,0.707181,0.007972,0.010866,0.706905
6,1,107520,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.044985,0.871344,0.999999,-0.000158,0.001163,0.000045
6,1,107520,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,-0.000001,0.000096
6,1,107520,43,gripper,0,"","put banana on sheet metal",-0.060665,0.081750,0.969311,0.207817,-0.746287,0.151319,0.613980
6,1,107520,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087096,0.077045,0.887246,0.910573,-0.002045,0.017010,0.412993
6,1,107520,44,obj,1,"013_banana_1","put banana on flat bowl",-0.204685,-0.075306,0.878547,0.923648,0.011475,0.006974,0.383006
6,1,107520,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
6,1,107520,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000001,0.000000
6,1,107520,44,gripper,0,"","put banana on flat bowl",-0.185833,-0.011327,1.007089,-0.048232,-0.726707,-0.050699,0.683374
6,1,107520,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117708,0.072741,0.887572,0.352722,-0.023581,0.012493,0.935347
6,1,107520,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234694,0.045322,0.878547,0.382501,0.003214,0.013141,0.923856
6,1,107520,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000050
6,1,107520,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
6,1,107520,45,gripper,0,"","put banana on flat bowl",-0.168758,0.053988,0.997912,0.086284,-0.723860,0.037571,0.683498
6,1,107520,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234974,-0.071402,0.887288,0.362658,0.003871,-0.001508,0.931913
6,1,107520,46,obj,1,"013_banana_1","put banana on flat bowl",-0.114697,-0.044668,0.878547,0.382685,0.003189,0.013051,0.923781
6,1,107520,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
6,1,107520,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000109
6,1,107520,46,gripper,0,"","put banana on flat bowl",-0.103533,0.003335,0.997898,0.332635,-0.676171,0.237903,0.612820
6,1,107520,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207222,-0.072397,0.887316,0.911456,-0.004210,0.017051,0.411021
6,1,107520,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
6,1,107520,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
6,1,107520,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
6,1,107520,47,gripper,0,"","put banana on flat bowl",-0.045162,0.001309,1.012089,0.373827,-0.662430,0.430736,0.485702
6,1,107520,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.126915,-0.033508,0.888112,0.695338,-0.026725,-0.006656,0.718155
6,1,107520,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085907,0.104305,0.887026,0.497157,-0.513902,0.489480,0.499149
6,1,107520,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
6,1,107520,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
6,1,107520,48,gripper,0,"","put hamburger on frying pan",-0.150410,-0.055649,0.989646,-0.057808,-0.768707,-0.037911,0.635855
6,1,107520,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.087048,-0.069942,0.888112,0.999033,-0.023859,0.013762,0.034272
6,1,107520,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205795,0.075733,0.887026,0.704497,-0.018860,0.709450,0.002990
6,1,107520,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
6,1,107520,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
6,1,107520,49,gripper,0,"","put hamburger on frying pan",-0.093714,-0.042114,0.995307,0.060659,-0.773041,0.025905,0.630918
6,1,107520,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121208,-0.057163,0.888112,0.692010,-0.026693,-0.006778,0.721362
6,1,107520,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.236229,0.104515,0.889774,0.025190,-0.717232,0.695787,0.028725
6,1,107520,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
6,1,107520,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
6,1,107520,50,gripper,0,"","put hamburger on frying pan",-0.044640,-0.087091,0.928311,0.061606,-0.762828,-0.021735,0.643293
6,1,107520,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.101421,0.077461,0.888111,0.429332,-0.023192,-0.014844,0.902727
6,1,107520,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106382,-0.055115,0.887027,0.266287,-0.662885,0.253514,0.652232
6,1,107520,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
6,1,107520,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204992,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000004
6,1,107520,51,gripper,0,"","put hamburger on frying pan",-0.106584,0.062979,0.974346,-0.157968,-0.798659,-0.178043,0.552712
6,1,107520,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084394,-0.074028,0.888112,0.999591,-0.023258,0.014751,-0.007733
6,1,107520,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205666,0.075947,0.887027,0.704485,-0.020366,0.709412,0.004485
6,1,107520,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
6,1,107520,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204985,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000018
6,1,107520,52,gripper,0,"","put hamburger on cutting board",-0.173301,0.081211,1.004253,0.156828,-0.676823,0.089684,0.713633
6,1,107520,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.119213,-0.049164,0.890787,0.675064,-0.026528,-0.007379,0.737246
6,1,107520,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235758,0.104279,0.887026,0.497417,-0.513648,0.489748,0.498888
6,1,107520,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000006
6,1,107520,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085096,-0.074989,0.870870,1.000000,0.000000,-0.000001,0.000187
6,1,107520,53,gripper,0,"","put hamburger on cutting board",-0.090825,-0.052670,1.046370,-0.100813,-0.677507,-0.091446,0.722813
6,1,107520,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084412,0.045956,0.888112,0.999594,-0.023267,0.014740,-0.007263
6,1,107520,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.192257,-0.041702,0.890107,0.430446,-0.027780,0.902183,0.003292
6,1,107520,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
6,1,107520,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000000,0.000008
6,1,107520,54,gripper,0,"","put hamburger on cutting board",-0.113815,-0.056107,0.960256,-0.079255,-0.750621,-0.108226,0.646972
6,1,107520,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
6,1,107520,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.102341,-0.055912,0.886129,0.626772,-0.014764,-0.000456,0.779063
6,1,107520,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
6,1,107520,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205193,-0.045189,0.870883,0.999996,0.000703,0.000711,-0.002464
6,1,107520,55,gripper,0,"","put hamburger on cutting board",-0.085083,-0.047817,0.976655,-0.027911,-0.803189,-0.050912,0.592888
6,1,107520,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234337,-0.074078,0.888112,0.999582,-0.023243,0.014778,-0.008841
6,1,107520,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.097145,0.146404,0.887118,0.680038,0.183924,0.680962,-0.200025
6,1,107520,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.055511,0.071404,0.872199,0.983316,-0.000000,-0.000001,-0.181903
6,1,107520,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,-0.044998,0.870871,1.000000,0.000000,-0.000000,0.000002
6,1,107520,56,gripper,0,"","put plastic bottle on frying pan",-0.141853,0.101435,0.939223,-0.022252,-0.791025,-0.109321,0.601525
6,1,107520,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206097,-0.045227,0.888112,0.387152,-0.022485,-0.015903,0.921605
6,1,107520,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.275162,0.180794,0.885720,0.236371,0.655558,-0.219999,0.682622
6,1,107520,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235092,0.075058,0.872199,1.000000,0.000001,-0.000001,-0.000658
6,1,107520,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
6,1,107520,57,gripper,0,"","put plastic bottle on frying pan",-0.073982,0.096603,0.999378,0.229940,-0.724853,0.131932,0.635854
6,1,107520,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
6,1,107520,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.099003,-0.052399,0.887026,0.277765,-0.658304,0.265183,0.647427
6,1,107520,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114906,0.045113,0.872199,1.000000,-0.000001,-0.000001,0.000012
6,1,107520,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205345,-0.045391,0.870870,1.000000,0.000000,-0.000000,-0.000984
6,1,107520,58,gripper,0,"","put plastic bottle on frying pan",-0.119858,-0.035162,0.984485,-0.141950,-0.767044,-0.168662,0.602534
6,1,107520,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.119999,0.060989,0.888112,0.671940,-0.026496,-0.007510,0.740093
6,1,107520,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.111446,-0.024273,0.891117,-0.708951,-0.134277,0.083741,-0.687274
6,1,107520,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.208626,-0.048672,0.872199,0.999123,-0.000001,-0.000001,-0.041878
6,1,107520,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
6,1,107520,59,gripper,0,"","put plastic bottle on frying pan",-0.084543,-0.034733,0.941199,0.067387,-0.808440,-0.060708,0.581548
6,1,107520,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234385,-0.074070,0.888112,0.999585,-0.023246,0.014765,-0.008457
6,1,107520,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.057146,0.089321,0.887026,0.703113,-0.060258,0.707146,0.044123
6,1,107520,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.044998,0.872199,1.000000,0.000000,0.000000,-0.000000
6,1,107520,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
6,1,107520,60,gripper,0,"","put plastic bottle on cutting board",-0.029976,0.033434,0.962654,0.006660,-0.756848,-0.065159,0.650300
6,1,107520,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.180986,0.091141,0.893984,0.549052,-0.317828,-0.753321,-0.173302
6,1,107520,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175587,-0.074223,0.887026,0.704494,-0.017061,0.709504,0.001202
6,1,107520,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000046
6,1,107520,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,0.044991,0.870870,1.000000,0.000000,-0.000001,0.000055
6,1,107520,61,gripper,0,"","put plastic bottle on cutting board",-0.143517,-0.069977,0.945360,0.156464,-0.723727,0.116334,0.661970
6,1,107520,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204403,-0.074047,0.888112,0.999589,-0.023257,0.014755,-0.007930
6,1,107520,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085640,0.075798,0.887027,0.704496,-0.016935,0.709505,0.001077
6,1,107520,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000049
6,1,107520,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000009
6,1,107520,62,gripper,0,"","put plastic bottle on cutting board",-0.045330,-0.015779,0.995340,-0.157768,-0.698245,-0.168813,0.677544
6,1,107520,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084309,0.086208,0.888112,0.995284,-0.021909,0.016686,-0.093012
6,1,107520,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055626,-0.074207,0.887026,0.704494,-0.016918,0.709507,0.001060
6,1,107520,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
6,1,107520,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
6,1,107520,63,gripper,0,"","put plastic bottle on cutting board",-0.056068,0.083242,0.979741,0.036954,-0.754019,-0.024393,0.655359
6,2,112640,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.226402,-0.050400,0.879115,-0.078985,0.603702,-0.791048,-0.059575
6,2,112640,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.113220,0.075462,0.881638,0.383802,0.034409,-0.019130,0.922576
6,2,112640,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234985,0.044876,0.869532,1.000000,-0.000001,-0.000000,-0.000450
6,2,112640,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.044991,0.871289,1.000000,-0.000158,-0.001019,-0.000049
6,2,112640,0,gripper,0,"","put ketchup bottle on cloth",-0.238914,-0.027134,0.968479,0.076630,-0.739954,0.051659,0.666279
6,2,112640,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.035213,-0.073418,0.879704,0.468804,-0.109717,0.875028,0.050115
6,2,112640,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.158749,-0.057434,0.881638,0.856653,0.016326,-0.035821,0.514389
6,2,112640,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234745,0.045311,0.869532,0.999974,0.000000,-0.000001,0.007245
6,2,112640,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
6,2,112640,1,gripper,0,"","put ketchup bottle on cloth",-0.158770,-0.050198,0.945393,0.008168,-0.760800,-0.018725,0.648665
6,2,112640,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.230061,-0.070770,0.888452,0.677137,0.067392,-0.062434,0.730100
6,2,112640,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084385,0.074272,0.881638,0.382332,0.034409,-0.019061,0.923187
6,2,112640,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
6,2,112640,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.237206,-0.077583,0.871288,0.999728,-0.000131,-0.001021,0.023278
6,2,112640,2,gripper,0,"","put ketchup bottle on cloth",-0.093252,0.062607,0.963218,-0.017056,-0.753436,0.014761,0.657135
6,2,112640,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.184938,0.045601,0.885086,0.695644,0.285668,-0.364463,0.549217
6,2,112640,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115753,0.044411,0.881638,0.923134,0.010862,-0.037837,0.382457
6,2,112640,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235004,0.075005,0.869532,1.000000,-0.000002,0.000001,-0.000104
6,2,112640,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
6,2,112640,3,gripper,0,"","put ketchup bottle on cloth",-0.157469,0.050110,1.105115,0.018221,-0.849181,0.082158,0.521354
6,2,112640,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.229033,0.043457,0.878981,-0.608682,0.382842,-0.526636,-0.453423
6,2,112640,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085953,-0.074883,0.881638,0.999225,-0.004453,-0.039116,-0.000194
6,2,112640,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.105210,0.077942,0.872747,0.992224,-0.010623,-0.049778,0.113583
6,2,112640,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205012,-0.074982,0.871282,0.999999,-0.000450,-0.001265,-0.000102
6,2,112640,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.175644,0.046623,0.914710,0.072580,-0.739322,0.050409,0.667529
6,2,112640,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.035130,0.202072,0.879213,0.204721,0.648261,-0.708732,0.188534
6,2,112640,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084612,-0.076065,0.881638,0.705532,0.024540,-0.030746,0.707586
6,2,112640,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.227074,-0.079453,0.869532,0.999857,0.000000,-0.000000,0.016927
6,2,112640,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000001
6,2,112640,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.274934,-0.005436,0.913210,0.115000,-0.710544,0.088455,0.688533
6,2,112640,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.068241,0.062645,0.879125,0.220232,0.724956,-0.269423,0.594431
6,2,112640,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.219227,-0.148788,0.916901,0.735287,-0.035367,-0.014241,0.676682
6,2,112640,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.141033,-0.115875,0.872187,0.819467,0.031079,0.025496,0.571715
6,2,112640,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.229492,-0.071465,0.871288,0.999384,-0.000190,-0.001014,-0.035081
6,2,112640,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.229168,-0.147469,0.951470,0.030276,-0.755490,0.038283,0.653339
6,2,112640,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.071117,0.069542,0.885083,0.857334,0.116339,-0.447520,0.226208
6,2,112640,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205776,0.074402,0.881638,0.923200,0.010849,-0.037822,0.382300
6,2,112640,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085003,0.075005,0.869532,1.000000,-0.000000,-0.000002,0.000155
6,2,112640,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000171
6,2,112640,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.191425,0.030140,1.112270,0.025278,-0.835380,0.099050,0.540084
6,2,112640,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.167549,-0.102577,0.879569,0.835096,0.087665,-0.524419,0.141116
6,2,112640,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085701,0.074402,0.881638,0.923156,0.010855,-0.037822,0.382407
6,2,112640,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114456,-0.044392,0.869532,0.999965,0.000000,-0.000000,-0.008311
6,2,112640,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234985,0.075031,0.871288,0.999999,-0.000154,-0.001019,0.000174
6,2,112640,8,gripper,0,"","put kitchen shovel on cloth",-0.185909,-0.098127,0.934665,-0.108095,-0.801538,-0.037045,0.586924
6,2,112640,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.048115,0.087330,0.885369,0.845262,-0.127086,0.247532,0.456190
6,2,112640,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.111519,-0.054466,0.881637,0.422199,-0.053501,0.021131,0.904676
6,2,112640,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,0.000001,-0.000001,-0.000001
6,2,112640,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205105,0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000111
6,2,112640,9,gripper,0,"","put kitchen shovel on cloth",-0.107737,-0.059130,0.925673,0.013237,-0.770971,-0.034915,0.635775
6,2,112640,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.088795,-0.052498,0.885085,0.578221,0.349911,-0.303351,0.671715
6,2,112640,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219288,-0.096973,0.881638,0.730397,0.023440,-0.031625,0.681888
6,2,112640,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085003,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000061
6,2,112640,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
6,2,112640,10,gripper,0,"","put kitchen shovel on cloth",-0.209011,-0.085550,0.944003,-0.021060,-0.783157,-0.043202,0.619964
6,2,112640,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085388,0.056171,0.879126,0.584173,0.299594,-0.713019,0.246149
6,2,112640,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.195259,0.088619,0.881638,0.957898,0.006875,-0.038764,0.284396
6,2,112640,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000017
6,2,112640,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205013,-0.074989,0.871282,0.999999,-0.000451,-0.001266,0.000027
6,2,112640,11,gripper,0,"","put kitchen shovel on cloth",-0.216839,-0.008272,0.947852,0.066988,-0.743056,0.050621,0.663942
6,2,112640,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205481,-0.191334,0.879374,0.666887,0.068686,-0.055327,0.739921
6,2,112640,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085747,-0.075607,0.881638,0.923279,0.010838,-0.037818,0.382111
6,2,112640,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000014
6,2,112640,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.195034,-0.071960,0.871288,0.999381,-0.000190,-0.001013,-0.035173
6,2,112640,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.139833,-0.094517,0.971618,0.031266,-0.768399,-0.047825,0.637415
6,2,112640,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.191048,-0.098141,0.885112,-0.063324,0.767868,-0.632933,-0.075933
6,2,112640,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.120008,0.048515,0.881638,0.920198,0.011157,-0.037759,0.389467
6,2,112640,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.206909,-0.090729,0.869532,0.982403,0.000000,0.000000,-0.186775
6,2,112640,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084965,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000073
6,2,112640,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.109756,0.064528,0.942652,0.263509,-0.685290,0.168952,0.657568
6,2,112640,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.206108,-0.095982,0.885209,0.203909,0.651196,-0.706052,0.189354
6,2,112640,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.210342,0.047619,0.881638,0.457599,0.032741,-0.021868,0.888287
6,2,112640,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,-0.000004
6,2,112640,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
6,2,112640,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.230814,-0.014132,0.967756,0.118516,-0.793116,0.073322,0.592913
6,2,112640,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.124718,-0.074993,0.879089,0.886320,-0.001296,-0.463071,0.000625
6,2,112640,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.169357,0.067142,0.881641,0.966096,0.005897,0.039762,-0.255034
6,2,112640,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000024
6,2,112640,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001019,0.000025
6,2,112640,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.112450,0.010406,0.952007,-0.152341,-0.752012,-0.171917,0.617831
6,2,112640,16,obj,0,"003_bread_1","put bread on carpet",-0.151337,-0.079060,0.886013,0.941790,0.032380,0.065263,0.328212
6,2,112640,16,obj,1,"005_7up can_1","put bread on carpet",-0.243393,0.036503,0.885675,0.861665,0.140814,-0.333564,0.355583
6,2,112640,16,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000024
6,2,112640,16,recep,1,"003_carpet_1","put bread on carpet",-0.205025,-0.074970,0.870420,0.999991,0.000053,-0.000557,0.004104
6,2,112640,16,gripper,0,"","put bread on carpet",-0.140736,-0.061306,1.013451,0.025989,-0.728091,0.005863,0.684963
6,2,112640,17,obj,0,"003_bread_1","put bread on carpet",-0.240097,-0.031460,0.883544,0.889023,0.007355,-0.010303,0.457688
6,2,112640,17,obj,1,"005_7up can_1","put bread on carpet",-0.058308,0.011162,0.888456,0.757683,-0.141831,0.186958,0.608972
6,2,112640,17,recep,0,"004_newspaper_1","put bread on carpet",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
6,2,112640,17,recep,1,"003_carpet_1","put bread on carpet",-0.085136,0.045044,0.870462,1.000000,0.000037,-0.000158,-0.000599
6,2,112640,17,gripper,0,"","put bread on carpet",-0.205311,-0.014797,0.956573,0.008922,-0.716708,-0.030446,0.696651
6,2,112640,18,obj,0,"003_bread_1","put bread on carpet",-0.108974,-0.045658,0.886763,0.953052,0.007739,-0.005041,0.302664
6,2,112640,18,obj,1,"005_7up can_1","put bread on carpet",-0.182362,-0.074261,0.885786,0.774166,-0.002238,0.632963,-0.004511
6,2,112640,18,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,2,112640,18,recep,1,"003_carpet_1","put bread on carpet",-0.084507,-0.074532,0.870422,0.999985,-0.000709,-0.001275,-0.005260
6,2,112640,18,gripper,0,"","put bread on carpet",-0.186514,-0.049232,0.973566,-0.006380,-0.733569,-0.048755,0.677834
6,2,112640,19,obj,0,"003_bread_1","put bread on carpet",-0.085514,0.075104,0.883544,0.999917,0.001787,-0.012532,-0.002286
6,2,112640,19,obj,1,"005_7up can_1","put bread on carpet",-0.172850,-0.028851,0.885935,-0.403398,-0.068605,-0.911737,0.036049
6,2,112640,19,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000015
6,2,112640,19,recep,1,"003_carpet_1","put bread on carpet",-0.234989,0.075008,0.870447,0.999991,-0.003114,-0.002733,-0.000043
6,2,112640,19,gripper,0,"","put bread on carpet",-0.209558,-0.071390,0.943227,-0.008815,-0.797241,-0.018080,0.603326
6,2,112640,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.102579,0.085258,0.886785,0.360936,0.015785,-0.002303,0.932454
6,2,112640,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.060621,0.038960,0.888464,0.705051,0.237922,-0.262861,0.614166
6,2,112640,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
6,2,112640,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075008,0.870463,1.000000,0.000037,-0.000158,-0.000054
6,2,112640,20,gripper,0,"","put 7up can on newspaper",-0.067740,0.055180,1.124974,0.066971,-0.726906,0.005244,0.683443
6,2,112640,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.085485,0.074501,0.883544,0.924448,0.006460,-0.010890,0.381099
6,2,112640,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.198952,0.009422,0.886108,0.015019,-0.706146,0.707594,0.021047
6,2,112640,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204969,0.075005,0.869490,1.000000,0.000180,0.000874,0.000047
6,2,112640,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235006,-0.044994,0.870425,1.000000,-0.000379,-0.000157,-0.000023
6,2,112640,21,gripper,0,"","put 7up can on newspaper",-0.070288,-0.003418,1.007466,0.035995,-0.761050,-0.016377,0.647486
6,2,112640,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.082794,0.077560,0.886475,0.986633,0.005041,-0.007912,0.162690
6,2,112640,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242619,-0.044823,0.885627,0.972462,-0.005211,-0.233001,0.000547
6,2,112640,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
6,2,112640,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083836,0.076160,0.870350,0.999998,-0.000219,-0.001573,-0.001077
6,2,112640,22,gripper,0,"","put 7up can on newspaper",-0.115974,-0.020544,1.003595,0.019862,-0.766065,0.010424,0.642371
6,2,112640,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.146614,0.004192,0.883544,0.954771,0.005466,-0.011420,0.297071
6,2,112640,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.094337,-0.083256,0.885688,0.847429,0.155587,-0.355211,0.362604
6,2,112640,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,2,112640,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.097763,0.069256,0.870448,0.999400,-0.000944,-0.000806,-0.034609
6,2,112640,23,gripper,0,"","put 7up can on newspaper",-0.106716,-0.079706,0.937518,-0.107225,-0.713481,-0.056733,0.690094
6,2,112640,24,obj,0,"003_bread_1","put 7up can on carpet",-0.115501,-0.045507,0.883544,0.924393,0.006461,-0.010888,0.381230
6,2,112640,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.088112,0.111160,0.889018,0.274557,-0.610040,0.705854,0.232893
6,2,112640,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000013
6,2,112640,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.084991,0.075432,0.870413,0.999927,-0.000782,-0.001428,-0.011970
6,2,112640,24,gripper,0,"","put 7up can on carpet",-0.082314,-0.008580,1.036359,-0.003138,-0.755995,0.104374,0.646195
6,2,112640,25,obj,0,"003_bread_1","put 7up can on carpet",-0.235474,0.044479,0.883544,0.924576,0.006461,-0.010891,0.380788
6,2,112640,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.162708,-0.043941,0.888614,0.520081,0.463166,-0.414352,0.585923
6,2,112640,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000089
6,2,112640,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.205185,-0.074923,0.870448,0.999998,-0.000525,-0.000506,0.002035
6,2,112640,25,gripper,0,"","put 7up can on carpet",-0.130432,0.027554,1.045624,0.093430,-0.702739,0.085021,0.700143
6,2,112640,26,obj,0,"003_bread_1","put 7up can on carpet",-0.160187,0.057369,0.883544,0.571062,0.011313,-0.005669,0.820809
6,2,112640,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.079876,-0.078194,0.895348,0.417291,0.377239,0.068489,0.823934
6,2,112640,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000027
6,2,112640,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,0.075020,0.870447,0.999991,-0.003114,-0.002733,-0.000019
6,2,112640,26,gripper,0,"","put 7up can on carpet",-0.095142,-0.087008,0.954930,-0.287210,-0.694584,-0.253788,0.608814
6,2,112640,27,obj,0,"003_bread_1","put 7up can on carpet",-0.115120,0.074465,0.883544,0.708981,0.010127,-0.007598,0.705114
6,2,112640,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.229618,-0.054382,0.943655,0.720375,-0.182175,0.239374,0.624958
6,2,112640,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
6,2,112640,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235031,0.045073,0.870459,1.000000,-0.000281,-0.000401,-0.000310
6,2,112640,27,gripper,0,"","put 7up can on carpet",-0.216245,-0.054911,0.988392,0.035615,-0.729222,0.060234,0.680690
6,2,112640,28,obj,0,"003_bread_1","put bread on newspaper",-0.234487,0.074511,0.883544,0.383711,0.012267,-0.003129,0.923366
6,2,112640,28,obj,1,"005_7up can_1","put bread on newspaper",-0.172011,0.039139,0.885963,-0.170732,-0.825472,0.433155,-0.319099
6,2,112640,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084982,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000141
6,2,112640,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235000,-0.075001,0.870461,1.000000,0.000019,-0.000158,-0.000000
6,2,112640,28,gripper,0,"","put bread on newspaper",-0.083106,-0.011118,1.003474,-0.062382,-0.781434,-0.083092,0.615276
6,2,112640,29,obj,0,"003_bread_1","put bread on newspaper",-0.195250,-0.064810,0.886331,0.555393,0.017662,-0.005059,0.831385
6,2,112640,29,obj,1,"005_7up can_1","put bread on newspaper",-0.073841,0.098289,0.885847,-0.496747,0.482653,-0.610455,-0.384231
6,2,112640,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.116541,-0.045830,0.869490,0.999934,0.000170,0.000876,0.011427
6,2,112640,29,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,-0.075006,0.870461,1.000000,0.000019,-0.000158,0.000040
6,2,112640,29,gripper,0,"","put bread on newspaper",0.024481,0.092268,0.958671,0.012737,-0.787338,-0.100997,0.608060
6,2,112640,30,obj,0,"003_bread_1","put bread on newspaper",-0.084496,0.074686,0.883544,0.384893,0.012262,-0.003144,0.922874
6,2,112640,30,obj,1,"005_7up can_1","put bread on newspaper",-0.149429,0.052092,0.888118,0.093082,-0.682463,0.710058,0.146278
6,2,112640,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000067
6,2,112640,30,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,0.075012,0.870452,0.999998,0.001568,0.001266,0.000112
6,2,112640,30,gripper,0,"","put bread on newspaper",-0.116940,0.055808,0.961270,-0.048633,-0.781033,-0.072994,0.618300
6,2,112640,31,obj,0,"003_bread_1","put bread on newspaper",-0.232819,0.072027,0.883544,0.957865,0.005339,-0.011475,0.286941
6,2,112640,31,obj,1,"005_7up can_1","put bread on newspaper",-0.120510,0.039764,0.885627,0.897977,0.084484,-0.217153,0.373288
6,2,112640,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
6,2,112640,31,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.074989,0.870461,1.000000,0.000018,-0.000158,-0.000035
6,2,112640,31,gripper,0,"","put bread on newspaper",-0.029074,-0.004859,1.000290,-0.242589,-0.729505,-0.231581,0.596106
6,2,112640,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.241753,-0.076292,0.887484,0.959048,-0.008151,0.025477,0.281977
6,2,112640,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.075307,0.878547,0.923688,0.011483,0.006977,0.382910
6,2,112640,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
6,2,112640,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000000
6,2,112640,32,gripper,0,"","put carrot on flat bowl",-0.200882,0.025655,1.006658,-0.070385,-0.759215,-0.023767,0.646586
6,2,112640,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208805,-0.070592,0.887631,0.912180,-0.018526,0.041493,0.407261
6,2,112640,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.044693,0.878546,0.923634,0.011474,0.006975,0.383040
6,2,112640,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
6,2,112640,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
6,2,112640,33,gripper,0,"","put carrot on flat bowl",-0.042398,-0.038290,1.013779,0.018761,-0.750823,0.006204,0.660207
6,2,112640,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091125,-0.070103,0.887323,0.916838,-0.003458,0.014009,0.398999
6,2,112640,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084682,0.074692,0.878547,0.923633,0.011467,0.006971,0.383043
6,2,112640,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
6,2,112640,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
6,2,112640,34,gripper,0,"","put carrot on flat bowl",-0.077761,-0.003594,1.001727,0.136878,-0.724641,0.236031,0.632811
6,2,112640,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236162,-0.072453,0.887529,0.374500,-0.040072,0.016201,0.926219
6,2,112640,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.114689,-0.044685,0.878547,0.382264,0.003180,0.013044,0.923956
6,2,112640,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
6,2,112640,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
6,2,112640,35,gripper,0,"","put carrot on flat bowl",-0.141932,-0.067759,1.001428,-0.047922,-0.687974,-0.051820,0.722295
6,2,112640,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.119884,0.068670,0.887308,0.368518,-0.019121,0.003690,0.929417
6,2,112640,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234689,0.045321,0.878547,0.382188,0.003188,0.013070,0.923986
6,2,112640,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
6,2,112640,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
6,2,112640,36,gripper,0,"","put banana on sheet metal",-0.158071,-0.035959,0.997548,0.217438,-0.729643,0.103776,0.639979
6,2,112640,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234114,-0.076548,0.887422,0.706267,-0.026479,0.023107,0.707072
6,2,112640,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234560,0.075006,0.878546,0.706809,0.007942,0.010848,0.707277
6,2,112640,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
6,2,112640,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
6,2,112640,37,gripper,0,"","put banana on sheet metal",-0.146416,0.055823,1.129538,0.087306,-0.800997,0.081805,0.586592
6,2,112640,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243610,-0.066832,0.887325,0.999323,-0.005676,0.035248,0.008826
6,2,112640,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
6,2,112640,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
6,2,112640,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
6,2,112640,38,gripper,0,"","put banana on sheet metal",-0.027990,0.070861,1.002144,0.170354,-0.689057,0.068730,0.701039
6,2,112640,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.238407,0.046608,0.887533,0.918150,-0.003437,0.017072,0.395849
6,2,112640,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011494,0.006986,0.383097
6,2,112640,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
6,2,112640,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
6,2,112640,39,gripper,0,"","put banana on sheet metal",-0.059361,0.056852,1.023443,0.008163,-0.748485,-0.046961,0.661437
6,2,112640,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086433,0.071987,0.887369,0.997323,-0.003520,0.020836,0.070005
6,2,112640,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075432,0.878547,0.999910,0.013282,0.002040,-0.000468
6,2,112640,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074974,0.871344,0.999999,-0.000157,0.001164,-0.000050
6,2,112640,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205009,0.075001,0.874362,1.000000,-0.000000,0.000000,0.000110
6,2,112640,40,gripper,0,"","put banana on flat bowl",-0.091560,-0.040874,1.004746,-0.355239,-0.622578,-0.260288,0.646878
6,2,112640,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.240303,0.047564,0.887184,0.919799,-0.019975,0.024111,0.391140
6,2,112640,41,obj,1,"013_banana_1","put banana on flat bowl",-0.204670,-0.075312,0.878547,0.923971,0.011484,0.006966,0.382226
6,2,112640,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
6,2,112640,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
6,2,112640,41,gripper,0,"","put banana on flat bowl",-0.111191,0.044678,1.045933,0.114077,-0.696961,0.150512,0.691794
6,2,112640,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244858,-0.074532,0.887208,0.997977,-0.006633,0.031298,-0.054937
6,2,112640,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
6,2,112640,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
6,2,112640,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000001,0.000103
6,2,112640,42,gripper,0,"","put banana on flat bowl",-0.169907,0.032607,1.018423,-0.152441,-0.648535,-0.106596,0.738107
6,2,112640,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091568,-0.076509,0.887521,0.750580,-0.019096,0.018984,0.660231
6,2,112640,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114557,0.045013,0.878548,0.707487,0.007976,0.010862,0.706598
6,2,112640,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.044966,0.871344,0.999999,-0.000158,0.001163,0.000083
6,2,112640,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000186
6,2,112640,43,gripper,0,"","put banana on flat bowl",-0.101462,0.080405,0.992492,0.360235,-0.604519,0.027012,0.709970
6,2,112640,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090833,0.080843,0.887468,0.920527,-0.014378,0.038267,0.388534
6,2,112640,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.075306,0.878547,0.923648,0.011478,0.006976,0.383006
6,2,112640,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
6,2,112640,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874362,1.000000,0.000000,-0.000000,-0.000000
6,2,112640,44,gripper,0,"","put carrot on sheet metal",-0.073806,0.093660,0.972651,-0.226070,-0.695710,-0.207011,0.649636
6,2,112640,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120712,0.069073,0.887454,0.363558,-0.036799,0.016541,0.930697
6,2,112640,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234694,0.045326,0.878547,0.382800,0.003217,0.013138,0.923732
6,2,112640,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.045013,0.871344,0.999999,-0.000158,0.001164,-0.000064
6,2,112640,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
6,2,112640,45,gripper,0,"","put carrot on sheet metal",-0.068504,-0.053995,1.074834,-0.005100,-0.737015,-0.089639,0.669886
6,2,112640,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236641,-0.067225,0.887918,0.349420,-0.048414,0.018073,0.935540
6,2,112640,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.114700,-0.044664,0.878547,0.383119,0.003196,0.013050,0.923601
6,2,112640,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
6,2,112640,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000191
6,2,112640,46,gripper,0,"","put carrot on sheet metal",-0.167038,-0.035426,1.010189,0.034178,-0.708983,0.132037,0.691911
6,2,112640,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210526,-0.070427,0.887445,0.915909,-0.011216,0.024253,0.400496
6,2,112640,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
6,2,112640,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
6,2,112640,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
6,2,112640,47,gripper,0,"","put carrot on sheet metal",-0.041494,0.131786,0.960005,0.277056,-0.729712,0.204758,0.590622
6,2,112640,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.157417,-0.019913,0.888112,0.300683,-0.020926,-0.017908,0.953326
6,2,112640,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085907,0.104321,0.887026,0.497129,-0.513930,0.489452,0.499176
6,2,112640,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
6,2,112640,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.236916,-0.077118,0.870870,0.999878,-0.000000,-0.000001,0.015598
6,2,112640,48,gripper,0,"","put hamburger on cutting board",-0.053406,0.089958,0.989226,0.145258,-0.705467,0.109527,0.684997
6,2,112640,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.087048,-0.069942,0.888112,0.999013,-0.023863,0.013748,0.034849
6,2,112640,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205872,0.075844,0.887026,0.704493,-0.019537,0.709433,0.003662
6,2,112640,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
6,2,112640,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
6,2,112640,49,gripper,0,"","put hamburger on cutting board",-0.206718,0.066891,0.953089,0.147841,-0.765289,0.040911,0.625142
6,2,112640,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.121235,-0.057175,0.888112,0.692626,-0.026702,-0.006759,0.720771
6,2,112640,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.236229,0.104515,0.889774,0.025191,-0.717204,0.695815,0.028724
6,2,112640,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
6,2,112640,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
6,2,112640,50,gripper,0,"","put hamburger on cutting board",-0.149464,-0.026436,0.980096,-0.059596,-0.743753,-0.053918,0.663606
6,2,112640,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.101419,0.077461,0.888111,0.429296,-0.023194,-0.014848,0.902744
6,2,112640,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.090330,-0.050194,0.887026,0.298094,-0.649587,0.285860,0.638327
6,2,112640,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
6,2,112640,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204992,0.074993,0.870870,1.000000,0.000002,0.000002,0.000004
6,2,112640,51,gripper,0,"","put hamburger on cutting board",-0.104274,0.038977,0.990910,0.020748,-0.785943,-0.101703,0.609524
6,2,112640,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.135279,-0.028503,0.889569,0.974555,-0.034852,0.084502,-0.204665
6,2,112640,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205666,0.075947,0.887027,0.704486,-0.020366,0.709412,0.004485
6,2,112640,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114999,0.045002,0.872199,1.000000,-0.000000,-0.000001,-0.000053
6,2,112640,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,-0.075027,0.870870,1.000000,0.000001,-0.000000,0.000079
6,2,112640,52,gripper,0,"","put plastic bottle on frying pan",-0.128901,-0.032549,0.990212,-0.034102,-0.798707,-0.102639,0.591920
6,2,112640,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.119144,-0.049084,0.890559,0.673274,-0.027539,-0.005142,0.738862
6,2,112640,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235758,0.104279,0.887026,0.497488,-0.513578,0.489821,0.498818
6,2,112640,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000000
6,2,112640,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085089,-0.074989,0.870870,1.000000,0.000000,-0.000001,0.000133
6,2,112640,53,gripper,0,"","put plastic bottle on frying pan",-0.039728,0.094782,0.945944,0.025345,-0.770826,-0.079749,0.631526
6,2,112640,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084412,0.045956,0.888112,0.999591,-0.023259,0.014751,-0.007656
6,2,112640,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205456,-0.042103,0.887034,0.706772,-0.022988,0.707021,0.008083
6,2,112640,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
6,2,112640,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000015
6,2,112640,54,gripper,0,"","put plastic bottle on frying pan",-0.184742,-0.030741,0.968241,0.071009,-0.771205,-0.039246,0.631396
6,2,112640,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236103,0.074760,0.888112,0.386535,-0.022476,-0.015922,0.921863
6,2,112640,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.144714,0.021667,0.888264,0.710105,-0.263769,0.283510,0.588047
6,2,112640,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084976,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000265
6,2,112640,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.207363,-0.043633,0.870870,0.999994,0.000001,0.000000,0.003463
6,2,112640,55,gripper,0,"","put plastic bottle on frying pan",-0.084238,-0.036575,1.001321,-0.065968,-0.740030,-0.040573,0.668100
6,2,112640,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234337,-0.074078,0.888112,0.999577,-0.023237,0.014788,-0.009310
6,2,112640,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.072929,0.137039,0.887026,0.603936,0.351745,0.616403,-0.362744
6,2,112640,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.051506,0.067760,0.872199,0.989864,-0.000000,-0.000000,-0.142016
6,2,112640,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,-0.044998,0.870871,1.000000,-0.000000,-0.000000,-0.000003
6,2,112640,56,gripper,0,"","put plastic bottle on cutting board",-0.067020,0.022591,0.989661,-0.064179,-0.748580,-0.130125,0.646975
6,2,112640,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.070850,-0.059723,0.890533,0.288009,-0.020643,-0.015610,0.957278
6,2,112640,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.275158,0.180794,0.885720,0.236287,0.655585,-0.219919,0.682651
6,2,112640,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235092,0.075058,0.872199,1.000000,-0.000000,-0.000002,-0.000625
6,2,112640,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000014
6,2,112640,57,gripper,0,"","put plastic bottle on cutting board",-0.079498,-0.015680,1.025015,-0.059141,-0.762792,-0.097145,0.636564
6,2,112640,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.074760,0.888112,0.386535,-0.022476,-0.015922,0.921863
6,2,112640,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.113552,-0.032024,0.890602,-0.065389,-0.860086,0.502710,-0.057085
6,2,112640,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114906,0.045113,0.872199,1.000000,-0.000001,-0.000001,0.000012
6,2,112640,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206467,-0.045528,0.870884,0.999994,0.000723,0.000710,-0.003263
6,2,112640,58,gripper,0,"","put plastic bottle on cutting board",-0.098188,-0.025318,0.949624,0.066206,-0.734379,0.122058,0.664384
6,2,112640,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.119999,0.060993,0.888112,0.671986,-0.026498,-0.007506,0.740052
6,2,112640,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.110334,-0.139847,0.886092,0.781321,-0.020797,0.008449,0.623726
6,2,112640,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.213873,-0.047764,0.872199,0.999959,0.000000,-0.000000,-0.009093
6,2,112640,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
6,2,112640,59,gripper,0,"","put plastic bottle on cutting board",-0.016466,-0.111088,0.928708,0.042122,-0.709517,-0.143583,0.688618
6,2,112640,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235742,-0.074825,0.888112,0.999424,-0.023077,0.015030,-0.019839
6,2,112640,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.057146,0.089321,0.887026,0.703112,-0.060258,0.707146,0.044123
6,2,112640,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
6,2,112640,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
6,2,112640,60,gripper,0,"","put hamburger on frying pan",-0.223137,-0.074251,0.977618,0.098233,-0.719481,0.069525,0.684005
6,2,112640,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.180603,0.091183,0.893982,0.547257,-0.326196,-0.749657,-0.179220
6,2,112640,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175587,-0.074223,0.887026,0.704495,-0.017013,0.709505,0.001154
6,2,112640,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000088
6,2,112640,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234951,0.044991,0.870870,1.000000,0.000017,0.000015,0.000216
6,2,112640,61,gripper,0,"","put hamburger on frying pan",-0.119281,-0.079676,0.987332,0.168662,-0.706478,0.183431,0.662417
6,2,112640,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084503,-0.021744,0.895890,0.998945,0.040909,0.017354,-0.011591
6,2,112640,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085640,0.075798,0.887027,0.704496,-0.016895,0.709506,0.001038
6,2,112640,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000170
6,2,112640,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000017
6,2,112640,62,gripper,0,"","put hamburger on frying pan",-0.117006,-0.035524,1.080824,0.051817,-0.766505,0.074630,0.635780
6,2,112640,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084305,0.086205,0.888112,0.995150,-0.021891,0.016713,-0.094434
6,2,112640,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055626,-0.074207,0.887026,0.704495,-0.016895,0.709507,0.001037
6,2,112640,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
6,2,112640,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
6,2,112640,63,gripper,0,"","put hamburger on frying pan",-0.034472,-0.047264,0.962015,0.056573,-0.694717,0.041566,0.715849
6,3,117760,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.226624,-0.018532,0.883310,0.157942,0.570846,-0.791757,0.149364
6,3,117760,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.113220,0.075470,0.881638,0.383719,0.034415,-0.019129,0.922610
6,3,117760,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234520,0.048683,0.869532,0.999935,-0.000000,-0.000001,-0.011369
6,3,117760,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.044991,0.871289,0.999999,-0.000154,-0.001019,-0.000076
6,3,117760,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.218712,-0.023479,0.919497,0.097145,-0.790693,0.083582,0.598650
6,3,117760,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.035213,-0.073418,0.879704,0.468791,-0.109716,0.875035,0.050112
6,3,117760,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.187454,-0.043404,0.881638,0.739102,0.023018,-0.031905,0.672444
6,3,117760,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234745,0.045311,0.869532,0.999973,-0.000001,-0.000001,0.007329
6,3,117760,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
6,3,117760,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.207518,-0.043087,0.915321,-0.036442,-0.805931,-0.018182,0.590607
6,3,117760,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210361,-0.003517,0.879089,-0.651724,-0.312640,0.341600,-0.600685
6,3,117760,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074280,0.881638,0.382238,0.034404,-0.019055,0.923226
6,3,117760,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000016
6,3,117760,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.254066,-0.092300,0.871288,0.993841,-0.000040,-0.001029,0.110812
6,3,117760,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.242506,-0.029987,0.964067,0.033668,-0.818173,0.039530,0.572622
6,3,117760,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.184956,0.045456,0.885086,0.696950,0.284808,-0.365173,0.547534
6,3,117760,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115749,0.044418,0.881638,0.923102,0.010857,-0.037818,0.382536
6,3,117760,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,0.075005,0.869532,1.000000,-0.000001,-0.000000,-0.000058
6,3,117760,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
6,3,117760,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.256823,-0.096050,0.934918,0.034404,-0.731583,0.087007,0.675302
6,3,117760,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.206135,-0.122353,0.883611,0.040621,0.314676,0.062470,-0.946270
6,3,117760,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085953,-0.074883,0.881638,0.999225,-0.004453,-0.039109,-0.000194
6,3,117760,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.105173,0.077827,0.869532,0.993041,0.000000,-0.000000,0.117773
6,3,117760,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.191918,-0.072395,0.871288,0.997490,-0.000226,-0.001006,-0.070800
6,3,117760,4,gripper,0,"","put kitchen shovel on cloth",-0.204529,0.065960,0.978695,0.071793,-0.703236,0.067420,0.704102
6,3,117760,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.035130,0.202072,0.879213,0.204722,0.648261,-0.708732,0.188535
6,3,117760,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084612,-0.076065,0.881638,0.705545,0.024541,-0.030749,0.707572
6,3,117760,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.227074,-0.079453,0.869532,0.999855,0.000001,-0.000000,0.017014
6,3,117760,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.078236,0.074066,0.871288,0.999990,-0.000158,-0.001018,-0.004352
6,3,117760,5,gripper,0,"","put kitchen shovel on cloth",-0.238309,0.056675,0.913780,-0.076346,-0.735624,-0.060291,0.670368
6,3,117760,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.068241,0.062645,0.879125,0.220239,0.724951,-0.269430,0.594431
6,3,117760,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.226326,-0.163994,0.883197,0.780056,0.075921,-0.112401,0.610830
6,3,117760,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.136955,-0.118637,0.872295,0.793285,0.038251,0.018658,0.607360
6,3,117760,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.217747,-0.068634,0.871288,0.991027,-0.000291,-0.000993,-0.133661
6,3,117760,6,gripper,0,"","put kitchen shovel on cloth",-0.260298,0.002323,0.914275,-0.013466,-0.727944,-0.052462,0.683494
6,3,117760,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.071133,0.069542,0.885083,0.857307,0.116375,-0.447535,0.226259
6,3,117760,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.200413,0.071541,0.881638,0.927155,0.010449,-0.037922,0.372608
6,3,117760,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085003,0.075005,0.869532,1.000000,0.000001,-0.000001,0.000225
6,3,117760,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000366
6,3,117760,7,gripper,0,"","put kitchen shovel on cloth",-0.172428,0.106472,0.968933,0.180378,-0.723519,0.144866,0.650383
6,3,117760,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.160889,-0.104961,0.879116,-0.097398,0.179740,-0.978727,-0.017316
6,3,117760,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085701,0.074402,0.881638,0.923118,0.010868,-0.037840,0.382497
6,3,117760,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.112595,-0.043247,0.869532,0.999851,-0.000000,-0.000001,-0.017259
6,3,117760,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234985,0.075043,0.871288,0.999999,-0.000153,-0.001019,0.000169
6,3,117760,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.186382,-0.089312,0.932289,-0.074270,-0.790385,-0.077341,0.603153
6,3,117760,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.048103,0.087353,0.885369,0.845197,-0.127116,0.247509,0.456313
6,3,117760,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.110096,-0.055996,0.881638,0.423440,0.033528,-0.020593,0.905069
6,3,117760,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000003
6,3,117760,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205105,0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000072
6,3,117760,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.196016,-0.031807,0.969086,0.042910,-0.835179,0.042309,0.546666
6,3,117760,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.088795,-0.052502,0.885085,0.578287,0.349853,-0.303346,0.671691
6,3,117760,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.219288,-0.096973,0.881638,0.730438,0.023438,-0.031626,0.681844
6,3,117760,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000017
6,3,117760,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
6,3,117760,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.131414,0.006907,1.106704,0.050136,-0.750972,0.039206,0.657260
6,3,117760,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.057503,-0.080177,0.885122,0.545280,0.393778,-0.665635,0.323323
6,3,117760,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.209879,0.078114,0.881638,0.740557,0.022950,-0.031959,0.670840
6,3,117760,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000023
6,3,117760,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205027,-0.074989,0.871282,0.999999,-0.000451,-0.001266,0.000056
6,3,117760,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.112019,-0.047161,0.962248,0.104411,-0.827558,0.131372,0.535712
6,3,117760,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205481,-0.191334,0.879374,0.666887,0.068681,-0.055321,0.739921
6,3,117760,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085747,-0.075607,0.881638,0.923278,0.010841,-0.037825,0.382111
6,3,117760,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000021
6,3,117760,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.195034,-0.071960,0.871288,0.999381,-0.000190,-0.001013,-0.035173
6,3,117760,12,gripper,0,"","put ketchup bottle on cloth",-0.108428,0.036329,1.019660,0.140841,-0.770471,0.080296,0.616515
6,3,117760,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.190559,-0.085285,0.885121,0.384584,0.614337,-0.469798,0.503959
6,3,117760,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.120007,0.048515,0.881638,0.920166,0.011145,-0.037727,0.389548
6,3,117760,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.201492,-0.094303,0.869532,0.986958,-0.000000,-0.000000,-0.160979
6,3,117760,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084953,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000104
6,3,117760,13,gripper,0,"","put ketchup bottle on cloth",-0.192998,-0.100105,0.978657,0.179098,-0.769943,0.137708,0.596782
6,3,117760,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.198257,-0.064873,0.884977,0.348278,-0.574973,0.305476,0.674383
6,3,117760,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204334,0.075520,0.881638,0.621276,0.027868,-0.027799,0.782602
6,3,117760,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.219971,-0.091953,0.869532,0.974945,0.000000,-0.000001,0.222446
6,3,117760,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
6,3,117760,14,gripper,0,"","put ketchup bottle on cloth",-0.207243,0.048613,0.954409,0.017511,-0.795682,0.020707,0.605108
6,3,117760,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.124718,-0.074993,0.879089,0.886319,-0.001291,-0.463074,0.000633
6,3,117760,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.160946,0.065769,0.881641,0.948081,0.008382,0.039276,-0.315483
6,3,117760,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000036
6,3,117760,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044960,0.871288,0.999999,-0.000154,-0.001019,0.000020
6,3,117760,15,gripper,0,"","put ketchup bottle on cloth",-0.191616,0.142389,0.940826,0.253216,-0.686967,0.150323,0.664350
6,3,117760,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.153419,-0.074875,0.886172,0.898838,0.016061,0.017514,0.437637
6,3,117760,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.196785,-0.044426,0.888671,0.692703,0.112579,-0.102899,0.704912
6,3,117760,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000033
6,3,117760,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204987,-0.074894,0.870448,0.999990,-0.000904,-0.000836,0.004171
6,3,117760,16,gripper,0,"","put 7up can on newspaper",-0.131599,-0.000141,0.987059,-0.002168,-0.744515,-0.052194,0.665558
6,3,117760,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.239040,-0.029716,0.883544,0.880164,0.007549,-0.010167,0.474501
6,3,117760,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.058186,0.011112,0.888455,0.763718,-0.139956,0.188363,0.601387
6,3,117760,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000101
6,3,117760,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085136,0.045033,0.870462,1.000000,0.000036,-0.000158,-0.000588
6,3,117760,17,gripper,0,"","put 7up can on newspaper",-0.031673,-0.018658,0.963467,-0.089767,-0.726707,-0.158379,0.662386
6,3,117760,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.115017,-0.042648,0.886642,0.940758,0.006407,-0.009568,0.338884
6,3,117760,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.182568,-0.074238,0.885765,0.778144,-0.002721,0.628061,-0.004901
6,3,117760,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,3,117760,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084435,-0.074020,0.870351,0.999951,-0.000471,-0.001782,-0.009672
6,3,117760,18,gripper,0,"","put 7up can on newspaper",0.064625,0.053001,0.971941,0.281988,-0.636617,0.128607,0.706160
6,3,117760,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.085514,0.075104,0.883544,0.999918,0.001792,-0.012524,-0.002044
6,3,117760,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.172863,-0.028851,0.885935,-0.403433,-0.067836,-0.911792,0.035709
6,3,117760,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
6,3,117760,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234980,0.075008,0.870447,0.999991,-0.003114,-0.002733,-0.000068
6,3,117760,19,gripper,0,"","put 7up can on newspaper",-0.125559,0.046223,1.120330,0.084854,-0.852245,0.081035,0.509815
6,3,117760,20,obj,0,"003_bread_1","put 7up can on carpet",-0.102578,0.085258,0.886785,0.360935,0.015794,-0.002313,0.932454
6,3,117760,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.060621,0.038956,0.888464,0.705053,0.237961,-0.262915,0.614125
6,3,117760,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
6,3,117760,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075008,0.870463,1.000000,0.000037,-0.000158,-0.000054
6,3,117760,20,gripper,0,"","put 7up can on carpet",-0.093743,-0.012413,1.126204,0.079656,-0.788014,-0.021867,0.610090
6,3,117760,21,obj,0,"003_bread_1","put 7up can on carpet",-0.085485,0.074501,0.883544,0.924480,0.006458,-0.010886,0.381019
6,3,117760,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.198952,0.009422,0.886108,0.015029,-0.706089,0.707651,0.021054
6,3,117760,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204954,0.075005,0.869490,1.000000,0.000180,0.000874,0.000072
6,3,117760,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044994,0.870425,1.000000,-0.000379,-0.000157,-0.000017
6,3,117760,21,gripper,0,"","put 7up can on carpet",-0.093069,0.069397,0.991744,-0.089990,-0.794353,-0.107949,0.590976
6,3,117760,22,obj,0,"003_bread_1","put 7up can on carpet",-0.081612,0.084393,0.886595,0.971876,0.004945,-0.006109,0.235362
6,3,117760,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.239613,-0.045063,0.885647,0.989722,0.002653,-0.142979,-0.000804
6,3,117760,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
6,3,117760,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.080376,0.079136,0.870448,0.999987,-0.000869,-0.000792,-0.004967
6,3,117760,22,gripper,0,"","put 7up can on carpet",-0.201162,-0.022863,0.981229,0.112677,-0.722428,0.084659,0.676930
6,3,117760,23,obj,0,"003_bread_1","put 7up can on carpet",-0.076031,0.049816,0.886154,0.921791,0.013515,-0.008715,0.387354
6,3,117760,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.139915,-0.129929,0.885830,-0.666392,0.266409,-0.636113,-0.283386
6,3,117760,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,3,117760,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.098988,0.082432,0.870448,0.998978,0.001468,0.001334,0.045154
6,3,117760,23,gripper,0,"","put 7up can on carpet",-0.044962,-0.042154,0.972950,-0.121118,-0.712501,-0.078442,0.686673
6,3,117760,24,obj,0,"003_bread_1","put bread on newspaper",-0.099861,-0.032822,0.883544,0.922475,0.006517,-0.010855,0.385849
6,3,117760,24,obj,1,"005_7up can_1","put bread on newspaper",-0.093773,0.114023,0.888965,0.278788,-0.596261,0.717950,0.226491
6,3,117760,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000021
6,3,117760,24,recep,1,"003_carpet_1","put bread on newspaper",-0.087860,0.077530,0.870342,0.999712,-0.000681,-0.002049,-0.023902
6,3,117760,24,gripper,0,"","put bread on newspaper",-0.104885,-0.033202,0.954441,0.078694,-0.748764,0.084036,0.652762
6,3,117760,25,obj,0,"003_bread_1","put bread on newspaper",-0.235474,0.044479,0.883544,0.924672,0.006457,-0.010888,0.380554
6,3,117760,25,obj,1,"005_7up can_1","put bread on newspaper",-0.162682,-0.045567,0.888597,0.519161,0.462369,-0.408873,0.591194
6,3,117760,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000131
6,3,117760,25,recep,1,"003_carpet_1","put bread on newspaper",-0.205353,-0.074926,0.870413,0.999998,-0.000039,-0.000719,0.001572
6,3,117760,25,gripper,0,"","put bread on newspaper",-0.000908,0.040506,0.978564,-0.023597,-0.787109,-0.075417,0.611731
6,3,117760,26,obj,0,"003_bread_1","put bread on newspaper",-0.161243,0.061440,0.883544,0.533275,0.011571,-0.005140,0.845847
6,3,117760,26,obj,1,"005_7up can_1","put bread on newspaper",-0.097740,-0.082548,0.885633,0.406240,0.100099,-0.041800,0.907305
6,3,117760,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000036
6,3,117760,26,recep,1,"003_carpet_1","put bread on newspaper",-0.236488,0.076258,0.870461,0.999955,-0.000078,-0.000248,0.009478
6,3,117760,26,gripper,0,"","put bread on newspaper",-0.143145,0.051975,0.964231,0.088784,-0.735096,0.025269,0.671649
6,3,117760,27,obj,0,"003_bread_1","put bread on newspaper",-0.115120,0.074465,0.883544,0.708821,0.010127,-0.007593,0.705274
6,3,117760,27,obj,1,"005_7up can_1","put bread on newspaper",-0.227369,-0.026741,0.885847,0.485062,-0.500657,0.595768,0.398895
6,3,117760,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
6,3,117760,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235031,0.045073,0.870459,1.000000,-0.000281,-0.000401,-0.000310
6,3,117760,27,gripper,0,"","put bread on newspaper",-0.068882,-0.048463,0.999071,-0.066656,-0.701516,-0.037980,0.708513
6,3,117760,28,obj,0,"003_bread_1","put bread on carpet",-0.234487,0.074511,0.883544,0.383711,0.012264,-0.003126,0.923366
6,3,117760,28,obj,1,"005_7up can_1","put bread on carpet",-0.136627,0.039299,0.885847,0.450266,-0.548395,0.552147,0.437787
6,3,117760,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084982,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000141
6,3,117760,28,recep,1,"003_carpet_1","put bread on carpet",-0.235000,-0.075001,0.870461,1.000000,0.000018,-0.000158,-0.000000
6,3,117760,28,gripper,0,"","put bread on carpet",-0.160456,-0.013906,0.988005,0.013841,-0.685308,-0.016344,0.727938
6,3,117760,29,obj,0,"003_bread_1","put bread on carpet",-0.195250,-0.064817,0.886331,0.555383,0.017661,-0.005058,0.831392
6,3,117760,29,obj,1,"005_7up can_1","put bread on carpet",-0.072174,0.108469,0.885966,-0.339040,0.540523,-0.729730,-0.245725
6,3,117760,29,recep,0,"004_newspaper_1","put bread on carpet",-0.116547,-0.045830,0.869490,0.999934,0.000170,0.000876,0.011441
6,3,117760,29,recep,1,"003_carpet_1","put bread on carpet",-0.235008,-0.075022,0.870461,1.000000,0.000019,-0.000157,0.000081
6,3,117760,29,gripper,0,"","put bread on carpet",-0.063578,0.102570,0.926407,0.141837,-0.760312,0.107250,0.624744
6,3,117760,30,obj,0,"003_bread_1","put bread on carpet",-0.228470,0.153822,0.883544,-0.409402,-0.012176,0.003471,-0.912266
6,3,117760,30,obj,1,"005_7up can_1","put bread on carpet",-0.148235,-0.007515,0.885609,0.691770,-0.079825,0.070060,0.714264
6,3,117760,30,recep,0,"004_newspaper_1","put bread on carpet",-0.113167,-0.085905,0.869490,0.999893,0.000167,0.000876,0.014594
6,3,117760,30,recep,1,"003_carpet_1","put bread on carpet",-0.204994,0.075010,0.870452,0.999998,0.001568,0.001265,0.000185
6,3,117760,30,gripper,0,"","put bread on carpet",-0.109943,-0.072555,0.969327,-0.073365,-0.767560,-0.053111,0.634545
6,3,117760,31,obj,0,"003_bread_1","put bread on carpet",-0.233128,0.074137,0.883544,0.955264,0.005442,-0.011432,0.295484
6,3,117760,31,obj,1,"005_7up can_1","put bread on carpet",-0.120510,0.039787,0.885626,0.898129,0.084390,-0.217163,0.372938
6,3,117760,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
6,3,117760,31,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.074982,0.870461,1.000000,0.000019,-0.000158,-0.000053
6,3,117760,31,gripper,0,"","put bread on carpet",-0.073542,-0.052733,0.956988,-0.015321,-0.769107,0.016659,0.638719
6,3,117760,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.245529,-0.076573,0.887197,0.973260,-0.015327,0.027742,0.227508
6,3,117760,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.075307,0.878547,0.923688,0.011485,0.006978,0.382910
6,3,117760,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
6,3,117760,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
6,3,117760,32,gripper,0,"","put banana on sheet metal",-0.208862,-0.027445,0.971450,0.130925,-0.723125,0.180668,0.653688
6,3,117760,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.211666,-0.069187,0.887529,0.916858,-0.016602,0.038650,0.396992
6,3,117760,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.044693,0.878547,0.923634,0.011478,0.006977,0.383040
6,3,117760,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
6,3,117760,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
6,3,117760,33,gripper,0,"","put banana on sheet metal",-0.162724,0.059875,1.025650,-0.068690,-0.703960,-0.032827,0.706147
6,3,117760,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.094692,-0.066694,0.887578,0.921077,-0.010339,0.031508,0.387965
6,3,117760,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084682,0.074692,0.878547,0.923633,0.011472,0.006973,0.383043
6,3,117760,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
6,3,117760,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874363,1.000000,0.000000,0.000001,-0.000000
6,3,117760,34,gripper,0,"","put banana on sheet metal",-0.030487,0.077683,1.009594,0.092229,-0.786381,0.025269,0.610295
6,3,117760,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236162,-0.072453,0.887529,0.374500,-0.040078,0.016203,0.926219
6,3,117760,35,obj,1,"013_banana_1","put banana on sheet metal",-0.114689,-0.044685,0.878547,0.382263,0.003189,0.013070,0.923955
6,3,117760,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
6,3,117760,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
6,3,117760,35,gripper,0,"","put banana on sheet metal",-0.073438,0.003018,0.983945,0.079270,-0.727664,0.128777,0.669057
6,3,117760,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122367,0.065267,0.887281,0.384702,-0.023029,0.004157,0.922744
6,3,117760,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.045322,0.878547,0.382188,0.003190,0.013077,0.923986
6,3,117760,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
6,3,117760,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
6,3,117760,36,gripper,0,"","put banana on flat bowl",-0.173823,0.033652,1.011313,0.094858,-0.708489,-0.065983,0.696198
6,3,117760,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235580,-0.078222,0.887309,0.697589,-0.020736,0.028416,0.715634
6,3,117760,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234560,0.075006,0.878546,0.706809,0.007919,0.010822,0.707277
6,3,117760,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
6,3,117760,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
6,3,117760,37,gripper,0,"","put banana on flat bowl",-0.169010,0.087202,0.988750,-0.073241,-0.695201,-0.119981,0.704937
6,3,117760,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247234,-0.067205,0.887174,0.999509,-0.009063,0.029682,-0.004315
6,3,117760,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
6,3,117760,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000029
6,3,117760,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874363,1.000000,0.000000,0.000001,-0.000000
6,3,117760,38,gripper,0,"","put banana on flat bowl",-0.083046,0.100133,1.030474,-0.258420,-0.804366,-0.139371,0.516517
6,3,117760,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.240662,0.047943,0.887494,0.921340,-0.009722,0.025396,0.387805
6,3,117760,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011486,0.006981,0.383097
6,3,117760,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
6,3,117760,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
6,3,117760,39,gripper,0,"","put banana on flat bowl",-0.164381,-0.003946,1.023599,-0.039812,-0.707716,-0.047255,0.703790
6,3,117760,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086594,0.071405,0.887436,0.997145,-0.002605,0.025944,0.070860
6,3,117760,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084999,-0.075434,0.878547,0.999909,0.013288,0.002036,-0.000840
6,3,117760,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000073
6,3,117760,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205009,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000201
6,3,117760,40,gripper,0,"","put carrot on sheet metal",-0.024368,0.088843,1.000470,0.295791,-0.723589,0.251712,0.570586
6,3,117760,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243778,0.049685,0.887576,0.924141,-0.006648,0.025435,0.381147
6,3,117760,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.204666,-0.075312,0.878547,0.924149,0.011506,0.006970,0.381794
6,3,117760,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
6,3,117760,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
6,3,117760,41,gripper,0,"","put carrot on sheet metal",-0.191185,0.017860,1.010992,0.029034,-0.707693,0.059452,0.703416
6,3,117760,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.248741,-0.071426,0.887278,0.997084,0.008945,0.032989,-0.068222
6,3,117760,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
6,3,117760,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
6,3,117760,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000288
6,3,117760,42,gripper,0,"","put carrot on sheet metal",0.033077,-0.014359,0.964069,0.053971,-0.756863,0.107917,0.642339
6,3,117760,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094576,-0.077023,0.887525,0.758471,-0.021502,0.026486,0.650814
6,3,117760,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114555,0.045017,0.878547,0.707794,0.007967,0.010842,0.706291
6,3,117760,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.044949,0.871344,0.999999,-0.000158,0.001164,0.000115
6,3,117760,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000275
6,3,117760,43,gripper,0,"","put carrot on sheet metal",-0.046504,-0.034874,0.966487,0.075108,-0.810582,0.163076,0.557424
6,3,117760,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094641,0.083019,0.887564,0.926198,-0.007179,0.025942,0.376075
6,3,117760,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.204685,-0.075306,0.878547,0.923648,0.011484,0.006979,0.383006
6,3,117760,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
6,3,117760,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
6,3,117760,44,gripper,0,"","put carrot on flat bowl",-0.076930,0.080918,0.992809,0.012148,-0.751235,0.026056,0.659409
6,3,117760,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122250,0.064770,0.887502,0.377197,-0.015780,0.009113,0.925953
6,3,117760,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234694,0.045328,0.878547,0.383072,0.003219,0.013131,0.923620
6,3,117760,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.045021,0.871344,0.999999,-0.000157,0.001164,-0.000074
6,3,117760,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
6,3,117760,45,gripper,0,"","put carrot on flat bowl",-0.062232,0.086642,1.002675,0.256734,-0.658973,0.252991,0.660180
6,3,117760,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236301,-0.065519,0.887529,0.347918,-0.040518,0.015051,0.936528
6,3,117760,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.114700,-0.044659,0.878547,0.383581,0.003200,0.013041,0.923410
6,3,117760,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
6,3,117760,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000271
6,3,117760,46,gripper,0,"","put carrot on flat bowl",-0.198620,-0.053822,0.985427,-0.131542,-0.748785,-0.029096,0.648977
6,3,117760,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213650,-0.068590,0.887534,0.920882,-0.007518,0.023974,0.389031
6,3,117760,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
6,3,117760,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
6,3,117760,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
6,3,117760,47,gripper,0,"","put carrot on flat bowl",-0.065279,0.055882,0.997741,0.003486,-0.815925,-0.102607,0.568970
6,3,117760,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.157425,-0.019894,0.888112,0.314333,-0.021180,-0.017604,0.948913
6,3,117760,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.152863,0.192516,0.887112,-0.876745,-0.113356,0.272929,-0.379444
6,3,117760,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235344,0.075108,0.872199,0.999999,-0.000000,-0.000001,-0.001727
6,3,117760,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236916,-0.077118,0.870870,0.999878,-0.000000,-0.000001,0.015608
6,3,117760,48,gripper,0,"","put plastic bottle on frying pan",-0.136635,0.168365,0.973396,0.335210,-0.739502,0.220859,0.540363
6,3,117760,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.063343,-0.023712,0.888112,0.996518,-0.024445,0.012684,0.078702
6,3,117760,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205875,0.075844,0.887026,0.704493,-0.019789,0.709424,0.003912
6,3,117760,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
6,3,117760,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
6,3,117760,49,gripper,0,"","put plastic bottle on frying pan",-0.046839,-0.007389,0.994357,0.019368,-0.739188,-0.061840,0.670375
6,3,117760,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.121235,-0.057175,0.888112,0.692459,-0.026701,-0.006763,0.720931
6,3,117760,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.194889,0.053467,0.889826,0.027252,-0.631891,0.774238,0.022944
6,3,117760,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
6,3,117760,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085476,0.074558,0.870870,0.999997,0.000000,0.000000,-0.002593
6,3,117760,50,gripper,0,"","put plastic bottle on frying pan",-0.194063,0.050533,0.933943,0.134679,-0.786528,0.023193,0.602243
6,3,117760,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.101419,0.077461,0.888111,0.429296,-0.023193,-0.014849,0.902744
6,3,117760,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.093033,-0.039333,0.887027,0.346909,-0.625351,0.335592,0.613162
6,3,117760,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
6,3,117760,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,0.074993,0.870870,1.000000,-0.000001,-0.000002,0.000015
6,3,117760,51,gripper,0,"","put plastic bottle on frying pan",-0.021979,0.016584,1.014094,0.202329,-0.652219,0.338480,0.647384
6,3,117760,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.135279,-0.028503,0.889569,0.974556,-0.034852,0.084498,-0.204661
6,3,117760,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.200831,0.080505,0.887026,0.704479,-0.021329,0.709383,0.005442
6,3,117760,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114999,0.045002,0.872199,1.000000,0.000000,-0.000001,-0.000053
6,3,117760,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204992,-0.075027,0.870870,1.000000,0.000001,-0.000000,0.000079
6,3,117760,52,gripper,0,"","put plastic bottle on cutting board",-0.189423,0.083994,0.988462,0.097291,-0.747797,0.060643,0.653955
6,3,117760,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.119133,-0.049072,0.890559,0.680748,-0.027626,-0.004837,0.731980
6,3,117760,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.216660,0.124203,0.887026,0.496285,-0.514756,0.488582,0.500015
6,3,117760,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000006
6,3,117760,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085085,-0.074989,0.870870,1.000000,0.000000,-0.000001,0.000114
6,3,117760,53,gripper,0,"","put plastic bottle on cutting board",-0.149709,0.075882,0.979105,0.102949,-0.760125,0.063796,0.638389
6,3,117760,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084412,0.045956,0.888112,0.999588,-0.023252,0.014763,-0.008113
6,3,117760,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205456,-0.042126,0.887026,0.704447,-0.024307,0.709291,0.008398
6,3,117760,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205009,0.075172,0.872199,0.999999,-0.000000,-0.000000,-0.001387
6,3,117760,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000030
6,3,117760,54,gripper,0,"","put plastic bottle on cutting board",-0.179585,-0.046551,0.985559,0.009226,-0.665231,-0.021414,0.746273
6,3,117760,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.074757,0.888112,0.385363,-0.022454,-0.015951,0.922354
6,3,117760,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.145206,0.023140,0.888264,0.722365,-0.257725,0.289021,0.572917
6,3,117760,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084988,0.075069,0.872199,1.000000,-0.000000,-0.000000,0.000653
6,3,117760,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.207363,-0.043633,0.870870,0.999994,0.000000,-0.000000,0.003463
6,3,117760,55,gripper,0,"","put plastic bottle on cutting board",-0.055309,-0.004789,0.963054,-0.057490,-0.744907,-0.074209,0.660531
6,3,117760,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.042648,0.081127,0.895268,0.997092,0.025954,-0.057405,-0.042874
6,3,117760,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.072929,0.137039,0.887026,0.603937,0.351737,0.616414,-0.362732
6,3,117760,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.051506,0.067760,0.872199,0.989865,0.000000,-0.000001,-0.142012
6,3,117760,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,-0.044998,0.870871,1.000000,0.000000,-0.000000,-0.000009
6,3,117760,56,gripper,0,"","put hamburger on frying pan",-0.047539,0.066910,1.059947,0.087057,-0.721478,0.019704,0.686660
6,3,117760,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202293,0.082474,0.896460,0.468686,-0.026375,-0.013909,0.882862
6,3,117760,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.275158,0.180794,0.885720,0.236172,0.655618,-0.219804,0.682696
6,3,117760,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235092,0.075058,0.872199,1.000000,-0.000000,-0.000001,-0.000589
6,3,117760,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.086151,-0.074394,0.870870,0.999988,-0.000000,-0.000001,0.004920
6,3,117760,57,gripper,0,"","put hamburger on frying pan",-0.177488,0.069719,1.047990,0.111973,-0.722432,0.140995,0.667588
6,3,117760,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236103,0.074757,0.888112,0.385363,-0.022454,-0.015951,0.922354
6,3,117760,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.109043,-0.030296,0.889856,-0.050779,-0.850138,0.521627,-0.050906
6,3,117760,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114906,0.045113,0.872199,1.000000,-0.000001,-0.000001,0.000012
6,3,117760,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.206455,-0.045464,0.870882,0.999989,0.000698,0.000710,-0.004558
6,3,117760,58,gripper,0,"","put hamburger on frying pan",-0.175158,-0.041885,0.993321,0.056515,-0.763186,-0.041072,0.642391
6,3,117760,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.119999,0.060993,0.888112,0.671995,-0.026498,-0.007507,0.740044
6,3,117760,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.212580,-0.070518,0.895374,0.540666,-0.466672,0.515662,0.473276
6,3,117760,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.213617,-0.047859,0.872199,0.999985,-0.000000,-0.000001,-0.005516
6,3,117760,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
6,3,117760,59,gripper,0,"","put hamburger on frying pan",-0.208844,-0.059874,0.986820,0.067550,-0.741205,0.062002,0.664987
6,3,117760,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235740,-0.074829,0.888112,0.999420,-0.023077,0.015032,-0.020019
6,3,117760,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.057146,0.089321,0.887026,0.703112,-0.060258,0.707146,0.044122
6,3,117760,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
6,3,117760,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
6,3,117760,60,gripper,0,"","put hamburger on cutting board",-0.098310,-0.029562,1.002460,-0.193974,-0.751712,-0.155035,0.610956
6,3,117760,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.180153,0.091183,0.893979,0.544013,-0.339089,-0.744015,-0.188441
6,3,117760,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175587,-0.074223,0.887026,0.704494,-0.016962,0.709506,0.001103
6,3,117760,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000130
6,3,117760,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234930,0.044987,0.870870,1.000000,0.000003,0.000003,0.000400
6,3,117760,61,gripper,0,"","put hamburger on cutting board",-0.158175,-0.059576,0.999498,0.023656,-0.753197,0.076897,0.652856
6,3,117760,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084599,-0.022976,0.906815,0.995657,0.081778,-0.044360,0.003492
6,3,117760,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085640,0.075798,0.887027,0.704495,-0.016873,0.709507,0.001015
6,3,117760,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044994,0.872199,1.000000,0.000000,-0.000000,-0.000312
6,3,117760,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000034
6,3,117760,62,gripper,0,"","put hamburger on cutting board",-0.089052,-0.023865,0.959256,0.033526,-0.783445,0.049107,0.618610
6,3,117760,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084305,0.086205,0.888112,0.995006,-0.021861,0.016750,-0.095945
6,3,117760,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055626,-0.074207,0.887026,0.704495,-0.016873,0.709508,0.001016
6,3,117760,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
6,3,117760,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
6,3,117760,63,gripper,0,"","put hamburger on cutting board",-0.057184,-0.085276,1.012010,-0.075783,-0.702672,-0.078872,0.703056
6,4,122880,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.028397,-0.133820,0.879126,0.347098,0.646735,-0.424120,0.530452
6,4,122880,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.113220,0.075470,0.881638,0.383629,0.034405,-0.019121,0.922648
6,4,122880,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234436,0.049248,0.869532,0.999898,-0.000000,-0.000001,-0.014275
6,4,122880,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000102
6,4,122880,0,gripper,0,"","put kitchen shovel on cloth",-0.197006,-0.084972,0.912531,-0.171165,-0.825810,-0.305003,0.442396
6,4,122880,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.035206,-0.073418,0.879704,0.468803,-0.109714,0.875029,0.050113
6,4,122880,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.168194,-0.054466,0.881638,0.625964,0.027705,-0.027968,0.778857
6,4,122880,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234745,0.045311,0.869532,0.999973,-0.000000,-0.000000,0.007400
6,4,122880,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
6,4,122880,1,gripper,0,"","put kitchen shovel on cloth",-0.176460,0.019028,0.979993,0.088636,-0.787843,0.037569,0.608305
6,4,122880,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.243938,0.001923,0.879213,0.194851,0.683549,-0.674757,0.198736
6,4,122880,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084816,0.073021,0.881712,0.356515,-0.060777,0.019354,0.932110
6,4,122880,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.236355,0.088173,0.869532,0.994563,0.000000,-0.000001,0.104134
6,4,122880,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.260059,-0.116554,0.871288,0.980106,0.001305,0.000202,0.198470
6,4,122880,2,gripper,0,"","put kitchen shovel on cloth",-0.100405,0.053936,0.923258,0.016472,-0.745372,-0.014983,0.666277
6,4,122880,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.187559,0.081238,0.885122,0.553222,0.376951,-0.675307,0.309537
6,4,122880,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.113518,0.047363,0.881641,0.930853,-0.018654,0.035573,0.363178
6,4,122880,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.239876,0.097992,0.869532,0.976830,-0.000001,-0.000000,0.214014
6,4,122880,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871289,1.000000,-0.000157,-0.001019,0.000009
6,4,122880,3,gripper,0,"","put kitchen shovel on cloth",-0.193220,0.031918,0.930741,0.098257,-0.692920,0.019319,0.714026
6,4,122880,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.235753,-0.157326,0.878981,-0.288755,-0.604973,-0.240661,0.701933
6,4,122880,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085952,-0.074883,0.881638,0.999226,-0.004454,-0.039085,-0.000193
6,4,122880,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.105173,0.077827,0.869532,0.993040,-0.000001,-0.000000,0.117773
6,4,122880,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.188071,-0.070045,0.871288,0.998711,-0.000205,-0.001010,-0.050755
6,4,122880,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.273251,-0.082973,0.942658,0.031885,-0.749710,0.074990,0.656730
6,4,122880,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.035130,0.202072,0.879213,0.204723,0.648261,-0.708732,0.188536
6,4,122880,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084612,-0.076065,0.881638,0.705577,0.024535,-0.030745,0.707541
6,4,122880,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.227074,-0.079453,0.869532,0.999854,0.000001,-0.000000,0.017066
6,4,122880,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.078238,0.074066,0.871288,0.999990,-0.000158,-0.001018,-0.004347
6,4,122880,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.369887,-0.063595,0.831024,0.015777,-0.653185,0.121234,0.747264
6,4,122880,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.068241,0.062645,0.879125,0.220243,0.724959,-0.269441,0.594415
6,4,122880,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.225723,-0.160553,0.882997,0.786324,0.068839,-0.103685,0.605148
6,4,122880,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.134106,-0.113808,0.872749,0.796893,0.045549,0.020320,0.602057
6,4,122880,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.211109,-0.066612,0.871288,0.988139,-0.000308,-0.000983,-0.153562
6,4,122880,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.222687,-0.091133,0.926505,-0.049364,-0.788444,-0.039776,0.611832
6,4,122880,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.071152,0.069542,0.885083,0.857316,0.116382,-0.447495,0.226300
6,4,122880,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.200413,0.071548,0.881638,0.927124,0.010465,-0.037950,0.372680
6,4,122880,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085007,0.075005,0.869532,1.000000,-0.000001,-0.000001,0.000295
6,4,122880,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000554
6,4,122880,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.105963,0.048012,1.155141,0.075106,-0.810659,0.216550,0.538793
6,4,122880,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.398323,-0.405331,0.010573,0.956862,0.029923,0.276637,-0.083619
6,4,122880,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085693,0.074406,0.881638,0.923084,0.010874,-0.037844,0.382578
6,4,122880,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.112595,-0.043247,0.869532,0.999851,-0.000000,-0.000000,-0.017263
6,4,122880,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234985,0.075043,0.871288,0.999999,-0.000153,-0.001019,0.000169
6,4,122880,8,gripper,0,"","put ketchup bottle on cloth",-0.226959,-0.039818,0.989414,0.075062,-0.723631,0.100874,0.678637
6,4,122880,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.048100,0.087376,0.885369,0.845206,-0.127109,0.247512,0.456297
6,4,122880,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.110096,-0.055996,0.881638,0.423324,0.033559,-0.020600,0.905122
6,4,122880,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869533,1.000000,0.000001,-0.000001,-0.000009
6,4,122880,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205105,0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000034
6,4,122880,9,gripper,0,"","put ketchup bottle on cloth",-0.029648,0.026094,0.980612,0.404306,-0.579304,0.261417,0.657726
6,4,122880,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.088795,-0.052502,0.885085,0.578278,0.349884,-0.303372,0.671670
6,4,122880,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.194065,-0.147934,0.881638,0.696646,0.024943,-0.030457,0.716334
6,4,122880,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085003,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000033
6,4,122880,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.075008,0.871288,1.000000,-0.000153,-0.001019,0.000018
6,4,122880,10,gripper,0,"","put ketchup bottle on cloth",-0.233309,-0.145399,0.932728,-0.002898,-0.767382,0.049069,0.639304
6,4,122880,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.057526,-0.080166,0.885122,0.545324,0.393677,-0.665703,0.323233
6,4,122880,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.192505,0.085758,0.881638,0.850685,0.016718,-0.035608,0.524201
6,4,122880,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000017
6,4,122880,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205040,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000097
6,4,122880,11,gripper,0,"","put ketchup bottle on cloth",-0.196597,0.044735,0.973935,0.102527,-0.737373,0.202464,0.636222
6,4,122880,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.205481,-0.191334,0.879374,0.666887,0.068685,-0.055325,0.739921
6,4,122880,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085341,-0.075394,0.881638,0.925619,0.010614,-0.037910,0.376402
6,4,122880,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000027
6,4,122880,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.196058,-0.073906,0.871282,0.999967,-0.000462,-0.001262,-0.008055
6,4,122880,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.179513,-0.006313,0.956593,0.091980,-0.763965,0.012726,0.638542
6,4,122880,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.188589,-0.093151,0.885209,0.167591,0.764892,-0.580916,0.222241
6,4,122880,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.107084,0.053841,0.881638,0.947646,0.008186,-0.038496,0.316888
6,4,122880,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.201515,-0.094276,0.869532,0.986908,-0.000000,0.000000,-0.161286
6,4,122880,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084940,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000137
6,4,122880,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.219400,-0.061474,0.970546,-0.069714,-0.737589,-0.027495,0.671079
6,4,122880,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.198242,-0.064888,0.884977,0.348590,-0.574838,0.305746,0.674215
6,4,122880,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204334,0.075520,0.881638,0.621287,0.027848,-0.027785,0.782595
6,4,122880,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.219971,-0.091953,0.869532,0.974968,-0.000000,-0.000000,0.222345
6,4,122880,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
6,4,122880,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.235497,-0.054739,0.984691,-0.100228,-0.738482,-0.127071,0.654562
6,4,122880,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.124718,-0.074993,0.879089,0.886319,-0.001302,-0.463073,0.000613
6,4,122880,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.128666,0.093052,0.881661,0.954948,-0.018734,-0.047816,-0.292297
6,4,122880,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078732,0.043758,0.869532,0.997598,0.000001,-0.000001,-0.069266
6,4,122880,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044964,0.871288,1.000000,-0.000154,-0.001019,0.000015
6,4,122880,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.090874,0.069443,0.971841,0.028094,-0.726583,-0.040137,0.685330
6,4,122880,16,obj,0,"003_bread_1","put 7up can on carpet",-0.151825,-0.074856,0.886077,0.894595,0.039981,0.069805,0.439577
6,4,122880,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.196510,-0.044460,0.888670,0.692411,0.112508,-0.102736,0.705233
6,4,122880,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114990,0.075005,0.869490,1.000000,0.000180,0.000874,0.000046
6,4,122880,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.204964,-0.074848,0.870448,0.999990,-0.000904,-0.000839,0.004316
6,4,122880,16,gripper,0,"","put 7up can on carpet",-0.170849,0.057528,0.979365,0.134532,-0.719672,0.068636,0.677689
6,4,122880,17,obj,0,"003_bread_1","put 7up can on carpet",-0.240055,-0.030750,0.883544,0.832549,0.008459,-0.009420,0.553806
6,4,122880,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.058136,0.011127,0.888455,0.767484,-0.138948,0.189525,0.596441
6,4,122880,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204964,0.075005,0.869490,1.000000,0.000180,0.000874,0.000134
6,4,122880,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.085136,0.045029,0.870462,1.000000,0.000036,-0.000158,-0.000572
6,4,122880,17,gripper,0,"","put 7up can on carpet",-0.113548,0.023663,1.036167,-0.066329,-0.765355,-0.084583,0.634570
6,4,122880,18,obj,0,"003_bread_1","put 7up can on carpet",-0.122623,-0.040020,0.886828,0.915556,0.008172,-0.006990,0.402045
6,4,122880,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.157944,-0.074986,0.885987,0.154554,0.002437,0.987965,-0.005634
6,4,122880,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,4,122880,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.084946,-0.073887,0.870448,0.999893,-0.000936,-0.000838,-0.014571
6,4,122880,18,gripper,0,"","put 7up can on carpet",-0.173820,-0.068733,1.058239,0.015113,-0.795970,0.032999,0.604247
6,4,122880,19,obj,0,"003_bread_1","put 7up can on carpet",-0.085514,0.075104,0.883544,0.999918,0.001795,-0.012524,-0.001807
6,4,122880,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.172867,-0.028851,0.885935,-0.403445,-0.067373,-0.911829,0.035503
6,4,122880,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235001,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
6,4,122880,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.234970,0.075008,0.870447,0.999991,-0.003114,-0.002733,-0.000098
6,4,122880,19,gripper,0,"","put 7up can on carpet",-0.129000,0.040854,1.137622,0.076323,-0.785425,0.108226,0.604623
6,4,122880,20,obj,0,"003_bread_1","put bread on newspaper",-0.102579,0.085258,0.886786,0.360935,0.015752,-0.002267,0.932455
6,4,122880,20,obj,1,"005_7up can_1","put bread on newspaper",-0.060621,0.038960,0.888464,0.705086,0.237848,-0.262801,0.614181
6,4,122880,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
6,4,122880,20,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075008,0.870463,1.000000,0.000037,-0.000158,-0.000054
6,4,122880,20,gripper,0,"","put bread on newspaper",-0.087036,0.031490,0.999751,0.221770,-0.712512,0.066273,0.662384
6,4,122880,21,obj,0,"003_bread_1","put bread on newspaper",-0.085487,0.074501,0.883544,0.924515,0.006457,-0.010886,0.380935
6,4,122880,21,obj,1,"005_7up can_1","put bread on newspaper",-0.198952,0.009422,0.886108,0.015031,-0.706017,0.707722,0.021052
6,4,122880,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.204937,0.075005,0.869490,1.000000,0.000180,0.000874,0.000103
6,4,122880,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,-0.044994,0.870425,1.000000,-0.000379,-0.000157,-0.000016
6,4,122880,21,gripper,0,"","put bread on newspaper",-0.049555,0.013369,0.995171,0.075700,-0.628017,-0.012572,0.774407
6,4,122880,22,obj,0,"003_bread_1","put bread on newspaper",-0.082458,0.090809,0.886605,0.957618,0.006672,-0.009984,0.287789
6,4,122880,22,obj,1,"005_7up can_1","put bread on newspaper",-0.185707,-0.099457,0.885941,0.384933,0.283488,0.868440,-0.131422
6,4,122880,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
6,4,122880,22,recep,1,"003_carpet_1","put bread on newspaper",-0.077362,0.082073,0.870420,0.999933,-0.000676,-0.001251,-0.011514
6,4,122880,22,gripper,0,"","put bread on newspaper",-0.160667,-0.002142,0.941640,0.093293,-0.770227,0.058334,0.628207
6,4,122880,23,obj,0,"003_bread_1","put bread on newspaper",-0.076080,0.049896,0.886328,0.922177,0.011650,-0.009621,0.386471
6,4,122880,23,obj,1,"005_7up can_1","put bread on newspaper",-0.213490,-0.111668,0.890672,-0.862524,0.251336,-0.382813,-0.215261
6,4,122880,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
6,4,122880,23,recep,1,"003_carpet_1","put bread on newspaper",-0.098988,0.082466,0.870462,0.998986,0.000044,-0.000157,0.045023
6,4,122880,23,gripper,0,"","put bread on newspaper",-0.226955,-0.119070,0.939965,-0.107225,-0.720517,-0.106519,0.676765
6,4,122880,24,obj,0,"003_bread_1","put bread on carpet",-0.099861,-0.032822,0.883544,0.922537,0.006514,-0.010854,0.385700
6,4,122880,24,obj,1,"005_7up can_1","put bread on carpet",-0.106125,0.121618,0.889091,0.276518,-0.602289,0.712618,0.230135
6,4,122880,24,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000024
6,4,122880,24,recep,1,"003_carpet_1","put bread on carpet",-0.095047,0.082695,0.870448,0.999846,-0.000935,-0.000829,-0.017491
6,4,122880,24,gripper,0,"","put bread on carpet",-0.119049,-0.048786,0.966659,-0.017141,-0.760022,0.037138,0.648608
6,4,122880,25,obj,0,"003_bread_1","put bread on carpet",-0.236012,0.054203,0.883544,0.861150,0.007937,-0.009860,0.508193
6,4,122880,25,obj,1,"005_7up can_1","put bread on carpet",-0.164066,-0.047728,0.888599,0.526478,0.457578,-0.418680,0.581507
6,4,122880,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000165
6,4,122880,25,recep,1,"003_carpet_1","put bread on carpet",-0.205433,-0.074930,0.870369,0.999999,0.000114,-0.001080,0.000921
6,4,122880,25,gripper,0,"","put bread on carpet",-0.196777,0.063498,0.953761,0.064842,-0.730714,0.050830,0.677694
6,4,122880,26,obj,0,"003_bread_1","put bread on carpet",-0.161243,0.061440,0.883544,0.533101,0.011571,-0.005136,0.845957
6,4,122880,26,obj,1,"005_7up can_1","put bread on carpet",-0.191055,-0.090240,0.886948,-0.458890,0.507337,-0.439581,-0.582063
6,4,122880,26,recep,0,"004_newspaper_1","put bread on carpet",-0.236389,-0.075678,0.869490,0.999964,0.000538,0.001431,0.008321
6,4,122880,26,recep,1,"003_carpet_1","put bread on carpet",-0.236488,0.076263,0.870461,0.999955,-0.000077,-0.000247,0.009464
6,4,122880,26,gripper,0,"","put bread on carpet",-0.203987,-0.027246,1.003321,-0.002153,-0.768023,-0.068275,0.636768
6,4,122880,27,obj,0,"003_bread_1","put bread on carpet",-0.115120,0.074465,0.883544,0.708662,0.010130,-0.007593,0.705434
6,4,122880,27,obj,1,"005_7up can_1","put bread on carpet",-0.208145,-0.023806,0.885849,0.481091,-0.516076,0.508114,0.494001
6,4,122880,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
6,4,122880,27,recep,1,"003_carpet_1","put bread on carpet",-0.235031,0.045071,0.870459,1.000000,-0.000283,-0.000403,-0.000306
6,4,122880,27,gripper,0,"","put bread on carpet",-0.075862,-0.099767,0.941644,-0.060068,-0.774524,-0.034481,0.628741
6,4,122880,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.234487,0.074511,0.883544,0.383711,0.012263,-0.003126,0.923366
6,4,122880,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212422,0.024105,0.885757,-0.475055,-0.489246,0.380302,-0.624766
6,4,122880,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084982,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000141
6,4,122880,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.075001,0.870461,1.000000,0.000018,-0.000158,0.000004
6,4,122880,28,gripper,0,"","put 7up can on newspaper",-0.182590,0.047558,0.958793,-0.018193,-0.725976,-0.024130,0.687056
6,4,122880,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.195250,-0.064835,0.886331,0.555258,0.017634,-0.005043,0.831476
6,4,122880,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.127302,0.047308,0.885950,0.271999,0.680040,-0.612357,0.297626
6,4,122880,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.117132,-0.046270,0.869490,0.999860,0.000165,0.000877,0.016698
6,4,122880,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,-0.075039,0.870461,1.000000,0.000019,-0.000158,0.000124
6,4,122880,29,gripper,0,"","put 7up can on newspaper",-0.163476,0.006528,1.023036,-0.071550,-0.768321,-0.042621,0.634624
6,4,122880,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.228466,0.153822,0.883544,-0.409663,-0.012174,0.003472,-0.912149
6,4,122880,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.130768,0.003304,0.885615,0.688375,-0.114725,0.104138,0.708613
6,4,122880,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.113167,-0.085905,0.869490,0.999893,0.000167,0.000876,0.014601
6,4,122880,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204994,0.075010,0.870452,0.999998,0.001568,0.001266,0.000209
6,4,122880,30,gripper,0,"","put 7up can on newspaper",-0.173866,0.030465,0.983256,0.013746,-0.741126,-0.057491,0.668759
6,4,122880,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.233128,0.074137,0.883544,0.955235,0.005443,-0.011431,0.295576
6,4,122880,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.159092,-0.031765,0.885734,0.491343,0.357329,-0.230488,0.760114
6,4,122880,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084782,-0.074919,0.869490,0.999996,0.000182,0.000874,-0.002716
6,4,122880,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235790,-0.075247,0.870453,0.999995,-0.000824,-0.000818,0.002951
6,4,122880,31,gripper,0,"","put 7up can on newspaper",-0.126371,0.042239,1.000985,-0.016778,-0.734163,-0.038480,0.677674
6,4,122880,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.245529,-0.076573,0.887197,0.973260,-0.015326,0.027742,0.227507
6,4,122880,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.075308,0.878547,0.923687,0.011509,0.006990,0.382910
6,4,122880,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
6,4,122880,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
6,4,122880,32,gripper,0,"","put banana on flat bowl",-0.217896,0.015046,0.972896,0.068254,-0.741782,0.147371,0.650678
6,4,122880,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.215435,-0.067774,0.887534,0.923888,-0.011371,0.020358,0.381952
6,4,122880,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.044693,0.878546,0.923634,0.011476,0.006976,0.383040
6,4,122880,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
6,4,122880,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
6,4,122880,33,gripper,0,"","put banana on flat bowl",-0.061411,0.002050,1.034099,-0.156756,-0.630832,-0.243030,0.720010
6,4,122880,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.098537,-0.064481,0.887327,0.927301,-0.006898,0.029959,0.373051
6,4,122880,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
6,4,122880,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
6,4,122880,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000001,-0.000001
6,4,122880,34,gripper,0,"","put banana on flat bowl",-0.054604,0.066491,1.027946,-0.128117,-0.815636,-0.193416,0.530013
6,4,122880,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236162,-0.072453,0.887529,0.374500,-0.040073,0.016201,0.926219
6,4,122880,35,obj,1,"013_banana_1","put banana on flat bowl",-0.114689,-0.044685,0.878547,0.382263,0.003190,0.013073,0.923955
6,4,122880,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
6,4,122880,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
6,4,122880,35,gripper,0,"","put banana on flat bowl",-0.048124,-0.041064,0.990747,-0.036822,-0.708703,-0.019218,0.704283
6,4,122880,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.124499,0.063280,0.887524,0.394209,-0.039583,0.016848,0.918013
6,4,122880,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.045321,0.878546,0.382188,0.003189,0.013074,0.923986
6,4,122880,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
6,4,122880,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.045000,0.874363,1.000000,0.000000,0.000000,-0.000001
6,4,122880,36,gripper,0,"","put carrot on sheet metal",-0.086167,0.038537,1.012514,0.137281,-0.695936,0.211362,0.672423
6,4,122880,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.234814,-0.079740,0.887512,0.700686,-0.024894,0.023757,0.712639
6,4,122880,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234560,0.075006,0.878546,0.706811,0.007928,0.010832,0.707275
6,4,122880,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
6,4,122880,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
6,4,122880,37,gripper,0,"","put carrot on sheet metal",-0.181737,-0.074415,0.979260,0.031956,-0.716343,0.004657,0.697001
6,4,122880,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.190319,0.065327,0.896254,0.978955,0.116564,-0.030307,-0.164749
6,4,122880,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
6,4,122880,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
6,4,122880,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205013,0.044987,0.874362,1.000000,-0.000000,-0.000000,0.000145
6,4,122880,38,gripper,0,"","put carrot on sheet metal",-0.146891,0.034222,1.094580,0.151290,-0.744136,0.095860,0.643571
6,4,122880,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243549,0.049383,0.887179,0.925782,-0.001312,0.025749,0.377176
6,4,122880,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011490,0.006984,0.383097
6,4,122880,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
6,4,122880,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
6,4,122880,39,gripper,0,"","put carrot on sheet metal",-0.073637,0.092598,1.002922,-0.091551,-0.770625,-0.063666,0.627457
6,4,122880,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086792,0.072058,0.887462,0.997013,-0.002945,0.031505,0.070455
6,4,122880,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084999,-0.075438,0.878547,0.999909,0.013270,0.002030,-0.001214
6,4,122880,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000107
6,4,122880,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205009,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000325
6,4,122880,40,gripper,0,"","put carrot on flat bowl",-0.144276,0.107734,0.999466,0.009327,-0.698868,0.016199,0.715006
6,4,122880,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.247101,0.052074,0.887502,0.930683,-0.010909,0.029404,0.364481
6,4,122880,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.204662,-0.075310,0.878547,0.924333,0.011505,0.006962,0.381351
6,4,122880,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
6,4,122880,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
6,4,122880,41,gripper,0,"","put carrot on flat bowl",-0.096256,-0.036109,1.029540,-0.250054,-0.660602,-0.254931,0.660369
6,4,122880,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.250664,-0.070799,0.887168,0.997549,-0.007483,0.029932,-0.062799
6,4,122880,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
6,4,122880,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
6,4,122880,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000472
6,4,122880,42,gripper,0,"","put carrot on flat bowl",-0.199808,-0.067679,1.011168,-0.048244,-0.698876,-0.033856,0.712810
6,4,122880,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097198,-0.077909,0.887528,0.768915,-0.013220,0.019713,0.638910
6,4,122880,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114553,0.045021,0.878548,0.708088,0.007985,0.010856,0.705995
6,4,122880,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.044935,0.871344,0.999999,-0.000158,0.001164,0.000145
6,4,122880,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000365
6,4,122880,43,gripper,0,"","put carrot on flat bowl",-0.072499,-0.041976,0.986705,-0.198036,-0.684041,-0.118924,0.691901
6,4,122880,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.098155,0.085697,0.887317,0.932342,-0.014661,0.024863,0.360425
6,4,122880,44,obj,1,"013_banana_1","put banana on sheet metal",-0.204685,-0.075306,0.878547,0.923648,0.011480,0.006977,0.383006
6,4,122880,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
6,4,122880,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000000
6,4,122880,44,gripper,0,"","put banana on sheet metal",-0.155689,0.070562,1.019595,-0.415451,-0.636588,-0.318421,0.566360
6,4,122880,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123302,0.062506,0.887193,0.388985,-0.019166,0.016799,0.920892
6,4,122880,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234694,0.045332,0.878547,0.383360,0.003231,0.013152,0.923500
6,4,122880,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.045027,0.871344,0.999999,-0.000157,0.001164,-0.000087
6,4,122880,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
6,4,122880,45,gripper,0,"","put banana on sheet metal",-0.183004,0.054635,0.994395,0.068485,-0.718448,0.041899,0.690932
6,4,122880,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236301,-0.065519,0.887529,0.347875,-0.040520,0.015050,0.936544
6,4,122880,46,obj,1,"013_banana_1","put banana on sheet metal",-0.114700,-0.044655,0.878547,0.384035,0.003215,0.013068,0.923221
6,4,122880,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
6,4,122880,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874362,1.000000,0.000001,-0.000001,0.000352
6,4,122880,46,gripper,0,"","put banana on sheet metal",-0.089819,0.056271,1.006985,0.184777,-0.799841,0.081873,0.565162
6,4,122880,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.216904,-0.066496,0.887447,0.926047,-0.007981,0.018250,0.376882
6,4,122880,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
6,4,122880,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
6,4,122880,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
6,4,122880,47,gripper,0,"","put banana on sheet metal",-0.041439,0.051160,1.019788,-0.044312,-0.738572,-0.128747,0.660282
6,4,122880,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.157425,-0.019871,0.888112,0.330087,-0.021471,-0.017247,0.943549
6,4,122880,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.143806,0.204353,0.886092,-0.927260,0.017503,-0.014053,-0.373744
6,4,122880,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235344,0.075108,0.872199,0.999998,-0.000000,-0.000000,-0.001753
6,4,122880,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.236916,-0.077122,0.870870,0.999878,-0.000000,-0.000001,0.015608
6,4,122880,48,gripper,0,"","put plastic bottle on cutting board",-0.148891,0.202824,0.933396,0.291595,-0.678963,0.187050,0.647297
6,4,122880,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.063343,-0.023712,0.888112,0.996375,-0.024468,0.012641,0.080488
6,4,122880,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.232357,0.075306,0.886085,0.999617,-0.011123,0.019582,0.016068
6,4,122880,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
6,4,122880,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
6,4,122880,49,gripper,0,"","put plastic bottle on cutting board",-0.249741,0.087833,0.946031,0.063968,-0.674960,0.023468,0.734702
6,4,122880,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.121235,-0.057178,0.888112,0.692283,-0.026698,-0.006765,0.721100
6,4,122880,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115974,0.102119,0.892452,0.024853,-0.723935,0.688812,0.028945
6,4,122880,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000008
6,4,122880,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082008,0.084515,0.870871,0.997259,0.000000,-0.000001,-0.073991
6,4,122880,50,gripper,0,"","put plastic bottle on cutting board",-0.136265,0.053780,1.132438,0.037610,-0.790272,-0.017218,0.611358
6,4,122880,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.099535,0.083672,0.889106,0.338484,-0.067106,-0.066510,0.936217
6,4,122880,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175173,0.081837,0.894462,0.548515,-0.532878,0.473614,0.436879
6,4,122880,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000005
6,4,122880,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205048,0.075008,0.870870,1.000000,-0.000002,-0.000006,-0.000097
6,4,122880,51,gripper,0,"","put plastic bottle on cutting board",-0.139502,0.059799,1.118517,0.097276,-0.756274,0.078950,0.642148
6,4,122880,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.135310,-0.027630,0.889539,0.978099,-0.034162,0.082704,-0.187923
6,4,122880,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.200831,0.080505,0.887026,0.704478,-0.021329,0.709385,0.005442
6,4,122880,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114999,0.045002,0.872199,1.000000,-0.000000,-0.000001,-0.000053
6,4,122880,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205096,-0.074654,0.870870,0.999996,0.000001,-0.000001,0.002868
6,4,122880,52,gripper,0,"","put hamburger on frying pan",-0.128382,-0.035357,0.980542,0.115881,-0.717002,0.160920,0.668270
6,4,122880,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.335041,-0.099026,0.894451,0.519478,0.616216,0.395721,0.440256
6,4,122880,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.216661,0.124203,0.887026,0.496465,-0.514579,0.488768,0.499837
6,4,122880,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000018
6,4,122880,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.086727,-0.070736,0.876111,0.998716,0.049999,0.000569,-0.008116
6,4,122880,53,gripper,0,"","put hamburger on frying pan",-0.090737,-0.100851,0.917786,-0.039594,-0.732644,-0.127347,0.667418
6,4,122880,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084412,0.045956,0.888112,0.999585,-0.023244,0.014775,-0.008499
6,4,122880,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.208488,-0.030079,0.887391,0.725672,-0.049841,0.684314,0.051298
6,4,122880,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205593,0.079418,0.872199,0.999942,0.000000,-0.000001,-0.010722
6,4,122880,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114826,-0.072765,0.870870,0.999893,-0.000000,-0.000000,-0.014621
6,4,122880,54,gripper,0,"","put hamburger on frying pan",-0.175205,-0.052282,0.970192,0.007633,-0.732554,-0.052040,0.678674
6,4,122880,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236103,0.074757,0.888112,0.384152,-0.022433,-0.015980,0.922859
6,4,122880,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.144783,0.022274,0.888264,0.738855,-0.249136,0.296448,0.551493
6,4,122880,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084854,0.075092,0.872199,0.999992,0.000000,-0.000001,0.003887
6,4,122880,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.207363,-0.043633,0.870870,0.999994,0.000000,-0.000000,0.003463
6,4,122880,55,gripper,0,"","put hamburger on frying pan",-0.139814,0.001408,0.996010,-0.080587,-0.687728,-0.081927,0.716815
6,4,122880,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.042648,0.081127,0.895268,0.997090,0.025965,-0.057406,-0.042925
6,4,122880,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.072929,0.137039,0.887026,0.603940,0.351732,0.616417,-0.362728
6,4,122880,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.051506,0.067760,0.872199,0.989857,0.000000,-0.000001,-0.142070
6,4,122880,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,-0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000006
6,4,122880,56,gripper,0,"","put hamburger on cutting board",-0.060497,0.008993,1.001437,0.013099,-0.787641,-0.140136,0.599844
6,4,122880,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.202324,0.082523,0.896461,0.471284,-0.025951,-0.010405,0.881538
6,4,122880,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.275158,0.180794,0.885720,0.236070,0.655652,-0.219708,0.682729
6,4,122880,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235092,0.075058,0.872199,1.000000,-0.000000,-0.000002,-0.000659
6,4,122880,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.086151,-0.074394,0.870870,0.999988,-0.000000,-0.000000,0.004910
6,4,122880,57,gripper,0,"","put hamburger on cutting board",-0.151596,0.058130,1.040505,0.077781,-0.650486,0.046184,0.754112
6,4,122880,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236103,0.074757,0.888112,0.384152,-0.022433,-0.015980,0.922859
6,4,122880,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.179295,-0.041828,0.892327,0.020128,-0.753869,0.655986,0.030956
6,4,122880,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115322,0.052681,0.872199,0.997787,0.000000,-0.000001,0.066490
6,4,122880,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.210670,-0.040730,0.870884,0.997937,0.000734,0.000848,0.064192
6,4,122880,58,gripper,0,"","put hamburger on cutting board",-0.125931,-0.030987,1.072515,-0.012321,-0.725620,-0.019597,0.687706
6,4,122880,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.119999,0.060993,0.888112,0.672014,-0.026497,-0.007507,0.740026
6,4,122880,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.212597,-0.069649,0.895399,0.528720,-0.481723,0.523948,0.462468
6,4,122880,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.213617,-0.047859,0.872199,0.999983,-0.000000,-0.000001,-0.005750
6,4,122880,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
6,4,122880,59,gripper,0,"","put hamburger on cutting board",-0.195369,0.037060,0.982920,0.037533,-0.738569,-0.009166,0.673070
6,4,122880,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.212729,-0.041183,0.897461,0.996980,-0.026917,0.032672,-0.065109
6,4,122880,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.057146,0.089321,0.887026,0.703112,-0.060258,0.707146,0.044123
6,4,122880,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
6,4,122880,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
6,4,122880,60,gripper,0,"","put plastic bottle on frying pan",-0.204466,-0.044922,0.948512,0.085105,-0.681803,0.053286,0.724612
6,4,122880,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.179747,0.090961,0.893978,0.541358,-0.348850,-0.739560,-0.195669
6,4,122880,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175587,-0.074223,0.887026,0.704495,-0.016914,0.709507,0.001055
6,4,122880,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000177
6,4,122880,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234905,0.044987,0.870870,1.000000,0.000001,0.000000,0.000562
6,4,122880,61,gripper,0,"","put plastic bottle on frying pan",-0.078792,-0.011324,1.013131,0.051560,-0.717951,0.070409,0.690601
6,4,122880,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.082947,-0.020100,0.895987,0.998972,0.041101,0.017284,-0.008215
6,4,122880,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.085640,0.075798,0.887027,0.704496,-0.016852,0.709507,0.000994
6,4,122880,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044994,0.872199,1.000000,-0.000001,-0.000001,-0.000406
6,4,122880,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000051
6,4,122880,62,gripper,0,"","put plastic bottle on frying pan",-0.106321,0.001705,1.126146,-0.063870,-0.839399,0.019261,0.539406
6,4,122880,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084305,0.086201,0.888112,0.994842,-0.021832,0.016788,-0.097629
6,4,122880,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055737,-0.073147,0.887026,0.704435,-0.025260,0.709257,0.009344
6,4,122880,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
6,4,122880,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
6,4,122880,63,gripper,0,"","put plastic bottle on frying pan",-0.049509,-0.018816,0.971384,0.068180,-0.759609,0.071323,0.642852
7,1,128000,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078102,-0.081810,0.879089,0.338566,0.427334,-0.178388,0.819107
7,1,128000,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,0.074242,0.881638,0.382558,0.034405,-0.019072,0.923093
7,1,128000,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000018
7,1,128000,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205284,0.045128,0.871288,0.999997,-0.000157,-0.001020,-0.002176
7,1,128000,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.066746,0.089714,0.932224,-0.018918,-0.817974,-0.017652,0.574672
7,1,128000,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072639,-0.045525,0.885083,0.541794,0.364998,-0.283862,0.701896
7,1,128000,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.209282,-0.077232,0.881638,0.907029,0.012373,-0.037368,0.419224
7,1,128000,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000042
7,1,128000,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
7,1,128000,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.092516,-0.018181,1.074709,0.016431,-0.745713,0.014244,0.665913
7,1,128000,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.076820,-0.052971,0.885085,0.588860,0.345025,-0.308888,0.662412
7,1,128000,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113758,0.045296,0.884051,0.383812,0.050736,0.017424,0.921852
7,1,128000,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085026,-0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000166
7,1,128000,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205006,-0.045006,0.871288,0.999999,-0.000156,-0.001020,-0.000035
7,1,128000,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.120909,-0.053143,1.108718,0.096287,-0.798204,0.011417,0.594533
7,1,128000,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.138006,-0.072273,0.885085,0.733104,-0.261593,-0.382139,-0.498094
7,1,128000,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205954,0.075119,0.881638,0.999226,-0.004452,-0.039091,-0.000140
7,1,128000,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000017
7,1,128000,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
7,1,128000,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.241758,0.020142,0.968594,0.032872,-0.765848,0.032519,0.641357
7,1,128000,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.032697,0.179207,0.879703,-0.371351,0.555928,-0.684589,-0.290482
7,1,128000,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085113,-0.075974,0.881638,0.706814,0.024480,-0.030790,0.706305
7,1,128000,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234895,-0.075539,0.873292,0.997942,-0.057441,-0.027749,-0.006429
7,1,128000,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000153,-0.001019,-0.000005
7,1,128000,4,gripper,0,"","put ketchup bottle on cloth",-0.262433,0.004990,0.915741,-0.079304,-0.724258,-0.109500,0.676144
7,1,128000,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.075489,-0.062714,0.879614,0.741710,-0.205364,0.263172,0.581749
7,1,128000,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.185829,-0.071495,0.881638,0.587344,0.029029,-0.026585,0.808379
7,1,128000,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000035
7,1,128000,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
7,1,128000,5,gripper,0,"","put ketchup bottle on cloth",-0.172892,-0.015163,0.992430,0.110433,-0.773057,0.023661,0.624202
7,1,128000,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.067043,-0.088020,0.879125,0.204297,0.731879,-0.249985,0.600102
7,1,128000,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234383,0.074265,0.881638,0.382462,0.034428,-0.019074,0.923133
7,1,128000,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
7,1,128000,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000029
7,1,128000,6,gripper,0,"","put ketchup bottle on cloth",-0.123640,-0.091446,0.916280,0.147380,-0.745690,0.026953,0.649230
7,1,128000,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.211998,-0.051834,0.879087,0.821626,0.172280,-0.429109,0.333341
7,1,128000,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.230892,0.060562,0.881638,0.892087,0.013652,-0.036920,0.450145
7,1,128000,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.044998,0.869532,1.000000,0.000000,0.000000,0.000006
7,1,128000,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
7,1,128000,7,gripper,0,"","put ketchup bottle on cloth",-0.214991,0.009659,0.920816,-0.110609,-0.825894,-0.070331,0.548378
7,1,128000,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085037,0.065262,0.879089,0.626487,0.326416,-0.328465,0.626959
7,1,128000,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.211166,-0.126236,0.881638,0.439581,0.033179,-0.021206,0.897339
7,1,128000,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
7,1,128000,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.075001,0.871289,1.000000,-0.000157,-0.001019,-0.000013
7,1,128000,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.262131,-0.099352,0.915468,-0.147496,-0.760335,-0.144195,0.615909
7,1,128000,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.062496,0.097725,0.885371,0.742575,-0.172210,0.218935,0.609092
7,1,128000,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115307,-0.047424,0.881638,0.378791,0.034486,-0.018931,0.924646
7,1,128000,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085003,0.075005,0.869533,1.000000,-0.000000,-0.000001,0.000062
7,1,128000,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234169,-0.074257,0.871288,0.999965,-0.000162,-0.001018,-0.008281
7,1,128000,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.232504,-0.030518,0.928121,-0.026380,-0.799081,-0.050027,0.598558
7,1,128000,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.186283,-0.086998,0.879125,0.219457,0.725315,-0.268482,0.594705
7,1,128000,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234398,0.044239,0.881638,0.382593,0.034432,-0.019083,0.923078
7,1,128000,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
7,1,128000,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075012,0.871289,0.999999,-0.000157,-0.001019,-0.000010
7,1,128000,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.099325,0.029045,0.969400,0.040131,-0.769992,-0.013014,0.636657
7,1,128000,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.237640,-0.097073,0.913790,0.562239,0.357611,-0.276749,0.692396
7,1,128000,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085112,0.074047,0.881638,0.706689,0.024513,-0.030810,0.706428
7,1,128000,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
7,1,128000,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235014,0.075031,0.871211,0.999984,-0.003908,-0.004129,0.000152
7,1,128000,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.253643,-0.100288,0.953382,-0.065336,-0.750005,-0.075799,0.653818
7,1,128000,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198124,-0.051834,0.879088,0.338466,0.427352,-0.178334,0.819151
7,1,128000,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.231179,0.077499,0.881638,0.377401,0.034531,-0.018890,0.925213
7,1,128000,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
7,1,128000,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
7,1,128000,12,gripper,0,"","put kitchen shovel on cloth",-0.114638,0.005444,0.998178,0.041292,-0.804654,0.042872,0.590752
7,1,128000,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124750,0.075005,0.879089,0.886332,-0.001250,-0.463047,0.000719
7,1,128000,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204075,-0.074368,0.883885,0.999231,0.032688,0.021331,-0.003675
7,1,128000,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000010
7,1,128000,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235029,0.045029,0.871210,0.999984,-0.003909,-0.004128,-0.000102
7,1,128000,13,gripper,0,"","put kitchen shovel on cloth",-0.235992,0.024309,0.947306,0.024574,-0.748826,0.028038,0.661717
7,1,128000,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.163681,0.060707,0.879372,0.952007,-0.031260,0.276482,0.127529
7,1,128000,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205925,-0.074932,0.881638,0.999225,-0.004496,-0.039074,-0.001313
7,1,128000,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.099670,0.075005,0.869532,0.998928,0.000000,0.000000,0.046281
7,1,128000,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
7,1,128000,14,gripper,0,"","put kitchen shovel on cloth",-0.120920,-0.048002,0.952009,-0.064716,-0.755926,-0.045345,0.649871
7,1,128000,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.241951,-0.051929,0.879089,0.818938,0.175602,-0.428488,0.338972
7,1,128000,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.198612,0.083931,0.881638,0.912501,0.011878,-0.037526,0.407176
7,1,128000,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000020
7,1,128000,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
7,1,128000,15,gripper,0,"","put kitchen shovel on cloth",-0.218019,-0.020363,1.002724,0.056512,-0.746955,0.056389,0.660064
7,1,128000,16,obj,0,"003_bread_1","put bread on newspaper",-0.179207,0.013702,0.886314,0.999241,0.002919,-0.009804,-0.037573
7,1,128000,16,obj,1,"005_7up can_1","put bread on newspaper",-0.092575,0.075180,0.885627,0.972479,-0.005166,-0.232930,0.000735
7,1,128000,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000037
7,1,128000,16,recep,1,"003_carpet_1","put bread on newspaper",-0.204948,0.045033,0.870448,1.000000,-0.000125,-0.000158,0.000608
7,1,128000,16,gripper,0,"","put bread on newspaper",-0.066021,0.014967,0.960632,0.074549,-0.773600,-0.054243,0.626931
7,1,128000,17,obj,0,"003_bread_1","put bread on newspaper",-0.153027,-0.064686,0.884347,0.725481,0.024825,0.013173,0.687668
7,1,128000,17,obj,1,"005_7up can_1","put bread on newspaper",-0.235165,0.065681,0.885635,0.677726,0.197492,-0.205088,0.677955
7,1,128000,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.205021,-0.075008,0.869490,1.000000,0.000180,0.000873,-0.000115
7,1,128000,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000035
7,1,128000,17,gripper,0,"","put bread on newspaper",-0.135454,-0.031036,1.013719,0.129857,-0.741179,0.042635,0.657246
7,1,128000,18,obj,0,"003_bread_1","put bread on newspaper",-0.115482,-0.045513,0.883544,0.924279,0.006463,-0.010885,0.381506
7,1,128000,18,obj,1,"005_7up can_1","put bread on newspaper",-0.211254,0.005856,0.942042,0.756175,0.119236,-0.120197,0.632087
7,1,128000,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
7,1,128000,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000025
7,1,128000,18,gripper,0,"","put bread on newspaper",-0.227577,0.003704,0.984309,0.100388,-0.723285,0.022125,0.682856
7,1,128000,19,obj,0,"003_bread_1","put bread on newspaper",-0.202805,0.052853,0.883544,0.999878,0.001712,-0.012572,-0.009105
7,1,128000,19,obj,1,"005_7up can_1","put bread on newspaper",-0.242596,-0.074837,0.885626,0.972477,-0.005065,-0.232942,0.001153
7,1,128000,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
7,1,128000,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000032
7,1,128000,19,gripper,0,"","put bread on newspaper",-0.213662,-0.074465,0.951333,-0.081097,-0.654813,-0.132653,0.739625
7,1,128000,20,obj,0,"003_bread_1","put bread on carpet",-0.084482,-0.075474,0.883544,0.383775,0.012265,-0.003127,0.923340
7,1,128000,20,obj,1,"005_7up can_1","put bread on carpet",-0.071431,0.079132,0.888662,0.562753,0.297894,-0.219092,0.739302
7,1,128000,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.044998,0.869489,1.000000,0.000180,0.000874,0.000001
7,1,128000,20,recep,1,"003_carpet_1","put bread on carpet",-0.084998,0.075001,0.870460,1.000000,0.000017,-0.000159,0.000002
7,1,128000,20,gripper,0,"","put bread on carpet",-0.094838,0.076521,0.966305,-0.009963,-0.795476,-0.040399,0.604555
7,1,128000,21,obj,0,"003_bread_1","put bread on carpet",-0.115654,-0.081886,0.886585,0.381497,0.019478,-0.005054,0.924151
7,1,128000,21,obj,1,"005_7up can_1","put bread on carpet",-0.078529,0.038269,0.885636,0.365835,0.261059,-0.113648,0.886057
7,1,128000,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,0.075001,0.869490,1.000000,0.000180,0.000874,0.000037
7,1,128000,21,recep,1,"003_carpet_1","put bread on carpet",-0.115004,-0.074997,0.870448,0.999998,0.001525,0.001264,-0.000041
7,1,128000,21,gripper,0,"","put bread on carpet",-0.100842,-0.068924,0.981282,-0.132692,-0.774411,-0.051129,0.616495
7,1,128000,22,obj,0,"003_bread_1","put bread on carpet",-0.235535,0.075123,0.883544,0.999916,0.001781,-0.012532,-0.002812
7,1,128000,22,obj,1,"005_7up can_1","put bread on carpet",-0.096790,0.086140,0.885687,0.914354,-0.013727,-0.402904,-0.037913
7,1,128000,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
7,1,128000,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.044998,0.870404,1.000000,0.000065,-0.000723,-0.000050
7,1,128000,22,gripper,0,"","put bread on carpet",-0.096506,0.075428,0.976968,-0.111684,-0.725179,-0.136215,0.665648
7,1,128000,23,obj,0,"003_bread_1","put bread on carpet",-0.084480,-0.075478,0.883544,0.383606,0.012273,-0.003119,0.923410
7,1,128000,23,obj,1,"005_7up can_1","put bread on carpet",-0.181156,0.074211,0.887627,0.517231,-0.516334,0.384152,0.564179
7,1,128000,23,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000022
7,1,128000,23,recep,1,"003_carpet_1","put bread on carpet",-0.115002,0.075008,0.870447,0.999999,-0.000923,-0.000844,-0.000066
7,1,128000,23,gripper,0,"","put bread on carpet",-0.177187,0.032715,0.967196,-0.009475,-0.742695,-0.018029,0.669320
7,1,128000,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.115547,-0.044884,0.883544,0.999916,0.001777,-0.012535,-0.002898
7,1,128000,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.244301,-0.074831,0.885636,0.958610,-0.005180,-0.284674,0.000803
7,1,128000,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
7,1,128000,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000029
7,1,128000,24,gripper,0,"","put 7up can on newspaper",-0.192715,-0.031974,0.983929,0.067796,-0.772522,0.076942,0.626652
7,1,128000,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.201023,0.083549,0.883544,0.917423,0.006658,-0.010775,0.397711
7,1,128000,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.237537,-0.047489,0.885633,0.918540,0.044022,-0.099163,0.380150
7,1,128000,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
7,1,128000,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
7,1,128000,25,gripper,0,"","put 7up can on newspaper",0.018669,0.058284,0.947915,0.003067,-0.797143,0.016902,0.603547
7,1,128000,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205540,-0.074875,0.883544,0.999916,0.001787,-0.012534,-0.002899
7,1,128000,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.034573,-0.074350,0.885978,0.400001,0.339824,0.834804,-0.166198
7,1,128000,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235004,0.045000,0.869490,1.000000,0.000180,0.000874,-0.000152
7,1,128000,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
7,1,128000,26,gripper,0,"","put 7up can on newspaper",-0.044701,-0.076783,0.939725,-0.035809,-0.748446,-0.017760,0.661990
7,1,128000,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.204546,-0.073101,0.883534,0.389043,0.012787,-0.003853,0.921123
7,1,128000,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.079744,-0.080500,0.885627,0.370855,0.213297,-0.093770,0.898987
7,1,128000,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
7,1,128000,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115000,0.045021,0.870447,0.999999,-0.000923,-0.000845,-0.000035
7,1,128000,27,gripper,0,"","put 7up can on newspaper",-0.197268,-0.071382,0.941132,0.037951,-0.742958,0.021428,0.667917
7,1,128000,28,obj,0,"003_bread_1","put 7up can on carpet",-0.233867,-0.073858,0.883544,0.352290,0.012361,-0.002715,0.935805
7,1,128000,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.166783,0.085985,0.885687,-0.453145,-0.351714,0.197033,-0.795069
7,1,128000,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
7,1,128000,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.114984,-0.044991,0.870447,0.999999,-0.000923,-0.000845,-0.000090
7,1,128000,28,gripper,0,"","put 7up can on carpet",-0.211392,-0.071971,0.949564,-0.024373,-0.716368,-0.038651,0.696225
7,1,128000,29,obj,0,"003_bread_1","put 7up can on carpet",-0.235518,0.045101,0.883544,0.999916,0.001786,-0.012533,-0.002614
7,1,128000,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.122612,0.075174,0.885627,0.972469,-0.005071,-0.232975,0.001130
7,1,128000,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204967,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000041
7,1,128000,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
7,1,128000,29,gripper,0,"","put 7up can on carpet",-0.151137,0.054466,0.962504,-0.031592,-0.734505,-0.039446,0.676719
7,1,128000,30,obj,0,"003_bread_1","put 7up can on carpet",-0.134369,0.029301,0.886521,0.709391,0.043310,-0.110420,0.694763
7,1,128000,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.109760,-0.050499,0.885626,0.371281,0.213248,-0.093870,0.898813
7,1,128000,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
7,1,128000,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085491,0.074429,0.870453,1.000000,-0.000075,-0.000157,0.000403
7,1,128000,30,gripper,0,"","put 7up can on carpet",-0.155695,-0.017906,0.932219,0.022737,-0.746688,0.007433,0.664744
7,1,128000,31,obj,0,"003_bread_1","put 7up can on carpet",-0.235626,0.075394,0.883544,0.921755,0.006536,-0.010839,0.387565
7,1,128000,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.109322,0.013937,0.885709,0.715939,0.209768,-0.244719,0.619307
7,1,128000,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
7,1,128000,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
7,1,128000,31,gripper,0,"","put 7up can on carpet",-0.128239,0.013546,0.983092,-0.053106,-0.711767,-0.092611,0.694256
7,1,128000,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088509,-0.077228,0.887507,0.356026,-0.035110,0.013310,0.933722
7,1,128000,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,0.075331,0.878547,0.382194,0.003198,0.013105,0.923984
7,1,128000,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
7,1,128000,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
7,1,128000,32,gripper,0,"","put carrot on sheet metal",-0.033878,-0.028463,0.991639,0.042888,-0.777548,0.119784,0.615818
7,1,128000,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243427,0.070298,0.887559,0.250108,-0.029265,0.004863,0.967763
7,1,128000,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
7,1,128000,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
7,1,128000,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
7,1,128000,33,gripper,0,"","put carrot on sheet metal",-0.190920,0.070058,0.999148,0.040055,-0.684695,0.020482,0.727440
7,1,128000,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238583,-0.044132,0.887084,0.998877,-0.010459,0.026692,-0.037707
7,1,128000,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.044559,0.878547,0.999909,0.013324,0.002051,0.000327
7,1,128000,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000029
7,1,128000,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
7,1,128000,34,gripper,0,"","put carrot on sheet metal",-0.224686,-0.039590,0.946344,0.074676,-0.734631,0.050493,0.672451
7,1,128000,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088800,0.079584,0.887319,0.996442,-0.006232,0.024853,0.080287
7,1,128000,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084990,-0.075438,0.878547,0.999909,0.013298,0.002058,0.000352
7,1,128000,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
7,1,128000,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
7,1,128000,35,gripper,0,"","put carrot on sheet metal",-0.055413,0.093469,0.989668,0.022637,-0.798689,0.003530,0.601308
7,1,128000,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088299,-0.075591,0.887556,0.742180,-0.022724,0.021867,0.669458
7,1,128000,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234557,-0.074993,0.878547,0.706794,0.007930,0.010832,0.707292
7,1,128000,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
7,1,128000,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
7,1,128000,36,gripper,0,"","put carrot on flat bowl",-0.041689,-0.065662,0.982971,0.036794,-0.712989,-0.020130,0.699920
7,1,128000,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236162,-0.072453,0.887529,0.374500,-0.040072,0.016201,0.926219
7,1,128000,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,0.075317,0.878547,0.382193,0.003178,0.013037,0.923985
7,1,128000,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
7,1,128000,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
7,1,128000,37,gripper,0,"","put carrot on flat bowl",-0.175838,-0.076982,0.974712,-0.016327,-0.720109,-0.044721,0.692226
7,1,128000,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117054,-0.041940,0.887481,0.910898,-0.011108,0.022810,0.411851
7,1,128000,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204651,0.074684,0.878546,0.923980,0.011492,0.006969,0.382203
7,1,128000,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,1,128000,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
7,1,128000,38,gripper,0,"","put carrot on flat bowl",-0.127018,-0.041060,1.013915,-0.060481,-0.714627,-0.098644,0.689870
7,1,128000,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,-0.076574,0.887458,0.348966,-0.035355,0.011562,0.936397
7,1,128000,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204693,0.075316,0.878547,0.382327,0.003195,0.013085,0.923929
7,1,128000,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,1,128000,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
7,1,128000,39,gripper,0,"","put carrot on flat bowl",-0.051302,-0.034893,0.969216,-0.013177,-0.752586,0.001321,0.658361
7,1,128000,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207855,-0.077404,0.887559,0.356834,-0.025403,0.012362,0.933741
7,1,128000,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084671,-0.074675,0.878548,0.382899,0.003198,0.013067,0.923692
7,1,128000,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
7,1,128000,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874362,1.000000,0.000000,-0.000001,0.000069
7,1,128000,40,gripper,0,"","put banana on sheet metal",-0.039772,-0.009730,0.993079,0.251368,-0.661128,0.424904,0.564961
7,1,128000,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207233,-0.071217,0.887486,0.996500,-0.001867,0.028829,0.078437
7,1,128000,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.075434,0.878546,0.999910,0.013237,0.002048,-0.000197
7,1,128000,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
7,1,128000,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
7,1,128000,41,gripper,0,"","put banana on sheet metal",-0.047310,-0.009838,1.038848,0.184373,-0.799111,0.147183,0.552961
7,1,128000,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207561,-0.077003,0.887539,0.352634,-0.020466,0.004240,0.935528
7,1,128000,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
7,1,128000,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
7,1,128000,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
7,1,128000,42,gripper,0,"","put banana on sheet metal",-0.053766,-0.054297,0.967379,-0.053848,-0.758028,0.003697,0.649985
7,1,128000,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236752,0.044970,0.887459,0.739967,-0.028637,0.028716,0.671419
7,1,128000,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114561,0.075012,0.878547,0.706983,0.007955,0.010857,0.707103
7,1,128000,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000050
7,1,128000,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
7,1,128000,43,gripper,0,"","put banana on sheet metal",-0.051414,0.081398,1.031775,0.056956,-0.697716,-0.013620,0.713977
7,1,128000,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087659,-0.070925,0.887482,0.996777,-0.000823,0.023800,0.076603
7,1,128000,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084989,0.074560,0.878547,0.999910,0.013280,0.002053,0.000309
7,1,128000,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000001
7,1,128000,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
7,1,128000,44,gripper,0,"","put banana on flat bowl",-0.031891,0.102517,1.002787,0.130677,-0.811488,0.088440,0.562662
7,1,128000,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235123,0.045786,0.887225,0.195984,-0.032479,-0.001571,0.980068
7,1,128000,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.044674,0.878547,0.382500,0.003193,0.013070,0.923858
7,1,128000,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000003
7,1,128000,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000150
7,1,128000,45,gripper,0,"","put banana on flat bowl",-0.042839,0.076949,1.010910,0.120870,-0.750727,0.044996,0.647900
7,1,128000,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087616,-0.069841,0.887288,0.996615,0.003864,0.034284,0.074621
7,1,128000,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,-0.045437,0.878547,0.999910,0.013272,0.002047,0.000002
7,1,128000,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
7,1,128000,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
7,1,128000,46,gripper,0,"","put banana on flat bowl",-0.183100,0.020935,1.017300,0.143481,-0.703310,0.170402,0.675079
7,1,128000,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235401,-0.041311,0.887529,0.373250,-0.040093,0.016146,0.926723
7,1,128000,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114700,-0.074682,0.878547,0.382790,0.003197,0.013072,0.923737
7,1,128000,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
7,1,128000,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
7,1,128000,47,gripper,0,"","put banana on flat bowl",-0.073946,-0.016790,0.992268,0.094588,-0.785599,0.245783,0.559891
7,1,128000,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.101868,-0.061497,0.896169,0.812300,0.097493,-0.078670,0.569627
7,1,128000,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215240,0.096249,0.887026,0.649675,-0.289031,0.648187,0.272466
7,1,128000,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000022
7,1,128000,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000003
7,1,128000,48,gripper,0,"","put hamburger on frying pan",-0.106941,-0.023243,1.120446,-0.012660,-0.795058,-0.041251,0.604997
7,1,128000,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.065804,0.166649,0.888112,0.730084,-0.027023,-0.005319,0.682802
7,1,128000,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085842,-0.045670,0.887026,0.497156,-0.513905,0.489478,0.499149
7,1,128000,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
7,1,128000,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204998,0.044987,0.870870,1.000000,-0.000004,-0.000004,0.000021
7,1,128000,49,gripper,0,"","put hamburger on frying pan",-0.176966,0.022724,1.008472,-0.050108,-0.755559,-0.079133,0.648350
7,1,128000,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.096382,0.056522,0.888754,0.928436,0.023511,-0.077432,0.362571
7,1,128000,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.145519,0.076534,0.889773,0.038120,-0.016559,0.999133,0.002555
7,1,128000,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
7,1,128000,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000013
7,1,128000,50,gripper,0,"","put hamburger on frying pan",-0.086582,0.039244,0.954015,-0.074281,-0.746306,-0.085533,0.655892
7,1,128000,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115200,0.046116,0.888112,0.935045,-0.027013,0.005364,0.353458
7,1,128000,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.218569,-0.056171,0.887026,0.636965,-0.317463,0.634747,0.300979
7,1,128000,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,1,128000,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
7,1,128000,51,gripper,0,"","put hamburger on frying pan",-0.181844,-0.055370,0.954539,-0.102860,-0.759148,-0.044509,0.641197
7,1,128000,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085102,-0.080608,0.890657,0.304254,-0.020987,-0.015281,0.952237
7,1,128000,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256376,0.094872,0.887026,0.265866,-0.663049,0.253088,0.652402
7,1,128000,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
7,1,128000,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084993,-0.074997,0.870871,1.000000,-0.000000,-0.000001,-0.000020
7,1,128000,52,gripper,0,"","put hamburger on cutting board",-0.081839,-0.051083,1.094154,0.022009,-0.716695,-0.032332,0.696290
7,1,128000,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084385,0.075954,0.888112,0.999525,-0.023167,0.014890,-0.013806
7,1,128000,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175587,-0.074223,0.887026,0.704494,-0.017061,0.709504,0.001202
7,1,128000,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
7,1,128000,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
7,1,128000,53,gripper,0,"","put hamburger on cutting board",-0.160914,-0.065063,0.975690,0.008722,-0.782087,0.002130,0.623104
7,1,128000,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
7,1,128000,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.071857,-0.066139,0.887026,0.439054,-0.564766,0.429795,0.550951
7,1,128000,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
7,1,128000,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,0.044987,0.870870,1.000000,-0.000004,-0.000004,0.000021
7,1,128000,54,gripper,0,"","put hamburger on cutting board",-0.140779,-0.054371,0.996483,-0.018245,-0.772891,-0.053643,0.632004
7,1,128000,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.204876,0.076027,0.888112,0.998081,-0.022532,0.015846,-0.055453
7,1,128000,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.204872,-0.041737,0.887026,0.704385,-0.003330,0.709701,-0.012430
7,1,128000,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.113926,-0.075001,0.872199,0.999933,-0.000000,-0.000001,-0.011581
7,1,128000,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000002
7,1,128000,55,gripper,0,"","put hamburger on cutting board",-0.205532,-0.031509,0.968985,0.017900,-0.740867,0.016422,0.671212
7,1,128000,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.230370,0.080376,0.890644,-0.750969,0.027368,0.001146,-0.659770
7,1,128000,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.035027,-0.014381,0.887027,0.548872,-0.457156,0.542859,0.441648
7,1,128000,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115295,0.091240,0.872199,0.990995,-0.000001,-0.000001,0.133900
7,1,128000,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235023,0.045048,0.870870,1.000000,-0.000000,-0.000001,0.000151
7,1,128000,56,gripper,0,"","put plastic bottle on frying pan",-0.050728,-0.017828,0.990849,0.063960,-0.761375,0.063607,0.642006
7,1,128000,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115948,0.075623,0.888112,0.713026,-0.026884,-0.005988,0.700596
7,1,128000,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.197140,0.055439,0.981976,0.511309,-0.457770,0.586687,0.429892
7,1,128000,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
7,1,128000,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
7,1,128000,57,gripper,0,"","put plastic bottle on frying pan",-0.162378,0.048273,1.008536,0.094176,-0.684122,0.081235,0.718686
7,1,128000,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.083370,0.026684,0.888112,0.921073,-0.027197,0.004342,0.388415
7,1,128000,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.095505,0.096619,0.887026,0.651184,-0.285413,0.649788,0.268841
7,1,128000,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
7,1,128000,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
7,1,128000,58,gripper,0,"","put plastic bottle on frying pan",-0.055906,0.031271,0.956389,0.082345,-0.771810,-0.096199,0.623116
7,1,128000,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206131,0.044720,0.888112,0.395184,-0.022622,-0.015709,0.918189
7,1,128000,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.106194,0.094917,0.887027,0.266587,-0.662763,0.253818,0.652114
7,1,128000,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
7,1,128000,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
7,1,128000,59,gripper,0,"","put plastic bottle on frying pan",-0.120136,0.039864,1.024650,0.037373,-0.722223,0.000546,0.690650
7,1,128000,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234382,0.075951,0.888112,0.999577,-0.023236,0.014787,-0.009375
7,1,128000,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209962,-0.075600,0.887649,0.776591,-0.010977,0.629817,0.010828
7,1,128000,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
7,1,128000,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
7,1,128000,60,gripper,0,"","put plastic bottle on cutting board",-0.190062,-0.072075,0.949237,0.031009,-0.733702,-0.012211,0.678654
7,1,128000,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085196,0.076088,0.888112,0.935301,-0.027012,0.005383,0.352780
7,1,128000,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.185581,-0.052231,0.887821,0.655342,-0.289758,0.648426,0.257121
7,1,128000,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,1,128000,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084887,-0.074867,0.870870,0.999999,-0.000000,-0.000001,-0.001154
7,1,128000,61,gripper,0,"","put plastic bottle on cutting board",-0.181400,-0.025219,0.962062,-0.045541,-0.779636,-0.092369,0.617707
7,1,128000,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
7,1,128000,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.182236,0.083118,0.889607,0.491782,-0.516725,0.488770,0.502246
7,1,128000,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
7,1,128000,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204021,0.075367,0.870871,0.999997,0.000014,0.000023,-0.002314
7,1,128000,62,gripper,0,"","put plastic bottle on cutting board",-0.158937,0.071608,1.095268,0.042085,-0.754747,0.056201,0.652248
7,1,128000,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115215,-0.073879,0.888112,0.925580,-0.027143,0.004662,0.377549
7,1,128000,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115147,0.042423,0.890858,0.543807,-0.450474,0.485605,0.515302
7,1,128000,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.206718,0.075626,0.872199,0.999992,-0.000000,-0.000000,0.004010
7,1,128000,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085651,0.045406,0.870883,0.999999,0.000702,0.000714,0.000421
7,1,128000,63,gripper,0,"","put plastic bottle on cutting board",-0.145622,0.043484,1.108043,0.065429,-0.775002,0.013210,0.628424
7,2,133120,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.074471,-0.082596,0.879089,0.310864,0.433060,-0.163923,0.830031
7,2,133120,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,0.074242,0.881638,0.382477,0.034431,-0.019077,0.923126
7,2,133120,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000032
7,2,133120,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205284,0.045135,0.871288,0.999997,-0.000156,-0.001018,-0.002229
7,2,133120,0,gripper,0,"","put ketchup bottle on cloth",-0.120083,-0.122478,0.916597,-0.209211,-0.778053,-0.180096,0.564296
7,2,133120,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.072643,-0.045647,0.885085,0.541807,0.365459,-0.284317,0.701462
7,2,133120,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.202633,-0.069336,0.881639,0.916625,0.016154,-0.047076,0.396637
7,2,133120,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000017
7,2,133120,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
7,2,133120,1,gripper,0,"","put ketchup bottle on cloth",-0.209585,-0.100437,0.926368,-0.088203,-0.827163,-0.034200,0.553942
7,2,133120,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.076824,-0.052971,0.885085,0.588980,0.344925,-0.308882,0.662360
7,2,133120,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.162098,-0.020607,0.884224,0.305677,-0.018585,0.045789,0.950852
7,2,133120,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085030,-0.074997,0.869532,1.000000,-0.000000,-0.000002,0.000037
7,2,133120,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.211697,-0.123253,0.871282,0.945613,-0.000016,-0.001343,0.325290
7,2,133120,2,gripper,0,"","put ketchup bottle on cloth",-0.211945,0.000114,0.943976,-0.007149,-0.816352,-0.042940,0.575912
7,2,133120,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.135237,-0.061157,0.885209,0.222083,-0.581737,-0.764257,-0.167844
7,2,133120,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.207056,0.075401,0.881638,0.999132,-0.003910,-0.039145,0.013710
7,2,133120,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.108963,-0.081337,0.869532,0.998806,-0.000000,0.000001,-0.048846
7,2,133120,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084557,0.077751,0.871283,0.999998,-0.000451,-0.001262,-0.001712
7,2,133120,3,gripper,0,"","put ketchup bottle on cloth",-0.094067,0.016544,0.923471,-0.122818,-0.846671,-0.027642,0.517010
7,2,133120,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.032697,0.179207,0.879703,-0.371343,0.555932,-0.684593,-0.290475
7,2,133120,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085113,-0.075974,0.881638,0.706814,0.024501,-0.030809,0.706304
7,2,133120,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234781,-0.076172,0.869532,0.999951,0.000000,-0.000001,-0.009857
7,2,133120,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
7,2,133120,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.267382,-0.020054,0.940925,0.025154,-0.701115,0.009722,0.712538
7,2,133120,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.227123,0.028900,0.885369,0.759219,-0.165888,0.223413,0.588349
7,2,133120,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.185829,-0.071495,0.881638,0.587344,0.029022,-0.026581,0.808380
7,2,133120,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235003,0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000005
7,2,133120,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
7,2,133120,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.213139,0.055412,1.079298,0.106217,-0.716417,0.131704,0.676844
7,2,133120,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.067043,-0.088020,0.879125,0.204301,0.731890,-0.249995,0.600084
7,2,133120,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.236534,0.075508,0.881641,0.406321,-0.038275,0.012170,0.912847
7,2,133120,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000027
7,2,133120,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000040
7,2,133120,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.199413,0.057812,0.985486,0.100117,-0.717625,0.076804,0.684903
7,2,133120,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.213707,-0.060966,0.879116,-0.097041,-0.188348,-0.977106,0.019275
7,2,133120,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.224899,0.065163,0.881643,0.857416,0.022500,-0.045208,0.512140
7,2,133120,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.044998,0.869532,1.000000,0.000001,-0.000001,-0.000001
7,2,133120,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
7,2,133120,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.146675,0.075272,0.983036,0.043518,-0.730347,-0.015387,0.681515
7,2,133120,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085037,0.065262,0.879089,0.626486,0.326417,-0.328466,0.626958
7,2,133120,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.212173,-0.116291,0.881638,0.487559,0.031942,-0.022949,0.872204
7,2,133120,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.201973,0.073494,0.869532,0.999574,-0.000001,-0.000001,0.029175
7,2,133120,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.075001,0.871289,0.999999,-0.000153,-0.001019,-0.000035
7,2,133120,8,gripper,0,"","put kitchen shovel on cloth",-0.116070,-0.067347,0.951298,0.002165,-0.713553,-0.033342,0.699804
7,2,133120,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.062496,0.097744,0.885370,0.742328,-0.172157,0.218685,0.609498
7,2,133120,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115307,-0.047424,0.881638,0.378777,0.034484,-0.018929,0.924652
7,2,133120,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085003,0.075005,0.869533,1.000000,0.000000,-0.000001,0.000038
7,2,133120,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234173,-0.074257,0.871288,0.999965,-0.000163,-0.001018,-0.008343
7,2,133120,9,gripper,0,"","put kitchen shovel on cloth",-0.109840,0.082458,0.974882,0.124808,-0.708807,0.030599,0.693599
7,2,133120,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.186283,-0.086994,0.879125,0.219463,0.725308,-0.268487,0.594709
7,2,133120,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.206264,0.045143,0.881638,0.557773,0.029967,-0.025516,0.829060
7,2,133120,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
7,2,133120,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075012,0.871289,0.999999,-0.000157,-0.001019,0.000029
7,2,133120,10,gripper,0,"","put kitchen shovel on cloth",-0.070419,0.100986,0.982540,0.068606,-0.754787,-0.040861,0.651092
7,2,133120,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200499,-0.036663,0.879125,-0.461067,-0.530208,0.563054,-0.435049
7,2,133120,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085112,0.074047,0.881638,0.706695,0.024488,-0.030787,0.706424
7,2,133120,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000017
7,2,133120,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075027,0.871211,0.999984,-0.003908,-0.004129,0.000217
7,2,133120,11,gripper,0,"","put kitchen shovel on cloth",-0.229621,0.035934,0.963064,0.104027,-0.779660,-0.026763,0.616922
7,2,133120,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.195377,-0.047043,0.879089,0.396347,0.413459,-0.208525,0.792766
7,2,133120,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.231179,0.077499,0.881638,0.377401,0.034514,-0.018884,0.925214
7,2,133120,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
7,2,133120,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.074993,0.871289,0.999999,-0.000158,-0.001020,-0.000014
7,2,133120,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.232468,0.071440,0.930993,-0.051045,-0.738196,-0.013230,0.672522
7,2,133120,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.073301,-0.035866,0.885723,0.524687,0.335884,0.745725,-0.236176
7,2,133120,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204073,-0.074368,0.883885,0.999231,0.032687,0.021323,-0.003672
7,2,133120,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085007,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000208
7,2,133120,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235029,0.045029,0.871210,0.999984,-0.003909,-0.004128,-0.000096
7,2,133120,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.111279,-0.049404,0.948811,-0.107289,-0.781363,-0.117011,0.603548
7,2,133120,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.161003,0.057419,0.879595,0.970450,-0.008134,0.236566,0.046879
7,2,133120,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205925,-0.074932,0.881638,0.999225,-0.004497,-0.039080,-0.001350
7,2,133120,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.099159,0.075138,0.869532,0.998980,0.000001,-0.000001,0.045150
7,2,133120,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
7,2,133120,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.161781,0.073845,0.984381,0.027317,-0.706004,-0.034439,0.706843
7,2,133120,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.191502,-0.069046,0.878982,0.756856,0.056453,0.648640,-0.056989
7,2,133120,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.198608,0.083935,0.881638,0.912482,0.011880,-0.037526,0.407220
7,2,133120,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000001,0.000000,0.000015
7,2,133120,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
7,2,133120,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.220427,-0.060457,0.926640,0.026480,-0.765217,0.042084,0.641849
7,2,133120,16,obj,0,"003_bread_1","put bread on carpet",-0.179207,0.013699,0.886314,0.999231,0.002888,-0.009838,-0.037841
7,2,133120,16,obj,1,"005_7up can_1","put bread on carpet",-0.092575,0.075180,0.885627,0.972479,-0.005183,-0.232931,0.000666
7,2,133120,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000062
7,2,133120,16,recep,1,"003_carpet_1","put bread on carpet",-0.204948,0.045033,0.870448,1.000000,-0.000127,-0.000159,0.000630
7,2,133120,16,gripper,0,"","put bread on carpet",-0.046223,-0.076237,0.955516,-0.007375,-0.749623,-0.003029,0.661817
7,2,133120,17,obj,0,"003_bread_1","put bread on carpet",-0.151882,-0.074631,0.884192,0.746838,0.018867,0.015932,0.664548
7,2,133120,17,obj,1,"005_7up can_1","put bread on carpet",-0.235165,0.065662,0.885635,0.678076,0.197387,-0.205189,0.677606
7,2,133120,17,recep,0,"004_newspaper_1","put bread on carpet",-0.207272,-0.077534,0.869489,0.999832,0.000196,0.000871,-0.018303
7,2,133120,17,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.045025,0.870447,0.999999,-0.000923,-0.000845,-0.000063
7,2,133120,17,gripper,0,"","put bread on carpet",-0.157772,-0.076571,0.955461,-0.006745,-0.766033,-0.069594,0.638987
7,2,133120,18,obj,0,"003_bread_1","put bread on carpet",-0.105576,-0.037430,0.914493,0.886442,0.014835,-0.000740,0.462600
7,2,133120,18,obj,1,"005_7up can_1","put bread on carpet",-0.227993,-0.007389,0.885674,0.746404,0.230922,-0.305223,0.544422
7,2,133120,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
7,2,133120,18,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000053
7,2,133120,18,gripper,0,"","put bread on carpet",-0.107798,-0.038759,0.953516,-0.033416,-0.781881,-0.061389,0.619497
7,2,133120,19,obj,0,"003_bread_1","put bread on carpet",-0.118231,0.002544,0.885086,0.985690,0.058398,0.003544,-0.158089
7,2,133120,19,obj,1,"005_7up can_1","put bread on carpet",-0.242596,-0.074837,0.885626,0.972474,-0.005066,-0.232955,0.001146
7,2,133120,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084433,0.075954,0.869490,0.999999,0.000181,0.000874,-0.001286
7,2,133120,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,-0.074997,0.870447,0.999999,-0.000923,-0.000845,-0.000071
7,2,133120,19,gripper,0,"","put bread on carpet",-0.127872,-0.019484,0.977587,0.088282,-0.766679,0.067864,0.632301
7,2,133120,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.065928,-0.071041,0.883544,0.266768,0.012557,-0.001584,0.963678
7,2,133120,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.071471,0.079372,0.888653,0.565345,0.292943,-0.216086,0.740186
7,2,133120,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.044998,0.869489,1.000000,0.000180,0.000875,0.000001
7,2,133120,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084998,0.075001,0.870460,1.000000,0.000017,-0.000159,0.000002
7,2,133120,20,gripper,0,"","put 7up can on newspaper",-0.090258,-0.076975,0.957043,-0.214968,-0.758835,-0.268298,0.553149
7,2,133120,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.115648,-0.081886,0.886584,0.382225,0.019487,-0.005066,0.923850
7,2,133120,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.117043,0.038670,0.885654,0.661388,0.183712,-0.179825,0.704612
7,2,133120,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204966,0.075005,0.869490,1.000000,0.000180,0.000873,0.000068
7,2,133120,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,-0.074997,0.870448,0.999998,0.001525,0.001265,-0.000038
7,2,133120,21,gripper,0,"","put 7up can on newspaper",-0.143707,0.035036,1.011578,-0.109278,-0.740440,-0.129996,0.650314
7,2,133120,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.235535,0.075123,0.883544,0.999916,0.001783,-0.012534,-0.002607
7,2,133120,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.112621,0.142708,0.885903,0.392927,-0.063402,-0.916923,-0.028991
7,2,133120,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
7,2,133120,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.044998,0.870448,1.000000,-0.000374,-0.000374,-0.000103
7,2,133120,22,gripper,0,"","put 7up can on newspaper",-0.133991,0.133034,0.931942,0.079739,-0.750219,-0.062871,0.653346
7,2,133120,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.084480,-0.075478,0.883544,0.383516,0.012274,-0.003119,0.923447
7,2,133120,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.181156,0.074207,0.887627,0.516620,-0.516745,0.383593,0.564743
7,2,133120,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000048
7,2,133120,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,0.075008,0.870447,0.999999,-0.000923,-0.000844,-0.000145
7,2,133120,23,gripper,0,"","put 7up can on newspaper",-0.146324,0.056734,1.069953,0.162173,-0.833156,0.072411,0.523744
7,2,133120,24,obj,0,"003_bread_1","put 7up can on carpet",-0.115547,-0.044884,0.883544,0.999916,0.001780,-0.012528,-0.002768
7,2,133120,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.244072,-0.075888,0.885654,0.963759,-0.006642,-0.266655,-0.004502
7,2,133120,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000082
7,2,133120,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075037,0.870447,0.999999,-0.000923,-0.000846,-0.000065
7,2,133120,24,gripper,0,"","put 7up can on carpet",-0.228588,-0.055775,0.957568,-0.010999,-0.712128,0.008309,0.701914
7,2,133120,25,obj,0,"003_bread_1","put 7up can on carpet",-0.201023,0.083549,0.883544,0.917503,0.006655,-0.010771,0.397527
7,2,133120,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.227749,-0.034687,0.885673,0.837395,-0.167790,0.368694,0.366990
7,2,133120,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
7,2,133120,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
7,2,133120,25,gripper,0,"","put 7up can on carpet",-0.210995,-0.029559,0.964469,-0.040107,-0.734655,-0.014249,0.677104
7,2,133120,26,obj,0,"003_bread_1","put 7up can on carpet",-0.206585,-0.071587,0.883544,0.998167,0.001067,-0.012615,-0.059187
7,2,133120,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.020100,-0.088175,0.885995,-0.136255,0.372589,0.916591,0.049725
7,2,133120,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235004,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000288
7,2,133120,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
7,2,133120,26,gripper,0,"","put 7up can on carpet",-0.034061,-0.091777,0.973895,-0.253825,-0.654859,-0.185881,0.687155
7,2,133120,27,obj,0,"003_bread_1","put 7up can on carpet",-0.201586,-0.068050,0.883544,0.374496,0.012304,-0.002998,0.927142
7,2,133120,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.079744,-0.080500,0.885627,0.370875,0.213293,-0.093774,0.898980
7,2,133120,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234987,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000021
7,2,133120,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.115000,0.045038,0.870447,0.999999,-0.000923,-0.000845,-0.000069
7,2,133120,27,gripper,0,"","put 7up can on carpet",-0.195691,-0.064971,0.957269,-0.026581,-0.748188,-0.058484,0.660370
7,2,133120,28,obj,0,"003_bread_1","put bread on newspaper",-0.141973,-0.036676,0.886778,0.356815,0.014809,-0.001607,0.934056
7,2,133120,28,obj,1,"005_7up can_1","put bread on newspaper",-0.166783,0.085985,0.885687,-0.453134,-0.351714,0.197026,-0.795077
7,2,133120,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
7,2,133120,28,recep,1,"003_carpet_1","put bread on newspaper",-0.114994,-0.044985,0.870447,0.999999,-0.000924,-0.000847,-0.000096
7,2,133120,28,gripper,0,"","put bread on newspaper",-0.142953,-0.014510,1.080239,0.095226,-0.727841,0.040104,0.677917
7,2,133120,29,obj,0,"003_bread_1","put bread on newspaper",-0.235518,0.045101,0.883544,0.999917,0.001787,-0.012533,-0.002527
7,2,133120,29,obj,1,"005_7up can_1","put bread on newspaper",-0.165129,-0.018370,0.901061,0.572107,-0.524629,-0.371079,0.509664
7,2,133120,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.204924,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000003
7,2,133120,29,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
7,2,133120,29,gripper,0,"","put bread on newspaper",-0.182412,-0.034605,0.987149,-0.009596,-0.750582,-0.070240,0.656963
7,2,133120,30,obj,0,"003_bread_1","put bread on newspaper",-0.134552,0.028580,0.886401,0.721689,0.041453,-0.107110,0.682622
7,2,133120,30,obj,1,"005_7up can_1","put bread on newspaper",-0.053566,0.013496,0.960059,0.533744,0.294292,-0.210825,0.764240
7,2,133120,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
7,2,133120,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085491,0.074427,0.870461,1.000000,0.000019,-0.000159,0.000410
7,2,133120,30,gripper,0,"","put bread on newspaper",-0.093817,0.006041,0.986733,-0.028546,-0.816851,-0.028338,0.575445
7,2,133120,31,obj,0,"003_bread_1","put bread on newspaper",-0.227127,0.087057,0.883544,0.893265,0.007260,-0.010372,0.449351
7,2,133120,31,obj,1,"005_7up can_1","put bread on newspaper",-0.109261,0.015211,0.885636,0.724125,0.182445,-0.218588,0.628153
7,2,133120,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
7,2,133120,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
7,2,133120,31,gripper,0,"","put bread on newspaper",-0.170561,0.072870,0.994209,0.064495,-0.752560,0.013421,0.655220
7,2,133120,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089882,-0.080882,0.887556,0.370242,-0.023912,0.006093,0.928607
7,2,133120,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234673,0.075331,0.878547,0.382194,0.003198,0.013104,0.923984
7,2,133120,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
7,2,133120,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
7,2,133120,32,gripper,0,"","put carrot on flat bowl",-0.064873,-0.048638,0.959224,0.136079,-0.747340,0.127181,0.637801
7,2,133120,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242565,0.065433,0.887494,0.254453,-0.029826,0.008252,0.966590
7,2,133120,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
7,2,133120,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
7,2,133120,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
7,2,133120,33,gripper,0,"","put carrot on flat bowl",-0.162870,0.076157,0.973542,0.341629,-0.630965,0.406314,0.565757
7,2,133120,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234695,-0.043677,0.887186,0.990516,-0.012852,0.028601,0.133770
7,2,133120,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.044560,0.878547,0.999909,0.013300,0.002050,0.000327
7,2,133120,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000029
7,2,133120,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
7,2,133120,34,gripper,0,"","put carrot on flat bowl",-0.200645,-0.022254,0.959498,0.037701,-0.715232,0.062378,0.695076
7,2,133120,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089243,0.080263,0.887262,0.996588,0.004595,0.033352,0.075365
7,2,133120,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084990,-0.075437,0.878547,0.999910,0.013277,0.002056,0.000352
7,2,133120,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
7,2,133120,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
7,2,133120,35,gripper,0,"","put carrot on flat bowl",-0.148105,0.065443,1.009001,-0.110561,-0.740122,-0.214329,0.627740
7,2,133120,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.090733,-0.076946,0.887354,0.749959,-0.017146,0.025417,0.660774
7,2,133120,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234557,-0.074994,0.878547,0.706794,0.007927,0.010829,0.707292
7,2,133120,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
7,2,133120,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
7,2,133120,36,gripper,0,"","put banana on sheet metal",-0.160000,-0.018105,1.003119,0.066223,-0.765534,0.008814,0.639917
7,2,133120,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236162,-0.072453,0.887529,0.374500,-0.040072,0.016201,0.926219
7,2,133120,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084686,0.075317,0.878547,0.382193,0.003181,0.013048,0.923985
7,2,133120,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
7,2,133120,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
7,2,133120,37,gripper,0,"","put banana on sheet metal",-0.068981,0.013158,1.025828,0.159321,-0.715285,0.030315,0.679753
7,2,133120,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120056,-0.040065,0.887406,0.918282,-0.016623,0.031374,0.394331
7,2,133120,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204651,0.074684,0.878546,0.923980,0.011489,0.006967,0.382204
7,2,133120,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,2,133120,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
7,2,133120,38,gripper,0,"","put banana on sheet metal",-0.142984,-0.042141,1.002644,-0.170367,-0.725850,-0.142603,0.650984
7,2,133120,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089123,-0.080236,0.887156,0.359635,-0.022807,-0.000399,0.932814
7,2,133120,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,0.075315,0.878547,0.382328,0.003181,0.013042,0.923929
7,2,133120,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,2,133120,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
7,2,133120,39,gripper,0,"","put banana on sheet metal",-0.116838,-0.029664,0.985693,0.197353,-0.702819,0.176934,0.660145
7,2,133120,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208992,-0.079872,0.887432,0.368815,-0.032116,0.015012,0.928827
7,2,133120,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084671,-0.074667,0.878547,0.383540,0.003201,0.013044,0.923427
7,2,133120,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
7,2,133120,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000196
7,2,133120,40,gripper,0,"","put banana on flat bowl",-0.045948,-0.007263,1.000764,0.259016,-0.706371,0.407658,0.517461
7,2,133120,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207771,-0.069273,0.887494,0.996809,-0.003333,0.038919,0.069619
7,2,133120,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075436,0.878547,0.999910,0.013264,0.002045,-0.000548
7,2,133120,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
7,2,133120,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
7,2,133120,41,gripper,0,"","put banana on flat bowl",-0.047693,0.029348,1.025763,0.078949,-0.867595,-0.054738,0.487903
7,2,133120,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.209572,-0.080460,0.887443,0.364295,-0.021824,0.008394,0.930990
7,2,133120,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
7,2,133120,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
7,2,133120,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
7,2,133120,42,gripper,0,"","put banana on flat bowl",-0.044712,-0.020505,1.010566,-0.224936,-0.631637,-0.216405,0.709653
7,2,133120,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239817,0.043695,0.887383,0.748807,-0.027746,0.025617,0.661712
7,2,133120,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114561,0.075014,0.878547,0.707157,0.007975,0.010876,0.706928
7,2,133120,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.045013,0.871344,0.999999,-0.000158,0.001164,-0.000064
7,2,133120,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
7,2,133120,43,gripper,0,"","put banana on flat bowl",-0.068195,0.105319,0.992692,0.166026,-0.740463,0.131966,0.637758
7,2,133120,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087891,-0.069801,0.887546,0.996380,-0.004146,0.035812,0.076981
7,2,133120,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084986,0.074560,0.878547,0.999910,0.013263,0.002051,0.000203
7,2,133120,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000001
7,2,133120,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000001
7,2,133120,44,gripper,0,"","put carrot on sheet metal",-0.063865,-0.030925,1.002625,-0.195130,-0.720374,-0.156127,0.647000
7,2,133120,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232758,0.052322,0.887008,0.208707,-0.009008,0.013939,0.977837
7,2,133120,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.044672,0.878547,0.382764,0.003205,0.013096,0.923748
7,2,133120,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.074995,0.871344,0.999999,-0.000157,0.001164,0.000005
7,2,133120,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000301
7,2,133120,45,gripper,0,"","put carrot on sheet metal",-0.175339,0.060375,1.007541,-0.039286,-0.713935,-0.043422,0.697759
7,2,133120,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088287,-0.068514,0.887297,0.996871,0.003843,0.034530,0.070996
7,2,133120,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,-0.045439,0.878547,0.999909,0.013301,0.002045,-0.000326
7,2,133120,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
7,2,133120,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
7,2,133120,46,gripper,0,"","put carrot on sheet metal",-0.145927,0.030325,1.005318,-0.214274,-0.750947,-0.385546,0.491447
7,2,133120,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.235401,-0.041311,0.887529,0.373227,-0.040096,0.016147,0.926733
7,2,133120,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114704,-0.074677,0.878547,0.383246,0.003205,0.013075,0.923548
7,2,133120,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
7,2,133120,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
7,2,133120,47,gripper,0,"","put carrot on sheet metal",-0.176388,-0.034483,0.990368,0.089181,-0.696816,0.101118,0.704464
7,2,133120,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.101875,-0.061577,0.896158,0.810747,0.097635,-0.078962,0.571771
7,2,133120,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215240,0.096249,0.887026,0.649811,-0.288703,0.648334,0.272138
7,2,133120,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000016
7,2,133120,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000009
7,2,133120,48,gripper,0,"","put hamburger on cutting board",-0.033810,0.077154,1.010543,0.013919,-0.809435,0.078957,0.581711
7,2,133120,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065804,0.166649,0.888112,0.730718,-0.027030,-0.005297,0.682124
7,2,133120,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.086712,-0.034664,0.887027,0.492741,-0.518195,0.484934,0.503507
7,2,133120,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
7,2,133120,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,0.044987,0.870870,1.000000,-0.000002,-0.000002,0.000012
7,2,133120,49,gripper,0,"","put hamburger on cutting board",-0.143927,-0.064941,1.008854,-0.094782,-0.777251,-0.103636,0.613316
7,2,133120,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.057312,0.036407,0.888113,0.932290,-0.027026,0.005190,0.360664
7,2,133120,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.110970,0.051376,0.887987,0.734012,0.250851,0.521682,-0.355173
7,2,133120,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000015
7,2,133120,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000028
7,2,133120,50,gripper,0,"","put hamburger on cutting board",-0.125990,-0.054428,1.023954,-0.005405,-0.752353,-0.052914,0.656610
7,2,133120,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115166,0.046112,0.888112,0.943701,-0.026869,0.006046,0.329651
7,2,133120,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.218582,-0.056194,0.887026,0.637230,-0.316905,0.635025,0.300421
7,2,133120,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,2,133120,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
7,2,133120,51,gripper,0,"","put hamburger on cutting board",-0.195815,-0.056654,0.952507,-0.025886,-0.700702,-0.043779,0.711639
7,2,133120,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085102,-0.080608,0.890657,0.304261,-0.020991,-0.015263,0.952235
7,2,133120,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256376,0.094872,0.887026,0.265867,-0.663048,0.253088,0.652403
7,2,133120,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
7,2,133120,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084993,-0.074997,0.870871,1.000000,-0.000000,-0.000001,-0.000020
7,2,133120,52,gripper,0,"","put plastic bottle on frying pan",-0.018371,0.111645,0.984737,0.267691,-0.757457,0.229534,0.549468
7,2,133120,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115822,0.059273,0.888112,0.985489,-0.020599,0.018280,-0.167489
7,2,133120,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.174652,-0.073479,0.887028,0.705125,-0.015854,0.708906,0.000258
7,2,133120,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
7,2,133120,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
7,2,133120,53,gripper,0,"","put plastic bottle on frying pan",-0.172581,-0.069099,0.951752,0.051435,-0.774924,0.017709,0.629709
7,2,133120,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085926,0.075630,0.888112,0.712429,-0.026877,-0.006011,0.701204
7,2,133120,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.153934,-0.022240,0.887360,0.524346,-0.476103,0.460262,0.535300
7,2,133120,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236416,-0.075565,0.872199,0.999837,-0.000000,-0.000001,0.018064
7,2,133120,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205021,0.045013,0.870883,0.999999,0.000700,0.000715,0.000470
7,2,133120,54,gripper,0,"","put plastic bottle on frying pan",-0.165758,-0.015976,0.976918,0.054970,-0.783998,0.009612,0.618250
7,2,133120,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.162971,0.012611,0.889018,0.999182,-0.010083,0.035932,-0.015560
7,2,133120,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205025,-0.041752,0.887027,0.704406,-0.003835,0.709687,-0.011924
7,2,133120,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.113926,-0.075001,0.872199,0.999932,-0.000001,-0.000001,-0.011632
7,2,133120,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084972,0.044983,0.870870,1.000000,-0.000000,-0.000000,0.000100
7,2,133120,55,gripper,0,"","put plastic bottle on frying pan",-0.182077,0.006702,0.937479,-0.055242,-0.801801,-0.109020,0.584960
7,2,133120,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.230377,0.080360,0.890645,-0.748800,0.027331,0.001204,-0.662232
7,2,133120,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.011589,0.160748,0.935077,0.660033,-0.354008,0.483020,0.453571
7,2,133120,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.096016,0.160206,0.872199,0.999955,0.000000,-0.000002,0.009486
7,2,133120,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235023,0.045059,0.870870,1.000000,-0.000000,-0.000000,0.000073
7,2,133120,56,gripper,0,"","put plastic bottle on cutting board",-0.000557,0.139736,0.976919,0.272535,-0.760453,0.020395,0.589084
7,2,133120,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115261,0.075729,0.888112,0.715170,-0.026900,-0.005908,0.698408
7,2,133120,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.252750,-0.050442,0.889676,-0.600293,0.390294,-0.591321,-0.371023
7,2,133120,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235176,0.045044,0.872199,1.000000,-0.000001,-0.000001,-0.000525
7,2,133120,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204983,-0.074162,0.870870,0.999997,0.000001,-0.000004,-0.002357
7,2,133120,57,gripper,0,"","put plastic bottle on cutting board",-0.153803,-0.027657,1.113357,-0.022678,-0.746233,-0.027075,0.664747
7,2,133120,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.124298,-0.042007,0.888162,0.931871,-0.018000,0.017276,0.361930
7,2,133120,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.096661,0.107121,0.933055,0.612851,-0.307060,0.630457,0.364215
7,2,133120,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
7,2,133120,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204998,-0.075012,0.870870,1.000000,0.000000,-0.000000,-0.000036
7,2,133120,58,gripper,0,"","put plastic bottle on cutting board",-0.082537,0.095312,0.972266,0.238572,-0.692482,0.183417,0.655675
7,2,133120,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206131,0.044716,0.888112,0.391877,-0.022565,-0.015784,0.919605
7,2,133120,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.111578,0.099831,0.887027,0.367418,-0.613661,0.356520,0.601097
7,2,133120,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
7,2,133120,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
7,2,133120,59,gripper,0,"","put plastic bottle on cutting board",-0.098701,0.082699,0.978154,-0.023715,-0.784279,-0.019722,0.619642
7,2,133120,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.126984,-0.142746,0.891601,0.387272,0.838405,0.118209,-0.364862
7,2,133120,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.206123,-0.075138,0.887026,0.704487,-0.019409,0.709443,0.003534
7,2,133120,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000000
7,2,133120,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000000
7,2,133120,60,gripper,0,"","put hamburger on frying pan",-0.102065,-0.047808,0.967990,0.072747,-0.762501,0.045154,0.641296
7,2,133120,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085161,0.076084,0.888112,0.944299,-0.026859,0.006095,0.327936
7,2,133120,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175459,-0.040482,0.889975,0.448484,-0.316938,0.818955,0.166507
7,2,133120,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,2,133120,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.077293,-0.064083,0.872029,0.998947,0.000720,-0.013200,0.043938
7,2,133120,61,gripper,0,"","put hamburger on frying pan",-0.169640,-0.050524,0.952327,-0.126734,-0.779348,-0.133928,0.598848
7,2,133120,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.093399,0.081722,0.888752,0.409063,0.037622,-0.048891,0.910419
7,2,133120,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.182236,0.083237,0.889605,0.492109,-0.516418,0.489045,0.501973
7,2,133120,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
7,2,133120,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204010,0.075531,0.870870,0.999996,-0.000004,-0.000004,-0.002829
7,2,133120,62,gripper,0,"","put hamburger on frying pan",-0.098228,0.070923,0.940442,0.111738,-0.827968,-0.080101,0.543661
7,2,133120,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.196735,-0.078068,0.888172,0.826886,-0.026981,-0.004752,0.561702
7,2,133120,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.115124,0.042366,0.890839,0.543245,-0.451174,0.484528,0.516294
7,2,133120,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.206718,0.075626,0.872199,0.999992,-0.000000,-0.000001,0.004048
7,2,133120,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085651,0.045406,0.870884,0.999999,0.000703,0.000715,0.001053
7,2,133120,63,gripper,0,"","put hamburger on frying pan",-0.199120,-0.080086,0.933887,-0.071366,-0.771059,-0.088632,0.626513
7,3,138240,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.074471,-0.082596,0.879089,0.310861,0.433063,-0.163923,0.830031
7,3,138240,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083321,0.073753,0.881638,0.392907,0.034189,-0.019451,0.918737
7,3,138240,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000002,0.000046
7,3,138240,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205315,0.045151,0.871288,0.999997,-0.000157,-0.001019,-0.002181
7,3,138240,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.209740,0.009003,0.979668,0.070455,-0.724265,0.038747,0.684818
7,3,138240,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.072659,-0.045723,0.885084,0.542078,0.365353,-0.284456,0.701252
7,3,138240,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201485,-0.068222,0.881638,0.921589,0.011019,-0.037791,0.386166
7,3,138240,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,0.000000,0.000018
7,3,138240,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
7,3,138240,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.167107,-0.022442,1.035317,-0.023933,-0.816704,-0.054103,0.574017
7,3,138240,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.076824,-0.052986,0.885085,0.588880,0.344987,-0.308848,0.662432
7,3,138240,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.162086,-0.020615,0.884224,0.306012,-0.018563,0.045795,0.950745
7,3,138240,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085030,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000092
7,3,138240,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.211697,-0.123253,0.871282,0.945612,-0.000016,-0.001343,0.325294
7,3,138240,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.145500,0.049469,1.138801,0.026049,-0.824653,0.115564,0.553094
7,3,138240,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.149973,0.002922,0.879125,-0.492614,0.487373,0.600508,0.398986
7,3,138240,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.207045,0.075378,0.881638,0.999132,-0.003909,-0.039164,0.013672
7,3,138240,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.108316,-0.077576,0.869532,0.999527,-0.000000,-0.000001,-0.030735
7,3,138240,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084557,0.077751,0.871283,0.999998,-0.000451,-0.001262,-0.001703
7,3,138240,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.180886,-0.010208,0.953624,-0.112672,-0.724635,-0.111026,0.670732
7,3,138240,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.032697,0.179207,0.879703,-0.371343,0.555932,-0.684593,-0.290475
7,3,138240,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085113,-0.075974,0.881638,0.706814,0.024475,-0.030785,0.706305
7,3,138240,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.232608,-0.075539,0.869532,0.998952,0.000001,-0.000002,-0.045761
7,3,138240,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.074997,0.871289,1.000000,-0.000153,-0.001019,-0.000005
7,3,138240,4,gripper,0,"","put kitchen shovel on cloth",-0.166092,0.085911,0.974021,0.059076,-0.762432,-0.023389,0.643942
7,3,138240,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.227123,0.028900,0.885369,0.759160,-0.165897,0.223371,0.588439
7,3,138240,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.177488,-0.076134,0.881638,0.559214,0.029927,-0.025573,0.828088
7,3,138240,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235003,0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000005
7,3,138240,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000010
7,3,138240,5,gripper,0,"","put kitchen shovel on cloth",-0.242166,-0.018505,0.934431,0.064294,-0.778204,0.057295,0.622078
7,3,138240,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.067043,-0.088028,0.879125,0.204311,0.731875,-0.250002,0.600096
7,3,138240,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.236938,0.075951,0.881641,0.421803,-0.038072,0.012822,0.905797
7,3,138240,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000002,0.000037
7,3,138240,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000040
7,3,138240,6,gripper,0,"","put kitchen shovel on cloth",-0.190348,-0.044140,0.975468,-0.012485,-0.707160,-0.016626,0.706748
7,3,138240,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.187904,-0.061783,0.878981,-0.647869,-0.345646,-0.551776,0.395396
7,3,138240,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.113960,-0.077591,0.888959,0.496561,0.057755,-0.085417,0.861856
7,3,138240,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.108051,0.046814,0.869532,0.997992,0.000001,-0.000002,-0.063342
7,3,138240,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000065
7,3,138240,7,gripper,0,"","put kitchen shovel on cloth",-0.223425,-0.073677,0.953276,-0.056293,-0.794477,-0.101665,0.596071
7,3,138240,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.143364,0.177822,0.879212,0.201518,0.660124,-0.697693,0.191966
7,3,138240,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.212173,-0.116291,0.881638,0.487550,0.031950,-0.022953,0.872208
7,3,138240,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.202026,0.073505,0.869532,0.999568,0.000010,-0.000000,0.029396
7,3,138240,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.075001,0.871289,1.000000,-0.000153,-0.001019,-0.000057
7,3,138240,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.206413,-0.095837,0.958486,-0.126219,-0.734373,-0.171304,0.644530
7,3,138240,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.062492,0.097763,0.885369,0.742051,-0.172120,0.218429,0.609938
7,3,138240,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.108906,-0.042698,0.881638,0.357409,0.034915,-0.018131,0.933119
7,3,138240,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.075005,0.869533,1.000000,-0.000001,-0.000000,0.000034
7,3,138240,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.226299,-0.073254,0.871187,0.999981,-0.001951,-0.001477,0.005644
7,3,138240,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.240294,-0.099669,0.916503,-0.082744,-0.817482,-0.096724,0.561712
7,3,138240,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.059875,-0.048115,0.933591,0.390493,0.602129,-0.493207,0.491632
7,3,138240,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.176491,0.033722,0.882161,0.522997,-0.017029,0.001947,0.852162
7,3,138240,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
7,3,138240,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.080532,0.074223,0.871288,0.999862,-0.000137,-0.001021,0.016577
7,3,138240,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.115337,-0.060509,0.970000,-0.041285,-0.798763,-0.084020,0.594318
7,3,138240,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.098785,-0.074871,0.885107,0.062350,-0.763585,0.638474,0.073492
7,3,138240,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085112,0.074047,0.881638,0.706703,0.024509,-0.030806,0.706414
7,3,138240,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.083204,-0.075714,0.869532,0.999983,0.000000,-0.000000,0.005807
7,3,138240,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235138,0.074932,0.871282,0.999999,-0.000452,-0.001264,-0.001131
7,3,138240,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.151365,-0.026911,1.007079,0.028437,-0.775291,0.027644,0.630358
7,3,138240,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.195377,-0.047043,0.879089,0.396346,0.413464,-0.208527,0.792764
7,3,138240,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.229007,0.084137,0.881641,0.435948,-0.037881,0.013426,0.899074
7,3,138240,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
7,3,138240,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000014
7,3,138240,12,gripper,0,"","put ketchup bottle on cloth",-0.219352,0.032038,0.920144,0.006249,-0.775284,0.040815,0.630262
7,3,138240,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.076595,-0.032288,0.884977,0.694258,0.270037,0.592467,-0.306706
7,3,138240,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204073,-0.074368,0.883885,0.999231,0.032687,0.021336,-0.003666
7,3,138240,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085007,-0.045010,0.869532,1.000000,0.000000,-0.000001,0.000189
7,3,138240,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235029,0.045029,0.871210,0.999984,-0.003909,-0.004128,-0.000093
7,3,138240,13,gripper,0,"","put ketchup bottle on cloth",-0.105003,0.004408,1.085625,0.077240,-0.850861,0.078309,0.513748
7,3,138240,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.146595,0.059418,0.879891,0.747947,0.116888,-0.638562,0.138387
7,3,138240,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205925,-0.074932,0.881638,0.999224,-0.004497,-0.039093,-0.001378
7,3,138240,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085526,0.076897,0.869532,0.998632,-0.001029,-0.000055,0.052287
7,3,138240,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
7,3,138240,14,gripper,0,"","put ketchup bottle on cloth",-0.170843,0.064184,0.929832,0.057518,-0.758944,-0.023333,0.648191
7,3,138240,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.189514,-0.068760,0.878982,0.757656,0.046327,0.649439,-0.045176
7,3,138240,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.199154,0.083866,0.881638,0.911672,0.011958,-0.037504,0.409029
7,3,138240,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000001,0.000000,0.000030
7,3,138240,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
7,3,138240,15,gripper,0,"","put ketchup bottle on cloth",-0.207294,-0.043362,0.983947,-0.038306,-0.679559,-0.021542,0.732303
7,3,138240,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.170273,0.043613,0.886350,0.931120,-0.003292,-0.008760,-0.364594
7,3,138240,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092575,0.075180,0.885627,0.972477,-0.005181,-0.232941,0.000670
7,3,138240,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000088
7,3,138240,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.203262,0.056511,0.870462,0.999005,0.000028,-0.000171,0.044587
7,3,138240,16,gripper,0,"","put 7up can on newspaper",-0.167458,0.046227,1.095075,0.062628,-0.702739,0.106627,0.700619
7,3,138240,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.151882,-0.074631,0.884192,0.747111,0.018877,0.015915,0.664241
7,3,138240,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.117702,0.055096,0.888646,0.637918,0.084526,-0.065599,0.762635
7,3,138240,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.207272,-0.077534,0.869489,0.999831,0.000196,0.000871,-0.018362
7,3,138240,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.045044,0.870447,0.999991,-0.003114,-0.002732,-0.000071
7,3,138240,17,gripper,0,"","put 7up can on newspaper",-0.130589,0.026165,1.106518,-0.021487,-0.754762,-0.047722,0.653908
7,3,138240,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.105942,-0.033581,0.883544,0.908900,0.006875,-0.010629,0.416823
7,3,138240,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.227993,-0.007389,0.885674,0.746327,0.230964,-0.305187,0.544529
7,3,138240,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
7,3,138240,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000071
7,3,138240,18,gripper,0,"","put 7up can on newspaper",-0.106298,-0.034203,0.966099,0.062131,-0.753661,0.019866,0.654019
7,3,138240,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.118231,0.002544,0.885085,0.985709,0.058384,0.003547,-0.157979
7,3,138240,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242596,-0.074837,0.885626,0.972475,-0.005063,-0.232948,0.001164
7,3,138240,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084433,0.075951,0.869490,0.999999,0.000181,0.000874,-0.001402
7,3,138240,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084961,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000107
7,3,138240,19,gripper,0,"","put 7up can on newspaper",-0.223645,-0.058548,0.949564,0.086421,-0.745577,0.027841,0.660205
7,3,138240,20,obj,0,"003_bread_1","put 7up can on carpet",-0.065928,-0.071041,0.883544,0.266768,0.012556,-0.001583,0.963678
7,3,138240,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.071464,0.079391,0.888653,0.566258,0.292675,-0.216439,0.739492
7,3,138240,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.044998,0.869489,1.000000,0.000180,0.000875,0.000001
7,3,138240,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.084998,0.075001,0.870460,1.000000,0.000018,-0.000159,0.000002
7,3,138240,20,gripper,0,"","put 7up can on carpet",-0.116080,0.048849,1.139509,0.147252,-0.834463,0.052927,0.528381
7,3,138240,21,obj,0,"003_bread_1","put 7up can on carpet",-0.115774,-0.081871,0.886622,0.382762,0.016847,-0.002947,0.923688
7,3,138240,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.114672,0.031689,0.943278,0.073814,-0.802146,0.573666,0.148390
7,3,138240,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204693,0.075054,0.869490,0.999998,0.000178,0.000874,0.001859
7,3,138240,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.115030,-0.075058,0.870448,1.000000,-0.000126,-0.000158,0.000076
7,3,138240,21,gripper,0,"","put 7up can on carpet",-0.132387,0.024710,0.974037,-0.103097,-0.736779,-0.137040,0.654025
7,3,138240,22,obj,0,"003_bread_1","put 7up can on carpet",-0.234901,0.074821,0.883544,0.999097,0.001314,-0.012591,-0.040548
7,3,138240,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.304878,0.145725,0.885746,0.802040,-0.011647,-0.597116,-0.006970
7,3,138240,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
7,3,138240,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,-0.044998,0.870419,1.000000,-0.000040,-0.000663,-0.000156
7,3,138240,22,gripper,0,"","put 7up can on carpet",-0.191055,0.033569,0.987804,0.020140,-0.671265,0.044421,0.739611
7,3,138240,23,obj,0,"003_bread_1","put 7up can on carpet",-0.084480,-0.075478,0.883544,0.383517,0.012271,-0.003116,0.923447
7,3,138240,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.181156,0.074207,0.887627,0.516142,-0.517068,0.383172,0.565171
7,3,138240,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000076
7,3,138240,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,0.075008,0.870447,0.999999,-0.000922,-0.000843,-0.000220
7,3,138240,23,gripper,0,"","put 7up can on carpet",-0.133291,0.042583,1.122116,0.057828,-0.843277,0.058371,0.531162
7,3,138240,24,obj,0,"003_bread_1","put bread on newspaper",-0.112862,-0.045345,0.883545,0.999261,0.002305,-0.012386,0.036321
7,3,138240,24,obj,1,"005_7up can_1","put bread on newspaper",-0.150421,-0.050913,0.885748,-0.795806,-0.062888,0.595084,-0.092804
7,3,138240,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000119
7,3,138240,24,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.074631,0.870448,0.999999,-0.000819,-0.000758,0.000142
7,3,138240,24,gripper,0,"","put bread on newspaper",-0.141281,-0.055120,0.977242,-0.077987,-0.777758,-0.117302,0.612577
7,3,138240,25,obj,0,"003_bread_1","put bread on newspaper",-0.201023,0.083549,0.883544,0.917567,0.006652,-0.010771,0.397379
7,3,138240,25,obj,1,"005_7up can_1","put bread on newspaper",-0.068291,0.066496,0.888785,-0.477934,-0.512037,0.586765,-0.406329
7,3,138240,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
7,3,138240,25,recep,1,"003_carpet_1","put bread on newspaper",-0.084595,0.074894,0.870463,0.999998,0.000037,-0.000158,0.002143
7,3,138240,25,gripper,0,"","put bread on newspaper",-0.101164,0.030533,1.076326,0.127735,-0.762388,0.041856,0.633006
7,3,138240,26,obj,0,"003_bread_1","put bread on newspaper",-0.205994,-0.072781,0.883544,0.997023,0.000857,-0.012626,-0.076061
7,3,138240,26,obj,1,"005_7up can_1","put bread on newspaper",-0.020100,-0.088200,0.885995,-0.136256,0.372609,0.916583,0.049729
7,3,138240,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235004,0.044996,0.869490,1.000000,0.000180,0.000874,-0.000430
7,3,138240,26,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
7,3,138240,26,gripper,0,"","put bread on newspaper",-0.195951,-0.061466,0.961804,0.088690,-0.817955,-0.019494,0.568070
7,3,138240,27,obj,0,"003_bread_1","put bread on newspaper",-0.099377,0.055017,0.886548,0.470483,0.011772,-0.001492,0.882329
7,3,138240,27,obj,1,"005_7up can_1","put bread on newspaper",-0.079746,-0.080500,0.885627,0.370888,0.213303,-0.093782,0.898971
7,3,138240,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.234983,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000033
7,3,138240,27,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.045052,0.870447,0.999991,-0.003107,-0.002726,-0.000099
7,3,138240,27,gripper,0,"","put bread on newspaper",-0.104074,-0.039333,0.961223,0.012109,-0.737505,0.016888,0.675022
7,3,138240,28,obj,0,"003_bread_1","put bread on carpet",-0.141973,-0.036676,0.886778,0.356815,0.014809,-0.001608,0.934056
7,3,138240,28,obj,1,"005_7up can_1","put bread on carpet",-0.121492,0.089409,0.887218,-0.722391,-0.053921,0.083160,-0.684345
7,3,138240,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
7,3,138240,28,recep,1,"003_carpet_1","put bread on carpet",-0.114994,-0.044985,0.870447,0.999999,-0.000924,-0.000847,-0.000096
7,3,138240,28,gripper,0,"","put bread on carpet",-0.143511,0.085624,0.927181,0.069760,-0.783515,-0.012139,0.617325
7,3,138240,29,obj,0,"003_bread_1","put bread on carpet",-0.236103,0.042198,0.883544,0.996098,0.000715,-0.012632,-0.087341
7,3,138240,29,obj,1,"005_7up can_1","put bread on carpet",-0.166302,-0.019779,0.900569,0.578420,-0.521190,-0.393921,0.488485
7,3,138240,29,recep,0,"004_newspaper_1","put bread on carpet",-0.204935,-0.074999,0.869490,1.000000,0.000180,0.000876,0.000071
7,3,138240,29,recep,1,"003_carpet_1","put bread on carpet",-0.084969,-0.074986,0.870418,1.000000,-0.000219,-0.000848,-0.000156
7,3,138240,29,gripper,0,"","put bread on carpet",-0.142152,0.001841,1.014112,-0.111248,-0.757776,-0.117668,0.632102
7,3,138240,30,obj,0,"003_bread_1","put bread on carpet",-0.134407,0.028608,0.886414,0.722908,0.041436,-0.107641,0.681249
7,3,138240,30,obj,1,"005_7up can_1","put bread on carpet",-0.054958,0.020634,0.887407,-0.247099,0.793481,0.394194,0.392353
7,3,138240,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
7,3,138240,30,recep,1,"003_carpet_1","put bread on carpet",-0.085537,0.074442,0.870448,1.000000,-0.000125,-0.000157,0.000309
7,3,138240,30,gripper,0,"","put bread on carpet",-0.135607,0.017838,1.128905,0.039753,-0.814101,0.039112,0.578039
7,3,138240,31,obj,0,"003_bread_1","put bread on carpet",-0.196503,0.077703,0.883544,0.867091,0.007824,-0.009956,0.497989
7,3,138240,31,obj,1,"005_7up can_1","put bread on carpet",-0.109261,0.015211,0.885636,0.724133,0.182436,-0.218583,0.628148
7,3,138240,31,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
7,3,138240,31,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
7,3,138240,31,gripper,0,"","put bread on carpet",-0.183128,0.072936,0.952985,-0.014699,-0.766995,-0.034328,0.640566
7,3,138240,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091118,-0.083293,0.887129,0.379605,-0.017376,0.017773,0.924815
7,3,138240,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234673,0.075331,0.878547,0.382194,0.003201,0.013111,0.923984
7,3,138240,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
7,3,138240,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,32,gripper,0,"","put banana on sheet metal",-0.133755,0.077172,1.018730,0.304230,-0.698500,0.154380,0.629054
7,3,138240,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242596,0.064358,0.887538,0.251806,-0.038308,0.009888,0.966969
7,3,138240,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003189,0.013068,0.923940
7,3,138240,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
7,3,138240,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,33,gripper,0,"","put banana on sheet metal",-0.048798,0.089064,0.974320,0.108524,-0.760702,0.094726,0.632915
7,3,138240,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.234695,-0.043677,0.887186,0.990516,-0.012852,0.028601,0.133770
7,3,138240,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.044559,0.878547,0.999909,0.013330,0.002052,0.000328
7,3,138240,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000029
7,3,138240,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,34,gripper,0,"","put banana on sheet metal",-0.045492,0.054243,1.013745,0.107860,-0.822489,0.100466,0.549350
7,3,138240,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089808,0.081464,0.887437,0.996887,-0.000538,0.034661,0.070818
7,3,138240,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084990,-0.075437,0.878546,0.999910,0.013257,0.002054,0.000352
7,3,138240,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
7,3,138240,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
7,3,138240,35,gripper,0,"","put banana on sheet metal",-0.132616,-0.098111,1.005081,-0.335803,-0.702333,-0.333478,0.531749
7,3,138240,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.093361,-0.077475,0.887423,0.756211,-0.023369,0.031433,0.653155
7,3,138240,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234557,-0.074993,0.878547,0.706794,0.007936,0.010840,0.707292
7,3,138240,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
7,3,138240,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
7,3,138240,36,gripper,0,"","put banana on flat bowl",-0.194019,-0.040097,0.959571,0.035998,-0.781152,0.004855,0.623283
7,3,138240,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236162,-0.072453,0.887529,0.374500,-0.040078,0.016203,0.926219
7,3,138240,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084686,0.075317,0.878547,0.382193,0.003179,0.013042,0.923985
7,3,138240,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
7,3,138240,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,37,gripper,0,"","put banana on flat bowl",-0.036207,0.057809,1.034305,0.195466,-0.713297,0.043875,0.671622
7,3,138240,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.123131,-0.037772,0.887526,0.924526,-0.016052,0.039881,0.378686
7,3,138240,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204651,0.074684,0.878547,0.923980,0.011517,0.006981,0.382204
7,3,138240,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,3,138240,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,38,gripper,0,"","put banana on flat bowl",-0.193344,-0.004308,0.985065,-0.160758,-0.793451,-0.147555,0.568173
7,3,138240,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092476,-0.084251,0.887565,0.377089,-0.030053,0.014676,0.925573
7,3,138240,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075315,0.878547,0.382327,0.003192,0.013074,0.923929
7,3,138240,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,3,138240,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
7,3,138240,39,gripper,0,"","put banana on flat bowl",-0.169884,0.087696,0.983857,0.250582,-0.732246,0.233291,0.588727
7,3,138240,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210999,-0.082973,0.887374,0.382133,-0.035958,0.010493,0.923348
7,3,138240,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.074661,0.878548,0.384200,0.003218,0.013070,0.923152
7,3,138240,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
7,3,138240,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000324
7,3,138240,40,gripper,0,"","put carrot on sheet metal",-0.155537,-0.041343,0.999678,-0.023087,-0.772008,0.003971,0.635181
7,3,138240,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208553,-0.068863,0.887566,0.996953,-0.000008,0.033110,0.070628
7,3,138240,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075439,0.878546,0.999910,0.013255,0.002040,-0.000897
7,3,138240,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
7,3,138240,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
7,3,138240,41,gripper,0,"","put carrot on sheet metal",-0.045158,0.067905,1.021885,0.062755,-0.769157,-0.066190,0.632517
7,3,138240,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.211246,-0.082626,0.887524,0.375191,-0.039846,0.016281,0.925947
7,3,138240,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
7,3,138240,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
7,3,138240,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
7,3,138240,42,gripper,0,"","put carrot on sheet metal",-0.139851,-0.097364,0.994078,-0.027193,-0.738625,0.026522,0.673046
7,3,138240,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.242313,0.042746,0.887425,0.756765,-0.018959,0.024709,0.652945
7,3,138240,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114557,0.075016,0.878547,0.707327,0.007958,0.010850,0.706758
7,3,138240,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.045021,0.871344,0.999999,-0.000157,0.001164,-0.000074
7,3,138240,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
7,3,138240,43,gripper,0,"","put carrot on sheet metal",-0.190816,0.044245,0.994517,0.069485,-0.675190,0.072502,0.730776
7,3,138240,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088838,-0.069090,0.887519,0.996638,-0.001364,0.031734,0.075521
7,3,138240,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999910,0.013264,0.002050,0.000101
7,3,138240,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001163,0.000001
7,3,138240,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000003
7,3,138240,44,gripper,0,"","put carrot on flat bowl",-0.185898,0.004489,1.018048,-0.466801,-0.575857,-0.374648,0.556887
7,3,138240,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234104,0.050428,0.887347,0.172757,-0.025665,0.008203,0.984596
7,3,138240,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.044668,0.878546,0.383020,0.003199,0.013064,0.923642
7,3,138240,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.074993,0.871344,0.999999,-0.000157,0.001164,0.000012
7,3,138240,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000452
7,3,138240,45,gripper,0,"","put carrot on flat bowl",-0.174119,0.061745,0.992665,0.089521,-0.689084,0.003557,0.719123
7,3,138240,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089172,-0.067060,0.887278,0.997105,-0.007902,0.028010,0.070241
7,3,138240,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234985,-0.045441,0.878547,0.999910,0.013262,0.002037,-0.000661
7,3,138240,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
7,3,138240,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
7,3,138240,46,gripper,0,"","put carrot on flat bowl",-0.141777,0.030228,0.992105,0.042509,-0.694087,-0.056345,0.716423
7,3,138240,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235401,-0.041307,0.887529,0.373189,-0.040096,0.016145,0.926748
7,3,138240,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114704,-0.074671,0.878547,0.383717,0.003212,0.013074,0.923352
7,3,138240,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
7,3,138240,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
7,3,138240,47,gripper,0,"","put carrot on flat bowl",-0.169746,-0.038194,0.991280,-0.046244,-0.731332,-0.088007,0.674737
7,3,138240,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.101868,-0.061642,0.896147,0.809509,0.097511,-0.078891,0.573553
7,3,138240,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215240,0.096249,0.887026,0.649950,-0.288376,0.648478,0.271810
7,3,138240,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000021
7,3,138240,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000012
7,3,138240,48,gripper,0,"","put plastic bottle on frying pan",-0.033527,0.068415,0.950713,0.210637,-0.748634,0.114052,0.618201
7,3,138240,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.065800,0.166649,0.888112,0.731370,-0.027034,-0.005272,0.681425
7,3,138240,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.100967,0.007671,0.887036,0.483458,-0.525931,0.472347,0.516289
7,3,138240,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
7,3,138240,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205292,0.044231,0.870883,0.999944,0.000708,0.000706,-0.010543
7,3,138240,49,gripper,0,"","put plastic bottle on frying pan",-0.060310,-0.008287,0.969822,-0.069621,-0.741973,-0.098252,0.659527
7,3,138240,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.054184,0.031544,0.888112,0.891926,-0.027431,0.002447,0.451343
7,3,138240,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.106918,0.046787,0.887026,0.631930,0.299422,0.643453,-0.311414
7,3,138240,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
7,3,138240,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000044
7,3,138240,50,gripper,0,"","put plastic bottle on frying pan",-0.065828,0.026508,0.953117,-0.092883,-0.810710,-0.116967,0.566076
7,3,138240,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115133,0.046104,0.888112,0.950334,-0.026736,0.006607,0.310010
7,3,138240,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.218283,-0.050835,0.889056,0.528985,-0.357035,0.726165,0.255704
7,3,138240,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,3,138240,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
7,3,138240,51,gripper,0,"","put plastic bottle on frying pan",-0.230893,-0.034784,0.950925,0.014086,-0.734445,-0.072503,0.674637
7,3,138240,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085101,-0.080608,0.890657,0.304265,-0.020972,-0.015278,0.952234
7,3,138240,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256376,0.094872,0.887026,0.265867,-0.663048,0.253088,0.652403
7,3,138240,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
7,3,138240,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084993,-0.074997,0.870871,1.000000,-0.000000,-0.000000,-0.000020
7,3,138240,52,gripper,0,"","put plastic bottle on cutting board",-0.011995,0.063993,0.946715,-0.099062,-0.830531,-0.025196,0.547513
7,3,138240,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115820,0.059269,0.888112,0.985013,-0.020548,0.018337,-0.170270
7,3,138240,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.174622,-0.073471,0.887026,0.704495,-0.015938,0.709530,0.000086
7,3,138240,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
7,3,138240,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
7,3,138240,53,gripper,0,"","put plastic bottle on cutting board",-0.050703,-0.043442,0.998119,-0.088021,-0.722460,-0.038084,0.684729
7,3,138240,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712520,-0.026879,-0.006007,0.701111
7,3,138240,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.185055,0.085457,0.918982,0.648220,-0.609750,0.388820,0.238402
7,3,138240,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.237263,-0.081226,0.872199,0.999808,-0.000001,-0.000001,-0.019617
7,3,138240,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.227695,0.155277,0.870883,0.978685,0.000832,0.000554,-0.205363
7,3,138240,54,gripper,0,"","put plastic bottle on cutting board",-0.161730,0.080326,0.993382,0.108990,-0.772516,0.092627,0.618677
7,3,138240,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.078171,0.036358,0.890788,0.998842,-0.023915,0.013637,0.039445
7,3,138240,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205212,-0.041748,0.887026,0.704383,-0.003217,0.709702,-0.012542
7,3,138240,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.113926,-0.075001,0.872199,0.999932,-0.000001,-0.000001,-0.011684
7,3,138240,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084267,0.044659,0.870870,0.999979,0.000000,-0.000000,0.006403
7,3,138240,55,gripper,0,"","put plastic bottle on cutting board",-0.091751,0.024662,1.125639,-0.020090,-0.797947,-0.030733,0.601608
7,3,138240,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.230377,0.080341,0.890645,-0.749418,0.027343,0.001186,-0.661531
7,3,138240,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.031960,0.112370,0.891976,0.583489,-0.350800,0.596416,0.425168
7,3,138240,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.096306,0.160324,0.872200,0.999986,-0.000000,-0.000001,0.005205
7,3,138240,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235023,0.045082,0.870870,1.000000,-0.000000,-0.000001,0.000005
7,3,138240,56,gripper,0,"","put hamburger on frying pan",-0.092907,0.060722,1.156723,0.180494,-0.751257,0.285086,0.567239
7,3,138240,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115261,0.075729,0.888112,0.715252,-0.026901,-0.005904,0.698323
7,3,138240,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.252625,-0.049934,0.889671,-0.600283,0.389972,-0.591617,-0.370906
7,3,138240,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235176,0.045044,0.872199,1.000000,-0.000000,-0.000001,-0.000520
7,3,138240,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204971,-0.073673,0.870871,0.999993,-0.000000,-0.000004,-0.003788
7,3,138240,57,gripper,0,"","put hamburger on frying pan",-0.094387,-0.071487,0.969005,-0.181440,-0.781277,-0.158448,0.575830
7,3,138240,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.124298,-0.042007,0.888163,0.932211,-0.017898,0.017409,0.361052
7,3,138240,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.099548,0.108940,0.887027,0.622905,-0.345464,0.619952,0.329096
7,3,138240,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
7,3,138240,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204998,-0.075012,0.870870,1.000000,0.000001,-0.000000,-0.000207
7,3,138240,58,gripper,0,"","put hamburger on frying pan",-0.095669,-0.025190,0.994681,0.058580,-0.812616,0.055837,0.577154
7,3,138240,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.178930,0.031116,0.894052,0.370806,0.072443,-0.011024,0.925815
7,3,138240,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.212120,-0.039593,0.892217,0.019896,-0.761958,0.646599,0.030581
7,3,138240,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
7,3,138240,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235529,-0.075005,0.870870,0.999990,-0.000011,-0.000014,0.004380
7,3,138240,59,gripper,0,"","put hamburger on frying pan",-0.175801,0.026825,0.941220,0.003749,-0.764697,-0.076972,0.639765
7,3,138240,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.126984,-0.142746,0.891601,0.387272,0.838405,0.118208,-0.364861
7,3,138240,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.203542,-0.073685,0.887026,0.704410,-0.026950,0.709196,0.011023
7,3,138240,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000000
7,3,138240,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
7,3,138240,60,gripper,0,"","put hamburger on cutting board",-0.020330,0.073107,0.973745,0.193220,-0.778561,0.074384,0.592432
7,3,138240,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085123,0.076077,0.888112,0.950372,-0.026741,0.006605,0.309896
7,3,138240,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.183691,-0.047577,0.887026,0.661703,-0.258409,0.660992,0.241792
7,3,138240,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,3,138240,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.077023,-0.063995,0.870870,0.999064,-0.000000,-0.000001,0.043268
7,3,138240,61,gripper,0,"","put hamburger on cutting board",-0.158114,-0.047485,0.973905,-0.065263,-0.745293,-0.045381,0.661982
7,3,138240,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.094963,0.083824,0.888112,0.408925,-0.022858,-0.015366,0.912152
7,3,138240,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182240,0.083435,0.889606,0.492335,-0.516192,0.489329,0.501707
7,3,138240,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
7,3,138240,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204014,0.075756,0.870871,0.999994,0.000047,0.000049,-0.003327
7,3,138240,62,gripper,0,"","put hamburger on cutting board",-0.128160,0.053988,1.133643,0.059552,-0.818794,0.038295,0.569704
7,3,138240,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.196632,-0.077965,0.888112,0.830466,-0.027529,-0.000905,0.556389
7,3,138240,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115124,0.042381,0.890842,0.543312,-0.451087,0.484694,0.516144
7,3,138240,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.206718,0.075626,0.872199,0.999992,0.000000,-0.000000,0.004093
7,3,138240,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085651,0.045406,0.870884,0.999999,0.000702,0.000714,0.001170
7,3,138240,63,gripper,0,"","put hamburger on cutting board",-0.111641,0.009270,1.128626,0.001753,-0.809872,0.042646,0.585052
7,4,143360,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.172188,-0.034782,0.879116,-0.051833,0.850488,-0.516610,-0.084249
7,4,143360,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083321,0.073753,0.881638,0.392805,0.034190,-0.019447,0.918780
7,4,143360,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.241798,-0.103653,0.869532,0.990651,0.000001,-0.000001,-0.136420
7,4,143360,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205215,0.045204,0.871288,0.999999,-0.000155,-0.001019,-0.001331
7,4,143360,0,gripper,0,"","put kitchen shovel on cloth",-0.225651,-0.036430,0.939571,0.076784,-0.777402,-0.014117,0.624141
7,4,143360,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.072628,-0.045883,0.885085,0.542573,0.365128,-0.284706,0.700884
7,4,143360,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.201977,-0.067223,0.881641,0.917121,-0.019936,0.034899,0.396578
7,4,143360,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000031
7,4,143360,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
7,4,143360,1,gripper,0,"","put kitchen shovel on cloth",-0.161221,0.049950,0.981516,-0.041225,-0.749166,-0.043055,0.659694
7,4,143360,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.076836,-0.052994,0.885085,0.588903,0.344977,-0.308861,0.662411
7,4,143360,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.162079,-0.020622,0.884224,0.306368,-0.018519,0.045794,0.950630
7,4,143360,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085041,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000201
7,4,143360,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.211697,-0.123253,0.871282,0.945612,-0.000016,-0.001343,0.325294
7,4,143360,2,gripper,0,"","put kitchen shovel on cloth",-0.129210,0.039322,1.113177,0.083243,-0.724964,0.057716,0.681298
7,4,143360,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.133999,-0.017395,0.878982,-0.610531,-0.392895,-0.519175,0.450934
7,4,143360,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.188520,0.073120,0.881638,0.992394,0.000150,-0.039347,0.116644
7,4,143360,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.108316,-0.077576,0.869532,0.999528,0.000000,-0.000003,-0.030735
7,4,143360,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084557,0.077751,0.871283,0.999998,-0.000451,-0.001262,-0.001703
7,4,143360,3,gripper,0,"","put kitchen shovel on cloth",-0.217734,0.029816,0.917948,0.116848,-0.799509,0.075743,0.584289
7,4,143360,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.041087,0.139137,0.878982,-0.639496,0.344262,-0.552647,-0.408791
7,4,143360,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085113,-0.075974,0.881638,0.706814,0.024499,-0.030807,0.706304
7,4,143360,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.232608,-0.075539,0.869532,0.998952,0.000000,-0.000001,-0.045760
7,4,143360,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.074997,0.871289,1.000000,-0.000154,-0.001019,-0.000005
7,4,143360,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.049167,0.134182,0.944999,0.180090,-0.803019,0.100212,0.559183
7,4,143360,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.227123,0.028900,0.885369,0.759099,-0.165919,0.223353,0.588518
7,4,143360,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.177488,-0.076134,0.881638,0.559262,0.029927,-0.025576,0.828056
7,4,143360,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235003,0.044998,0.869532,1.000000,0.000000,-0.000000,-0.000005
7,4,143360,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,0.000010
7,4,143360,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.114597,0.005306,1.150828,0.068760,-0.824400,0.206500,0.522489
7,4,143360,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067043,-0.088028,0.879125,0.204315,0.731881,-0.250011,0.600083
7,4,143360,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235828,0.074554,0.881638,0.422880,0.033556,-0.020580,0.905330
7,4,143360,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000048
7,4,143360,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000040
7,4,143360,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.207253,0.083565,0.977744,0.050086,-0.775604,-0.051050,0.627155
7,4,143360,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091854,0.056816,0.884978,-0.488699,-0.503012,-0.413355,0.580766
7,4,143360,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113426,-0.077721,0.889008,0.497174,0.023757,-0.068054,0.864651
7,4,143360,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.108055,0.046814,0.869532,0.997990,0.000001,-0.000001,-0.063363
7,4,143360,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084915,-0.074997,0.871289,0.999999,-0.000158,-0.001020,0.000221
7,4,143360,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.131922,0.052490,1.099067,0.155400,-0.786203,0.080266,0.592700
7,4,143360,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.194206,0.060749,0.885112,-0.076887,0.629233,-0.770914,-0.062014
7,4,143360,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.212173,-0.116291,0.881638,0.487540,0.031970,-0.022962,0.872213
7,4,143360,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.202026,0.073502,0.869531,0.999563,0.000001,-0.000000,0.029557
7,4,143360,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.075001,0.871289,0.999999,-0.000154,-0.001019,-0.000069
7,4,143360,8,gripper,0,"","put ketchup bottle on cloth",-0.205555,0.059057,1.130068,0.129139,-0.722258,0.131537,0.666607
7,4,143360,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.062492,0.097775,0.885368,0.741976,-0.172061,0.218298,0.610092
7,4,143360,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.108906,-0.042698,0.881638,0.357302,0.034941,-0.018134,0.933159
7,4,143360,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085003,0.075005,0.869533,1.000000,-0.000001,-0.000000,0.000051
7,4,143360,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.236332,-0.074329,0.871288,0.999996,-0.000156,-0.001019,-0.002474
7,4,143360,9,gripper,0,"","put ketchup bottle on cloth",-0.099466,0.102203,1.064331,0.131160,-0.740127,0.099139,0.652058
7,4,143360,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.079983,0.010246,0.879088,-0.526075,-0.371706,0.276153,-0.713315
7,4,143360,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.031109,0.072971,0.888344,0.840154,0.022656,-0.016474,0.541624
7,4,143360,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084698,-0.075150,0.869532,0.999624,0.000001,-0.000001,0.027400
7,4,143360,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.080528,0.074223,0.871288,0.999861,-0.000137,-0.001021,0.016631
7,4,143360,10,gripper,0,"","put ketchup bottle on cloth",-0.142523,-0.005768,0.916399,0.094413,-0.806296,0.005882,0.583900
7,4,143360,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.076820,-0.096165,0.884978,0.466979,-0.508530,0.406429,0.598451
7,4,143360,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085112,0.074047,0.881638,0.706709,0.024506,-0.030805,0.706408
7,4,143360,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.067038,-0.081287,0.869532,0.999733,0.000001,-0.000001,0.023095
7,4,143360,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235138,0.074936,0.871282,0.999998,-0.000453,-0.001265,-0.001208
7,4,143360,11,gripper,0,"","put ketchup bottle on cloth",-0.165516,-0.077492,0.926320,0.038904,-0.783803,0.002092,0.619786
7,4,143360,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191477,-0.043003,0.879125,0.184196,0.739793,-0.225467,0.606582
7,4,143360,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.057183,0.092609,0.887589,0.759238,0.015691,-0.027558,0.650040
7,4,143360,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085020,0.074947,0.869532,1.000000,-0.000000,-0.000001,-0.000341
7,4,143360,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
7,4,143360,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.216627,-0.089602,0.946528,-0.082785,-0.738410,-0.089632,0.663222
7,4,143360,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.068876,-0.035660,0.885098,0.661166,0.307521,0.599347,-0.330263
7,4,143360,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.159336,-0.057365,0.881759,0.965913,-0.018300,-0.053204,-0.252677
7,4,143360,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078800,-0.047298,0.869532,0.998855,-0.002554,-0.003185,-0.047665
7,4,143360,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235075,0.045033,0.871210,0.999984,-0.003909,-0.004128,-0.000126
7,4,143360,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.195886,-0.064449,0.920098,0.047406,-0.771959,-0.003212,0.633894
7,4,143360,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.148628,0.058182,0.879125,0.626361,0.118291,-0.764301,0.097588
7,4,143360,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205929,-0.074932,0.881638,0.999224,-0.004498,-0.039107,-0.001417
7,4,143360,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085377,0.077007,0.869532,0.998631,-0.000000,-0.000000,0.052302
7,4,143360,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
7,4,143360,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.111740,0.088358,1.019294,0.061767,-0.709316,0.048450,0.700506
7,4,143360,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.189514,-0.068760,0.878982,0.757651,0.046346,0.649441,-0.045196
7,4,143360,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.114010,0.059238,0.888862,0.492042,-0.573097,0.463459,0.463315
7,4,143360,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.053425,0.110622,0.869532,0.911970,-0.000006,-0.000003,0.410256
7,4,143360,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
7,4,143360,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.172075,0.053907,0.914318,-0.091244,-0.741270,-0.052947,0.662865
7,4,143360,16,obj,0,"003_bread_1","put 7up can on carpet",-0.170273,0.043594,0.886349,0.931016,-0.003301,-0.008753,-0.364859
7,4,143360,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.092575,0.075180,0.885627,0.972478,-0.005178,-0.232934,0.000688
7,4,143360,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000115
7,4,143360,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.203262,0.056511,0.870462,0.999004,0.000038,-0.000162,0.044625
7,4,143360,16,gripper,0,"","put 7up can on carpet",-0.100662,0.147024,1.153150,0.152177,-0.799940,0.197496,0.545833
7,4,143360,17,obj,0,"003_bread_1","put 7up can on carpet",-0.151882,-0.074631,0.884192,0.747460,0.018886,0.015926,0.663847
7,4,143360,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.117676,0.055168,0.888645,0.646634,0.083623,-0.066491,0.755282
7,4,143360,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.207272,-0.077534,0.869489,0.999830,0.000196,0.000870,-0.018427
7,4,143360,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.045044,0.870447,0.999991,-0.003114,-0.002733,0.000045
7,4,143360,17,gripper,0,"","put 7up can on carpet",-0.154634,0.060144,1.130374,0.117049,-0.801412,0.020478,0.586190
7,4,143360,18,obj,0,"003_bread_1","put 7up can on carpet",-0.092453,-0.041481,0.883544,0.849001,0.008160,-0.009672,0.528240
7,4,143360,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.227993,-0.007389,0.885674,0.746249,0.231009,-0.305157,0.544635
7,4,143360,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
7,4,143360,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000090
7,4,143360,18,gripper,0,"","put 7up can on carpet",-0.107698,0.005495,0.979795,-0.046636,-0.787975,-0.054996,0.611470
7,4,143360,19,obj,0,"003_bread_1","put 7up can on carpet",-0.102747,-0.013767,0.883544,0.999636,0.002124,-0.012477,0.023838
7,4,143360,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.242596,-0.074837,0.885626,0.972475,-0.005062,-0.232950,0.001164
7,4,143360,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084444,0.075951,0.869490,0.999999,0.000181,0.000874,-0.001426
7,4,143360,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.078506,-0.080151,0.870351,0.999874,-0.000141,-0.001459,-0.015804
7,4,143360,19,gripper,0,"","put 7up can on carpet",-0.132835,0.024763,0.983829,-0.041260,-0.703433,-0.028144,0.709005
7,4,143360,20,obj,0,"003_bread_1","put bread on newspaper",-0.061684,-0.055019,0.883544,0.260253,0.012564,-0.001499,0.965458
7,4,143360,20,obj,1,"005_7up can_1","put bread on newspaper",-0.071463,0.079395,0.888653,0.566296,0.292721,-0.216502,0.739426
7,4,143360,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.044998,0.869489,1.000000,0.000180,0.000874,0.000001
7,4,143360,20,recep,1,"003_carpet_1","put bread on newspaper",-0.084998,0.075001,0.870460,1.000000,0.000018,-0.000159,0.000002
7,4,143360,20,gripper,0,"","put bread on newspaper",-0.057824,-0.050047,0.947447,-0.019952,-0.780087,0.039859,0.624081
7,4,143360,21,obj,0,"003_bread_1","put bread on newspaper",-0.115761,-0.081871,0.886622,0.382764,0.016822,-0.002927,0.923688
7,4,143360,21,obj,1,"005_7up can_1","put bread on newspaper",-0.114605,-0.001232,0.886002,0.078747,-0.759657,0.639868,0.085374
7,4,143360,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.204683,0.075054,0.869490,0.999998,0.000178,0.000875,0.001872
7,4,143360,21,recep,1,"003_carpet_1","put bread on newspaper",-0.115023,-0.075058,0.870448,1.000000,-0.000126,-0.000158,-0.000002
7,4,143360,21,gripper,0,"","put bread on newspaper",-0.103228,0.025599,1.006125,0.032414,-0.789666,-0.114370,0.601911
7,4,143360,22,obj,0,"003_bread_1","put bread on newspaper",-0.190605,0.019238,0.965856,0.996228,-0.040753,0.069316,0.032617
7,4,143360,22,obj,1,"005_7up can_1","put bread on newspaper",-0.304874,0.145725,0.885746,0.802065,-0.011662,-0.597081,-0.006991
7,4,143360,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
7,4,143360,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.044998,0.870404,1.000000,0.000065,-0.000722,-0.000208
7,4,143360,22,gripper,0,"","put bread on newspaper",-0.180849,0.016594,1.000642,0.026608,-0.766611,-0.011310,0.641461
7,4,143360,23,obj,0,"003_bread_1","put bread on newspaper",-0.178013,-0.021019,0.885372,0.531373,0.024198,0.010288,0.846730
7,4,143360,23,obj,1,"005_7up can_1","put bread on newspaper",-0.181156,0.074203,0.887626,0.515599,-0.517425,0.382672,0.565677
7,4,143360,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.205086,-0.075012,0.869490,1.000000,0.000179,0.000874,0.000420
7,4,143360,23,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.075008,0.870447,0.999999,-0.000923,-0.000844,-0.000294
7,4,143360,23,gripper,0,"","put bread on newspaper",-0.171961,-0.028456,0.979780,-0.024430,-0.761920,-0.075816,0.642754
7,4,143360,24,obj,0,"003_bread_1","put bread on carpet",-0.110855,-0.043135,0.883544,0.999095,0.002339,-0.012441,0.040600
7,4,143360,24,obj,1,"005_7up can_1","put bread on carpet",-0.150444,-0.050945,0.885746,-0.796610,-0.063394,0.593803,-0.093766
7,4,143360,24,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,0.075005,0.869490,1.000000,0.000180,0.000874,0.000156
7,4,143360,24,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.072926,0.870418,0.999999,-0.000217,-0.000845,0.001156
7,4,143360,24,gripper,0,"","put bread on carpet",-0.146362,-0.004800,0.970318,0.029689,-0.757719,0.034846,0.650973
7,4,143360,25,obj,0,"003_bread_1","put bread on carpet",-0.201023,0.083549,0.883544,0.917611,0.006652,-0.010772,0.397278
7,4,143360,25,obj,1,"005_7up can_1","put bread on carpet",-0.068291,0.066500,0.888785,-0.477999,-0.511977,0.586727,-0.406384
7,4,143360,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
7,4,143360,25,recep,1,"003_carpet_1","put bread on carpet",-0.084595,0.074894,0.870463,0.999998,0.000037,-0.000158,0.002141
7,4,143360,25,gripper,0,"","put bread on carpet",-0.084000,-0.076323,1.001173,0.075682,-0.792424,0.071881,0.600974
7,4,143360,26,obj,0,"003_bread_1","put bread on carpet",-0.072144,0.069311,0.886525,0.994655,0.002127,-0.008291,-0.102900
7,4,143360,26,obj,1,"005_7up can_1","put bread on carpet",-0.020100,-0.088221,0.885995,-0.136262,0.372623,0.916576,0.049734
7,4,143360,26,recep,0,"004_newspaper_1","put bread on carpet",-0.235008,0.044994,0.869490,0.999999,0.000180,0.000874,-0.000561
7,4,143360,26,recep,1,"003_carpet_1","put bread on carpet",-0.083313,0.074549,0.870461,0.999991,0.000018,-0.000158,-0.004228
7,4,143360,26,gripper,0,"","put bread on carpet",-0.097494,0.007095,1.077227,-0.041302,-0.729910,-0.083831,0.677125
7,4,143360,27,obj,0,"003_bread_1","put bread on carpet",-0.099377,0.055029,0.886548,0.468686,0.011776,-0.001466,0.883285
7,4,143360,27,obj,1,"005_7up can_1","put bread on carpet",-0.079746,-0.080498,0.885627,0.370894,0.213315,-0.093788,0.898965
7,4,143360,27,recep,0,"004_newspaper_1","put bread on carpet",-0.234976,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000048
7,4,143360,27,recep,1,"003_carpet_1","put bread on carpet",-0.115002,0.045063,0.870447,0.999991,-0.003112,-0.002731,-0.000119
7,4,143360,27,gripper,0,"","put bread on carpet",-0.124113,0.076245,1.143792,0.135202,-0.808408,0.151943,0.552367
7,4,143360,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.141973,-0.036676,0.886778,0.356814,0.014809,-0.001605,0.934056
7,4,143360,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.163755,0.049152,0.885637,-0.684076,-0.112009,0.103584,-0.713277
7,4,143360,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
7,4,143360,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114994,-0.044985,0.870447,0.999999,-0.000924,-0.000847,-0.000096
7,4,143360,28,gripper,0,"","put 7up can on newspaper",-0.109426,0.082061,1.044715,-0.092111,-0.785574,-0.078162,0.606861
7,4,143360,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.236103,0.042198,0.883544,0.996094,0.000714,-0.012635,-0.087382
7,4,143360,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.166149,-0.019951,0.900533,0.581907,-0.525479,-0.391047,0.482015
7,4,143360,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204958,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000116
7,4,143360,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084942,-0.075005,0.870448,1.000000,-0.000278,-0.000290,0.000419
7,4,143360,29,gripper,0,"","put 7up can on newspaper",-0.125643,0.066166,1.143885,0.130178,-0.800870,0.143891,0.566531
7,4,143360,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.134392,0.028610,0.886415,0.723020,0.042111,-0.107146,0.681167
7,4,143360,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.054958,0.020634,0.887407,-0.247080,0.793509,0.394132,0.392371
7,4,143360,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
7,4,143360,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085537,0.074442,0.870448,1.000000,-0.000124,-0.000158,0.000356
7,4,143360,30,gripper,0,"","put 7up can on newspaper",-0.126112,0.052528,1.129674,0.067610,-0.808679,0.158415,0.562469
7,4,143360,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.189838,0.082590,0.883544,0.868160,0.007802,-0.009973,0.496123
7,4,143360,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.107822,0.021009,0.885633,0.741124,0.075407,-0.080127,0.662290
7,4,143360,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000074
7,4,143360,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
7,4,143360,31,gripper,0,"","put 7up can on newspaper",-0.126726,0.021103,0.924014,0.012029,-0.753903,-0.006974,0.656839
7,4,143360,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.093910,-0.087316,0.887484,0.395493,-0.021734,0.008083,0.918176
7,4,143360,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,0.075331,0.878547,0.382194,0.003200,0.013108,0.923984
7,4,143360,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
7,4,143360,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
7,4,143360,32,gripper,0,"","put banana on flat bowl",-0.175114,0.072905,1.007880,0.020169,-0.676173,-0.106270,0.728759
7,4,143360,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.241310,0.060689,0.887560,0.253657,-0.030305,0.009937,0.966768
7,4,143360,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075314,0.878547,0.382300,0.003199,0.013098,0.923940
7,4,143360,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
7,4,143360,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
7,4,143360,33,gripper,0,"","put banana on flat bowl",-0.062841,0.075339,0.940093,0.403543,-0.826048,0.286086,0.270097
7,4,143360,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234695,-0.043677,0.887186,0.990516,-0.012852,0.028601,0.133770
7,4,143360,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.044560,0.878547,0.999910,0.013295,0.002049,0.000329
7,4,143360,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000029
7,4,143360,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
7,4,143360,34,gripper,0,"","put banana on flat bowl",-0.055845,0.074863,1.053845,0.054464,-0.865853,0.097761,0.487621
7,4,143360,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090958,0.081993,0.887451,0.997048,-0.002213,0.026131,0.072163
7,4,143360,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084990,-0.075438,0.878547,0.999910,0.013285,0.002056,0.000352
7,4,143360,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
7,4,143360,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000001
7,4,143360,35,gripper,0,"","put banana on flat bowl",-0.063286,0.020772,1.073820,-0.115486,-0.789828,-0.239548,0.552677
7,4,143360,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097288,-0.078035,0.887275,0.768139,-0.026479,0.021425,0.639377
7,4,143360,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234557,-0.074993,0.878547,0.706794,0.007929,0.010832,0.707292
7,4,143360,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000021
7,4,143360,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000002,0.000002
7,4,143360,36,gripper,0,"","put carrot on sheet metal",-0.129936,-0.037365,1.015718,0.088535,-0.701920,0.194500,0.679441
7,4,143360,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236162,-0.072453,0.887529,0.374500,-0.040073,0.016201,0.926219
7,4,143360,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,0.075317,0.878547,0.382193,0.003185,0.013058,0.923985
7,4,143360,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
7,4,143360,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
7,4,143360,37,gripper,0,"","put carrot on sheet metal",-0.199469,-0.020009,1.003374,0.072464,-0.688903,0.057146,0.718955
7,4,143360,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.126869,-0.036039,0.887376,0.930389,-0.008977,0.018107,0.366016
7,4,143360,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204651,0.074684,0.878546,0.923981,0.011490,0.006968,0.382203
7,4,143360,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,4,143360,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
7,4,143360,38,gripper,0,"","put carrot on sheet metal",-0.040823,0.048797,1.030931,-0.148466,-0.758984,-0.135320,0.619346
7,4,143360,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.080303,-0.076724,0.885877,0.368804,0.354678,0.611719,0.603313
7,4,143360,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,0.075315,0.878547,0.382327,0.003191,0.013072,0.923929
7,4,143360,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
7,4,143360,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
7,4,143360,39,gripper,0,"","put carrot on sheet metal",-0.066967,-0.085268,0.955441,0.434698,-0.651365,0.332547,0.525522
7,4,143360,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.212616,-0.086361,0.887362,0.394779,-0.021189,0.012172,0.918451
7,4,143360,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.074654,0.878548,0.384845,0.003226,0.013063,0.922883
7,4,143360,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
7,4,143360,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000453
7,4,143360,40,gripper,0,"","put carrot on flat bowl",-0.165859,-0.036280,1.005104,0.067258,-0.720049,0.068145,0.687286
7,4,143360,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209335,-0.068571,0.887466,0.997296,-0.002307,0.022202,0.070015
7,4,143360,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,-0.075441,0.878546,0.999909,0.013254,0.002035,-0.001255
7,4,143360,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
7,4,143360,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
7,4,143360,41,gripper,0,"","put carrot on flat bowl",-0.042673,0.097279,1.012513,0.076251,-0.730937,0.022766,0.677790
7,4,143360,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213089,-0.085949,0.887490,0.383834,-0.035577,0.015581,0.922585
7,4,143360,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
7,4,143360,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
7,4,143360,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
7,4,143360,42,gripper,0,"","put carrot on flat bowl",-0.140398,-0.070560,1.000864,-0.240902,-0.661735,-0.260877,0.660315
7,4,143360,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.244520,0.041895,0.887364,0.767047,-0.021369,0.020269,0.640915
7,4,143360,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114555,0.075018,0.878547,0.707517,0.007965,0.010853,0.706568
7,4,143360,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.045027,0.871344,0.999999,-0.000157,0.001164,-0.000087
7,4,143360,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
7,4,143360,43,gripper,0,"","put carrot on flat bowl",-0.213103,0.033782,0.987582,-0.104061,-0.697817,-0.150691,0.692470
7,4,143360,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089408,-0.068308,0.887260,0.996869,0.004782,0.033254,0.071580
7,4,143360,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084981,0.074558,0.878547,0.999910,0.013275,0.002048,-0.000019
7,4,143360,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001163,0.000001
7,4,143360,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000003
7,4,143360,44,gripper,0,"","put banana on sheet metal",-0.008965,0.084996,1.057736,0.287847,-0.801594,0.138098,0.505491
7,4,143360,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.233217,0.053415,0.887437,0.182695,-0.023767,0.004901,0.982870
7,4,143360,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.044666,0.878547,0.383281,0.003210,0.013086,0.923533
7,4,143360,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.074991,0.871344,0.999999,-0.000158,0.001164,0.000020
7,4,143360,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000604
7,4,143360,45,gripper,0,"","put banana on sheet metal",-0.054661,0.076159,0.974971,0.279084,-0.704263,0.233379,0.609640
7,4,143360,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089348,-0.067015,0.887525,0.996988,-0.001388,0.033704,0.069830
7,4,143360,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234982,-0.045443,0.878547,0.999909,0.013267,0.002033,-0.001015
7,4,143360,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
7,4,143360,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
7,4,143360,46,gripper,0,"","put banana on sheet metal",-0.190392,-0.021243,0.990143,0.025626,-0.743855,0.029507,0.667197
7,4,143360,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.235401,-0.041307,0.887529,0.373152,-0.040100,0.016146,0.926763
7,4,143360,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114704,-0.074667,0.878547,0.384189,0.003218,0.013070,0.923156
7,4,143360,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
7,4,143360,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
7,4,143360,47,gripper,0,"","put banana on sheet metal",-0.069313,-0.030560,0.971229,0.088209,-0.729177,0.199540,0.648617
7,4,143360,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.101868,-0.061649,0.896146,0.809413,0.097503,-0.078899,0.573689
7,4,143360,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.217125,0.102093,0.887257,0.625013,-0.328821,0.638828,0.305180
7,4,143360,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000030
7,4,143360,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000006
7,4,143360,48,gripper,0,"","put plastic bottle on cutting board",-0.210434,0.111950,0.948821,0.158789,-0.734291,0.108828,0.650967
7,4,143360,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.065800,0.166649,0.888112,0.731963,-0.027038,-0.005250,0.680788
7,4,143360,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.113873,0.069775,0.888330,0.491103,-0.505323,0.499680,0.503773
7,4,143360,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
7,4,143360,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.208900,0.044624,0.870885,0.999983,0.000697,0.000733,0.005698
7,4,143360,49,gripper,0,"","put plastic bottle on cutting board",-0.087400,0.057045,1.005541,-0.074385,-0.729066,-0.238249,0.637312
7,4,143360,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.047283,0.021702,0.888113,0.884788,-0.027466,0.002021,0.465180
7,4,143360,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.121567,0.045849,0.886092,0.748910,0.004735,0.021924,-0.662293
7,4,143360,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
7,4,143360,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
7,4,143360,50,gripper,0,"","put plastic bottle on cutting board",-0.076864,-0.009359,0.948790,-0.268878,-0.736329,-0.144181,0.603934
7,4,143360,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115116,0.046101,0.888112,0.953177,-0.026675,0.006853,0.301155
7,4,143360,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.180529,-0.054585,0.887600,0.505039,-0.513855,0.486931,0.493747
7,4,143360,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,4,143360,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.070082,-0.077003,0.871973,0.999112,-0.000512,-0.012740,-0.040153
7,4,143360,51,gripper,0,"","put plastic bottle on cutting board",-0.219219,-0.054729,0.919678,-0.061754,-0.763960,-0.059437,0.639546
7,4,143360,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.147570,-0.086159,0.961197,0.304708,0.078744,-0.005468,0.949170
7,4,143360,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256375,0.094872,0.887026,0.265867,-0.663047,0.253088,0.652404
7,4,143360,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
7,4,143360,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082232,-0.080112,0.870870,0.999981,0.000000,-0.000000,-0.006076
7,4,143360,52,gripper,0,"","put hamburger on frying pan",-0.144767,-0.087944,1.008255,-0.139563,-0.729767,-0.196968,0.639661
7,4,143360,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.110121,0.047920,0.888208,0.961375,0.016205,0.029722,-0.273151
7,4,143360,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.174622,-0.073471,0.887026,0.704495,-0.015896,0.709531,0.000044
7,4,143360,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
7,4,143360,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
7,4,143360,53,gripper,0,"","put hamburger on frying pan",-0.102796,0.045429,0.949055,0.026163,-0.788612,-0.084574,0.608485
7,4,143360,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.190609,-0.019962,0.888112,0.674771,-0.026526,-0.007412,0.737513
7,4,143360,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.165802,0.091412,0.888574,0.523106,-0.468096,0.528989,0.476882
7,4,143360,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.237263,-0.081226,0.872199,0.999807,0.000001,-0.000000,-0.019656
7,4,143360,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.228176,0.161964,0.870883,0.976818,0.000837,0.000546,-0.214067
7,4,143360,54,gripper,0,"","put hamburger on frying pan",-0.131758,-0.004807,1.116163,0.057840,-0.748152,-0.019698,0.660708
7,4,143360,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.076279,0.038059,0.890658,0.999546,-0.025828,0.015296,0.002489
7,4,143360,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205212,-0.041748,0.887027,0.704383,-0.003198,0.709702,-0.012561
7,4,143360,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.113926,-0.075001,0.872199,0.999931,-0.000001,-0.000001,-0.011735
7,4,143360,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082439,0.045883,0.870870,0.999993,-0.000000,-0.000000,0.003811
7,4,143360,55,gripper,0,"","put hamburger on frying pan",-0.131813,-0.046495,1.016447,0.024331,-0.757138,-0.058693,0.650158
7,4,143360,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.230370,0.080387,0.890645,-0.750376,0.027328,0.001134,-0.660445
7,4,143360,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.031982,0.112350,0.891975,0.582693,-0.351802,0.595890,0.426168
7,4,143360,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.096306,0.160324,0.872200,0.999986,-0.000000,-0.000001,0.005221
7,4,143360,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235023,0.045128,0.870870,1.000000,-0.000001,-0.000002,-0.000083
7,4,143360,56,gripper,0,"","put hamburger on cutting board",-0.087608,0.087145,1.154259,-0.001760,-0.830591,0.051588,0.554485
7,4,143360,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115261,0.075729,0.888112,0.715347,-0.026902,-0.005900,0.698227
7,4,143360,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.252560,-0.049427,0.889672,-0.599177,0.391702,-0.590502,-0.372644
7,4,143360,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235176,0.045044,0.872199,1.000000,-0.000001,-0.000001,-0.000518
7,4,143360,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204960,-0.073250,0.870871,0.999986,-0.000000,-0.000005,-0.005221
7,4,143360,57,gripper,0,"","put hamburger on cutting board",-0.158604,0.047720,1.122552,0.016160,-0.810140,0.079984,0.580530
7,4,143360,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.124321,-0.042007,0.888164,0.932075,-0.017746,0.017617,0.361401
7,4,143360,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.099548,0.108940,0.887027,0.622903,-0.345467,0.619949,0.329101
7,4,143360,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
7,4,143360,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,-0.075008,0.870870,1.000000,0.000001,-0.000000,-0.000379
7,4,143360,58,gripper,0,"","put hamburger on cutting board",-0.058849,-0.025293,1.023145,-0.139088,-0.686698,-0.235575,0.673502
7,4,143360,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.181002,0.032200,0.888112,0.364607,-0.022090,-0.016448,0.930754
7,4,143360,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.212107,-0.039581,0.892217,0.019896,-0.761942,0.646617,0.030582
7,4,143360,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
7,4,143360,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235529,-0.075005,0.870870,0.999991,-0.000010,-0.000013,0.004344
7,4,143360,59,gripper,0,"","put hamburger on cutting board",-0.126131,-0.027018,1.086008,0.053953,-0.762295,0.028116,0.644364
7,4,143360,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.126984,-0.142746,0.891601,0.387272,0.838406,0.118208,-0.364860
7,4,143360,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.203354,-0.073647,0.887026,0.704425,-0.025982,0.709232,0.010062
7,4,143360,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000000
7,4,143360,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
7,4,143360,60,gripper,0,"","put plastic bottle on frying pan",-0.171780,-0.055799,0.945856,0.093382,-0.759822,0.015373,0.643206
7,4,143360,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085087,0.076073,0.888112,0.952889,-0.026683,0.006823,0.302068
7,4,143360,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.194805,-0.052956,0.888316,0.838120,-0.181323,0.350634,0.376474
7,4,143360,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
7,4,143360,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.077030,-0.063995,0.870870,0.999065,-0.000000,-0.000001,0.043242
7,4,143360,61,gripper,0,"","put plastic bottle on frying pan",-0.201191,-0.045422,0.941170,0.056389,-0.696548,0.047743,0.713695
7,4,143360,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.092228,0.078075,0.892154,0.397448,-0.012496,-0.054085,0.915944
7,4,143360,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.182323,0.083298,0.889607,0.492278,-0.516262,0.489235,0.501782
7,4,143360,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
7,4,143360,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.203938,0.075638,0.870871,0.999996,0.000029,0.000031,-0.002807
7,4,143360,62,gripper,0,"","put plastic bottle on frying pan",-0.107433,0.074606,0.935568,0.000643,-0.821027,-0.045061,0.569108
7,4,143360,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.196621,-0.077961,0.888112,0.833983,-0.027532,-0.000733,0.551102
7,4,143360,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.102432,-0.027843,0.891568,-0.023575,0.992841,0.112706,-0.031750
7,4,143360,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.206028,0.077545,0.872199,0.999424,-0.000000,-0.000000,-0.033943
7,4,143360,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.081665,0.042358,0.870884,0.999930,0.000721,0.000709,-0.011749
7,4,143360,63,gripper,0,"","put plastic bottle on frying pan",-0.041721,0.050459,0.954204,0.118982,-0.832257,0.123411,0.527220
8,1,148480,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.197868,-0.088028,0.879089,0.314272,0.432408,-0.165714,0.828731
8,1,148480,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,0.074242,0.881638,0.382558,0.034405,-0.019072,0.923093
8,1,148480,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000028
8,1,148480,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235023,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000022
8,1,148480,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.104286,-0.065395,0.955160,0.007947,-0.801156,-0.076904,0.593440
8,1,148480,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085041,-0.084686,0.879089,0.626265,0.326577,-0.328415,0.627123
8,1,148480,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084934,0.079521,0.881641,0.717150,-0.030989,0.025559,0.695760
8,1,148480,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
8,1,148480,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
8,1,148480,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.098518,0.020828,0.965771,0.100768,-0.783372,0.047290,0.611505
8,1,148480,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.089066,-0.024864,0.885122,0.364985,0.631891,-0.445914,0.518325
8,1,148480,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084381,0.074272,0.881638,0.382425,0.034434,-0.019074,0.923148
8,1,148480,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.044991,0.869532,1.000000,-0.000000,-0.000001,0.000053
8,1,148480,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074974,0.871288,1.000000,-0.000154,-0.001019,0.000119
8,1,148480,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.137545,-0.018459,1.134824,-0.069627,-0.758570,-0.065939,0.644497
8,1,148480,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091854,0.068016,0.879089,0.818659,0.175955,-0.428346,0.339643
8,1,148480,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.150003,-0.039612,0.929233,0.756205,0.054994,-0.029816,0.651337
8,1,148480,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000011
8,1,148480,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235010,-0.044960,0.871288,0.999999,-0.000154,-0.001019,0.000031
8,1,148480,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.170596,-0.041927,0.968334,0.095930,-0.795887,0.011691,0.597683
8,1,148480,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.214717,0.075005,0.879088,0.886321,-0.001447,-0.463069,0.000334
8,1,148480,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085953,0.075111,0.881638,0.999225,-0.004451,-0.039111,-0.000196
8,1,148480,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
8,1,148480,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205012,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000102
8,1,148480,4,gripper,0,"","put ketchup bottle on cloth",-0.209944,0.069317,0.951810,0.308822,-0.724445,0.126873,0.603085
8,1,148480,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.228685,0.071983,0.879088,0.589682,0.344629,-0.309298,0.661695
8,1,148480,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084412,-0.075745,0.881638,0.382437,0.034438,-0.019078,0.923143
8,1,148480,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000008
8,1,148480,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001021,-0.000030
8,1,148480,5,gripper,0,"","put ketchup bottle on cloth",-0.233034,0.048096,0.962558,0.051805,-0.770370,-0.032194,0.634672
8,1,148480,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.146294,0.071365,0.884938,0.069642,-0.592388,0.800522,0.058228
8,1,148480,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
8,1,148480,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205013,0.045006,0.869532,1.000000,-0.000000,-0.000000,-0.000068
8,1,148480,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000075
8,1,148480,6,gripper,0,"","put ketchup bottle on cloth",-0.178314,0.006348,0.979625,0.098027,-0.880669,0.040100,0.461741
8,1,148480,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.080017,-0.094299,0.885113,-0.064673,0.756771,-0.646148,-0.074880
8,1,148480,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234402,-0.075714,0.881638,0.382481,0.034429,-0.019075,0.923125
8,1,148480,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074989,0.869532,1.000000,0.000002,-0.000001,-0.000023
8,1,148480,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000100
8,1,148480,7,gripper,0,"","put ketchup bottle on cloth",-0.091242,-0.039337,1.102553,0.057254,-0.808634,0.008640,0.585455
8,1,148480,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.211845,-0.081909,0.879089,0.818497,0.176155,-0.428280,0.340013
8,1,148480,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085724,-0.075600,0.881638,0.923205,0.010857,-0.037840,0.382287
8,1,148480,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000031
8,1,148480,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235023,0.045006,0.871288,0.999999,-0.000153,-0.001019,0.000298
8,1,148480,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.210476,0.007818,0.958072,0.054687,-0.790947,0.021802,0.609046
8,1,148480,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.108059,-0.081848,0.879089,0.338581,0.427322,-0.178392,0.819106
8,1,148480,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.080582,0.075012,0.881641,0.438334,-0.037845,0.013527,0.897913
8,1,148480,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000010
8,1,148480,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075024,0.871282,0.999999,-0.000451,-0.001266,0.000097
8,1,148480,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.163361,0.009888,0.982947,-0.073842,-0.732261,-0.149278,0.660347
8,1,148480,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.108932,-0.046009,0.885375,0.631167,-0.205456,0.186712,0.724261
8,1,148480,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.214958,-0.061150,0.881639,0.958272,0.010946,-0.051021,0.281055
8,1,148480,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115005,-0.044994,0.869532,1.000000,0.000000,-0.000001,-0.000047
8,1,148480,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
8,1,148480,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.240334,-0.072157,0.929817,0.061289,-0.747359,0.015475,0.661407
8,1,148480,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085028,0.065273,0.879089,0.626258,0.326524,-0.328323,0.627206
8,1,148480,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.123888,-0.077736,0.888827,0.694788,-0.013733,0.033156,0.718319
8,1,148480,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084984,-0.075001,0.869704,0.999996,0.001032,0.002604,-0.000075
8,1,148480,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.195684,-0.081699,0.871628,0.999948,-0.005544,-0.007059,-0.004924
8,1,148480,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.249717,-0.084526,0.917049,-0.147011,-0.767287,-0.102680,0.615724
8,1,148480,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.241964,-0.081913,0.879088,0.820561,0.173539,-0.429319,0.335037
8,1,148480,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204697,0.029125,0.881636,0.910947,0.016994,-0.047175,0.409465
8,1,148480,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114996,-0.045002,0.869532,1.000000,-0.000000,-0.000000,0.000072
8,1,148480,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075008,0.871288,1.000000,-0.000158,-0.001019,-0.000014
8,1,148480,12,gripper,0,"","put kitchen shovel on cloth",-0.207969,0.026438,0.928912,0.065691,-0.798460,-0.050667,0.596304
8,1,148480,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085028,0.065273,0.879089,0.626258,0.326524,-0.328323,0.627206
8,1,148480,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083239,-0.070740,0.884093,0.690370,0.017623,0.032410,0.722515
8,1,148480,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235003,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000018
8,1,148480,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000156,-0.001021,-0.000029
8,1,148480,13,gripper,0,"","put kitchen shovel on cloth",-0.090414,0.051018,0.938319,-0.017624,-0.792944,-0.115630,0.597962
8,1,148480,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211880,-0.081821,0.879088,0.817997,0.176789,-0.427991,0.341249
8,1,148480,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.113617,0.079483,0.881641,0.932371,-0.018502,0.035653,0.359264
8,1,148480,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000018
8,1,148480,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
8,1,148480,14,gripper,0,"","put kitchen shovel on cloth",-0.116968,-0.092031,1.002878,-0.135827,-0.722037,-0.162804,0.658565
8,1,148480,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078060,0.068161,0.879089,0.338011,0.427454,-0.178098,0.819337
8,1,148480,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.190956,0.037312,0.881637,0.403210,0.044191,-0.023699,0.913733
8,1,148480,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234730,-0.075920,0.869532,0.999928,-0.000000,-0.000001,-0.011980
8,1,148480,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
8,1,148480,15,gripper,0,"","put kitchen shovel on cloth",-0.215998,0.056042,0.914456,0.178778,-0.712262,0.141914,0.663763
8,1,148480,16,obj,0,"003_bread_1","put bread on newspaper",-0.079979,-0.014130,0.885686,0.383720,-0.001366,0.073520,0.920517
8,1,148480,16,obj,1,"005_7up can_1","put bread on newspaper",-0.229736,0.039463,0.885627,0.371220,0.213262,-0.093858,0.898836
8,1,148480,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.085075,-0.075054,0.869490,0.999999,0.000179,0.000873,0.000760
8,1,148480,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
8,1,148480,16,gripper,0,"","put bread on newspaper",-0.084766,-0.022341,0.997374,0.180155,-0.726698,0.082621,0.657745
8,1,148480,17,obj,0,"003_bread_1","put bread on newspaper",-0.084480,-0.075478,0.883544,0.383606,0.012273,-0.003119,0.923410
8,1,148480,17,obj,1,"005_7up can_1","put bread on newspaper",-0.238167,-0.069225,0.914241,0.613819,-0.044292,0.081703,0.783957
8,1,148480,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
8,1,148480,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000035
8,1,148480,17,gripper,0,"","put bread on newspaper",-0.218655,-0.066637,0.951913,0.037360,-0.779534,0.022207,0.624850
8,1,148480,18,obj,0,"003_bread_1","put bread on newspaper",-0.234474,0.074520,0.883544,0.383807,0.012273,-0.003119,0.923327
8,1,148480,18,obj,1,"005_7up can_1","put bread on newspaper",-0.081612,0.071842,0.885637,0.375118,0.142167,-0.055331,0.914338
8,1,148480,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
8,1,148480,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
8,1,148480,18,gripper,0,"","put bread on newspaper",-0.090321,0.015308,1.026606,0.075910,-0.755625,-0.009332,0.650524
8,1,148480,19,obj,0,"003_bread_1","put bread on newspaper",-0.084482,-0.075470,0.883544,0.383905,0.012268,-0.003131,0.923286
8,1,148480,19,obj,1,"005_7up can_1","put bread on newspaper",-0.198334,0.087223,0.894198,0.464801,0.519038,-0.574128,0.430042
8,1,148480,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114996,0.044998,0.869490,1.000000,0.000180,0.000875,0.000004
8,1,148480,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
8,1,148480,19,gripper,0,"","put bread on newspaper",-0.217004,0.084631,0.936185,0.069264,-0.765572,0.005526,0.639586
8,1,148480,20,obj,0,"003_bread_1","put bread on carpet",-0.205155,0.074669,0.883544,0.704106,0.010178,-0.007528,0.709982
8,1,148480,20,obj,1,"005_7up can_1","put bread on carpet",-0.176843,0.035088,0.885949,0.271227,-0.624620,0.692903,0.237005
8,1,148480,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
8,1,148480,20,recep,1,"003_carpet_1","put bread on carpet",-0.235030,-0.044952,0.870461,1.000000,0.000019,-0.000157,0.000546
8,1,148480,20,gripper,0,"","put bread on carpet",-0.188374,0.085546,0.946962,0.131202,-0.732938,0.068452,0.664004
8,1,148480,21,obj,0,"003_bread_1","put bread on carpet",-0.066624,0.045658,0.886486,0.881681,0.010851,-0.007284,0.471665
8,1,148480,21,obj,1,"005_7up can_1","put bread on carpet",-0.120499,-0.080250,0.885627,0.898141,0.084387,-0.217181,0.372899
8,1,148480,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,0.075001,0.869490,1.000000,0.000180,0.000874,0.000037
8,1,148480,21,recep,1,"003_carpet_1","put bread on carpet",-0.084993,0.045002,0.870460,1.000000,0.000019,-0.000158,-0.000034
8,1,148480,21,gripper,0,"","put bread on carpet",-0.073641,0.035915,1.007049,0.015010,-0.737386,-0.036056,0.674341
8,1,148480,22,obj,0,"003_bread_1","put bread on carpet",-0.108887,-0.015800,0.883545,0.422335,0.012120,-0.003638,0.906351
8,1,148480,22,obj,1,"005_7up can_1","put bread on carpet",-0.078526,0.068291,0.885636,0.365923,0.261031,-0.113667,0.886026
8,1,148480,22,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
8,1,148480,22,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
8,1,148480,22,gripper,0,"","put bread on carpet",-0.150299,-0.003487,1.017151,0.033526,-0.753856,0.006044,0.656156
8,1,148480,23,obj,0,"003_bread_1","put bread on carpet",-0.179474,-0.053066,0.885679,0.296172,0.091083,0.022150,0.950524
8,1,148480,23,obj,1,"005_7up can_1","put bread on carpet",-0.201626,0.071362,0.885637,0.377420,0.142013,-0.055683,0.913393
8,1,148480,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084999,0.044998,0.869490,1.000000,0.000180,0.000874,0.000024
8,1,148480,23,recep,1,"003_carpet_1","put bread on carpet",-0.235062,-0.044956,0.870462,1.000000,0.000037,-0.000158,0.000674
8,1,148480,23,gripper,0,"","put bread on carpet",-0.165388,-0.037451,1.011523,-0.047194,-0.703488,-0.013941,0.709001
8,1,148480,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.235497,0.074490,0.883544,0.924225,0.006464,-0.010883,0.381639
8,1,148480,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.091682,-0.081490,0.885636,0.885152,0.104283,-0.264929,0.368026
8,1,148480,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
8,1,148480,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.075001,0.870368,0.999999,0.000183,-0.001150,-0.000001
8,1,148480,24,gripper,0,"","put 7up can on newspaper",-0.189285,0.080527,0.975137,0.004371,-0.748496,-0.018486,0.662867
8,1,148480,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.234482,0.074512,0.883544,0.383696,0.012265,-0.003128,0.923373
8,1,148480,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.199764,-0.050497,0.885626,0.371234,0.213260,-0.093862,0.898830
8,1,148480,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000874,0.000047
8,1,148480,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
8,1,148480,25,gripper,0,"","put 7up can on newspaper",-0.192568,-0.045850,0.956644,0.050530,-0.747161,0.091161,0.656420
8,1,148480,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.196136,0.085953,0.883526,0.640616,0.008988,-0.004764,0.767794
8,1,148480,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.115177,-0.082611,0.885626,0.686959,0.161106,-0.168335,0.688328
8,1,148480,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
8,1,148480,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000039
8,1,148480,26,gripper,0,"","put 7up can on newspaper",-0.151867,0.081828,0.969253,0.030346,-0.746252,0.014904,0.664805
8,1,148480,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.228441,-0.051619,0.883544,0.732373,0.009858,-0.007935,0.680785
8,1,148480,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.119577,-0.071024,0.885633,0.571608,0.090296,-0.060095,0.813326
8,1,148480,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
8,1,148480,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204998,0.074997,0.870453,0.999998,0.001568,0.001265,0.000015
8,1,148480,27,gripper,0,"","put 7up can on newspaper",-0.121165,-0.078629,0.949659,-0.187189,-0.733966,-0.180607,0.627403
8,1,148480,28,obj,0,"003_bread_1","put 7up can on carpet",-0.235517,0.075108,0.883544,0.999916,0.001790,-0.012538,-0.002784
8,1,148480,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.122603,-0.044828,0.885627,0.972478,-0.005049,-0.232938,0.001220
8,1,148480,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
8,1,148480,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,0.075005,0.870448,0.999999,-0.000923,-0.000845,0.000005
8,1,148480,28,gripper,0,"","put 7up can on carpet",-0.003549,0.041884,0.952535,-0.045966,-0.858035,-0.040946,0.509888
8,1,148480,29,obj,0,"003_bread_1","put 7up can on carpet",-0.084490,-0.075480,0.883545,0.383767,0.012265,-0.003123,0.923343
8,1,148480,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.051973,0.085344,0.917373,0.500692,0.483934,-0.344055,0.629874
8,1,148480,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075001,0.869490,1.000000,0.000179,0.000874,-0.000001
8,1,148480,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235003,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000005
8,1,148480,29,gripper,0,"","put 7up can on carpet",-0.073139,0.079541,0.958451,-0.037194,-0.860311,-0.085181,0.501225
8,1,148480,30,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,-0.074871,0.883544,0.999915,0.001786,-0.012534,-0.003130
8,1,148480,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.090183,-0.077579,0.885637,0.988238,0.001173,-0.152568,-0.010354
8,1,148480,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
8,1,148480,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.045019,0.870447,0.999999,-0.000923,-0.000845,-0.000022
8,1,148480,30,gripper,0,"","put 7up can on carpet",-0.088120,-0.072880,0.954608,-0.060030,-0.740175,0.001246,0.669728
8,1,148480,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085541,0.075125,0.883544,0.999916,0.001783,-0.012535,-0.002815
8,1,148480,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.240803,0.083529,0.885674,0.977547,0.001320,-0.209756,0.020052
8,1,148480,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
8,1,148480,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
8,1,148480,31,gripper,0,"","put 7up can on carpet",-0.223736,0.080114,0.949674,0.184948,-0.715448,0.089729,0.667740
8,1,148480,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.209290,-0.077978,0.887448,0.359406,-0.038139,0.012396,0.932319
8,1,148480,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084656,0.075324,0.878547,0.382121,0.003190,0.013081,0.924014
8,1,148480,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
8,1,148480,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
8,1,148480,32,gripper,0,"","put carrot on sheet metal",-0.125156,-0.060497,1.005462,-0.105269,-0.775025,-0.202286,0.589351
8,1,148480,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238037,-0.067912,0.887536,0.999601,0.002285,0.027466,-0.006142
8,1,148480,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
8,1,148480,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
8,1,148480,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,1,148480,33,gripper,0,"","put carrot on sheet metal",-0.206551,-0.057809,0.973569,0.098762,-0.710360,0.042498,0.695578
8,1,148480,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.206005,0.046184,0.887529,0.383520,-0.039914,0.016593,0.922520
8,1,148480,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234692,-0.074684,0.878547,0.382186,0.003191,0.013081,0.923987
8,1,148480,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
8,1,148480,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,1,148480,34,gripper,0,"","put carrot on sheet metal",-0.042835,0.091420,1.013122,0.073160,-0.772515,-0.023919,0.630314
8,1,148480,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207739,-0.040679,0.887681,0.911666,-0.019018,0.042462,0.408289
8,1,148480,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011499,0.006988,0.383040
8,1,148480,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
8,1,148480,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
8,1,148480,35,gripper,0,"","put carrot on sheet metal",-0.000649,0.077903,1.037432,0.165064,-0.704258,0.099417,0.683294
8,1,148480,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236549,-0.073745,0.887529,0.374960,-0.040064,0.016221,0.926033
8,1,148480,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204717,0.045297,0.878547,0.382369,0.003186,0.013057,0.923912
8,1,148480,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
8,1,148480,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
8,1,148480,36,gripper,0,"","put carrot on flat bowl",-0.194564,-0.058527,0.966787,-0.004144,-0.744016,-0.018756,0.667886
8,1,148480,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087242,-0.075974,0.887278,0.346486,-0.029144,0.017877,0.937432
8,1,148480,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204710,0.045297,0.878547,0.382337,0.003200,0.013087,0.923925
8,1,148480,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
8,1,148480,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
8,1,148480,37,gripper,0,"","put carrot on flat bowl",-0.057397,0.083904,0.969278,0.093542,-0.793315,0.047771,0.599683
8,1,148480,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206005,0.046184,0.887529,0.383520,-0.039914,0.016593,0.922520
8,1,148480,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
8,1,148480,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
8,1,148480,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
8,1,148480,38,gripper,0,"","put carrot on flat bowl",-0.137039,0.054010,1.009954,0.307173,-0.596265,0.299862,0.678377
8,1,148480,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118126,-0.077237,0.887203,0.354670,-0.031703,0.002959,0.934449
8,1,148480,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044708,0.878547,0.382233,0.003189,0.013064,0.923968
8,1,148480,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
8,1,148480,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,1,148480,39,gripper,0,"","put carrot on flat bowl",-0.048317,0.064436,0.979282,0.179960,-0.755930,-0.044300,0.627870
8,1,148480,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087120,0.076651,0.887368,0.908504,-0.006399,0.018446,0.417419
8,1,148480,40,obj,1,"013_banana_1","put banana on sheet metal",-0.204689,-0.075304,0.878547,0.923849,0.011499,0.006979,0.382521
8,1,148480,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074923,0.871344,0.999999,-0.000158,0.001164,0.000004
8,1,148480,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
8,1,148480,40,gripper,0,"","put banana on sheet metal",-0.167217,-0.063111,0.984000,-0.101982,-0.748823,-0.120078,0.643775
8,1,148480,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
8,1,148480,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
8,1,148480,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
8,1,148480,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
8,1,148480,41,gripper,0,"","put banana on sheet metal",-0.042801,0.084208,0.991103,0.128860,-0.811193,0.008688,0.570338
8,1,148480,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207222,-0.072397,0.887316,0.911456,-0.004210,0.017051,0.411021
8,1,148480,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
8,1,148480,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
8,1,148480,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
8,1,148480,42,gripper,0,"","put banana on sheet metal",-0.039797,0.011920,1.045395,0.277676,-0.803940,0.081872,0.519493
8,1,148480,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242693,0.071442,0.887319,0.254078,-0.034802,0.003547,0.966551
8,1,148480,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114691,0.045326,0.878547,0.382595,0.003203,0.013102,0.923818
8,1,148480,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000003
8,1,148480,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
8,1,148480,43,gripper,0,"","put banana on sheet metal",-0.053926,0.057821,0.985116,0.171946,-0.798213,0.111634,0.566417
8,1,148480,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204266,0.076860,0.887528,0.917956,-0.017061,0.039705,0.394320
8,1,148480,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
8,1,148480,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
8,1,148480,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
8,1,148480,44,gripper,0,"","put banana on flat bowl",-0.025910,0.047073,1.020772,0.137105,-0.813200,0.081326,0.559727
8,1,148480,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207918,-0.077377,0.887530,0.349156,-0.024568,0.006687,0.936718
8,1,148480,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,-0.074673,0.878547,0.382709,0.003198,0.013078,0.923771
8,1,148480,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
8,1,148480,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000138
8,1,148480,45,gripper,0,"","put banana on flat bowl",-0.069825,-0.008819,1.023888,0.200153,-0.730166,0.272744,0.593639
8,1,148480,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
8,1,148480,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075018,0.878547,0.707200,0.007956,0.010848,0.706886
8,1,148480,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
8,1,148480,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
8,1,148480,46,gripper,0,"","put banana on flat bowl",-0.125650,0.081090,1.037833,-0.110988,-0.732734,-0.184234,0.645632
8,1,148480,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237476,-0.074839,0.887529,0.678482,-0.031727,0.029353,0.733344
8,1,148480,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084560,-0.074993,0.878547,0.707241,0.007952,0.010846,0.706844
8,1,148480,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
8,1,148480,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
8,1,148480,47,gripper,0,"","put banana on flat bowl",-0.069553,-0.013668,1.033068,0.292066,-0.692052,0.403684,0.522303
8,1,148480,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085205,0.076092,0.888112,0.925376,-0.027145,0.004647,0.378049
8,1,148480,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215126,-0.053726,0.887026,0.649549,-0.289335,0.648047,0.272775
8,1,148480,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,1,148480,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.044987,0.870870,1.000000,0.000000,-0.000000,0.000004
8,1,148480,48,gripper,0,"","put hamburger on frying pan",-0.036568,-0.033884,0.985224,0.011477,-0.818866,-0.055969,0.571135
8,1,148480,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.073574,-0.066914,0.888112,0.999570,-0.023223,0.014804,-0.010083
8,1,148480,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.185028,0.045712,0.891010,0.267344,-0.018976,0.963345,0.011522
8,1,148480,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000165
8,1,148480,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
8,1,148480,49,gripper,0,"","put hamburger on frying pan",-0.055170,-0.051184,0.971313,0.130479,-0.720377,0.130598,0.668563
8,1,148480,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202606,0.065113,0.888112,0.996866,-0.022231,0.016263,-0.074156
8,1,148480,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085629,-0.044205,0.887027,0.704494,-0.017063,0.709504,0.001205
8,1,148480,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
8,1,148480,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
8,1,148480,50,gripper,0,"","put hamburger on frying pan",-0.164865,0.073793,1.015740,0.033331,-0.755646,0.027314,0.653561
8,1,148480,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235964,-0.074406,0.888112,0.712860,-0.026880,-0.005995,0.700765
8,1,148480,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.206299,0.105148,0.889773,0.025299,-0.714454,0.698639,0.028621
8,1,148480,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
8,1,148480,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
8,1,148480,51,gripper,0,"","put hamburger on frying pan",-0.061680,0.013655,0.958352,0.045432,-0.766684,-0.051565,0.638336
8,1,148480,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085457,-0.073898,0.888112,0.932076,-0.027056,0.005141,0.361215
8,1,148480,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.185422,-0.023182,0.887026,0.649620,-0.289168,0.648121,0.272608
8,1,148480,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
8,1,148480,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234995,0.074993,0.870870,1.000000,-0.000000,-0.000001,0.000014
8,1,148480,52,gripper,0,"","put hamburger on cutting board",-0.166128,-0.010788,0.953592,0.228625,-0.726468,0.175996,0.623699
8,1,148480,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.127705,0.081898,0.888112,0.407186,-0.022825,-0.015409,0.912930
8,1,148480,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226404,-0.055153,0.887026,0.267241,-0.662512,0.254484,0.651842
8,1,148480,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000010
8,1,148480,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235016,0.044994,0.870870,1.000000,0.000001,-0.000001,-0.000041
8,1,148480,53,gripper,0,"","put hamburger on cutting board",-0.137187,-0.018763,1.019491,0.114017,-0.765388,0.083622,0.627844
8,1,148480,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.075459,-0.031429,0.888112,0.894854,-0.027415,0.002627,0.445508
8,1,148480,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.213806,-0.023163,0.887026,0.650973,-0.285924,0.649561,0.269355
8,1,148480,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000003
8,1,148480,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870858,1.000000,0.000460,0.000698,-0.000060
8,1,148480,54,gripper,0,"","put hamburger on cutting board",-0.071171,-0.034754,0.968748,0.005383,-0.750653,-0.019484,0.660387
8,1,148480,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.202011,-0.072739,0.888112,0.685822,-0.026634,-0.007006,0.727248
8,1,148480,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085293,-0.046936,0.887026,0.500645,-0.510458,0.493069,0.495651
8,1,148480,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
8,1,148480,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
8,1,148480,55,gripper,0,"","put hamburger on cutting board",-0.059212,-0.044807,0.938814,-0.012085,-0.745002,-0.034182,0.666076
8,1,148480,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204369,-0.074070,0.888112,0.999585,-0.023250,0.014768,-0.008478
8,1,148480,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.051224,0.078789,0.887027,0.704110,-0.039318,0.708618,0.023310
8,1,148480,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,1,148480,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
8,1,148480,56,gripper,0,"","put plastic bottle on frying pan",-0.039028,0.056297,1.003148,0.093567,-0.819407,0.024735,0.564983
8,1,148480,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.169769,0.047085,0.890219,0.966860,-0.042583,0.120843,-0.220831
8,1,148480,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055626,-0.074207,0.887026,0.704494,-0.016918,0.709507,0.001060
8,1,148480,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
8,1,148480,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.074997,0.870883,1.000000,0.000699,0.000712,-0.000020
8,1,148480,57,gripper,0,"","put plastic bottle on frying pan",-0.150808,-0.008114,0.996815,0.084012,-0.737272,-0.061207,0.667552
8,1,148480,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206100,0.074764,0.888112,0.386719,-0.022484,-0.015918,0.921786
8,1,148480,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256130,-0.055054,0.887026,0.267741,-0.662318,0.254994,0.651635
8,1,148480,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
8,1,148480,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114674,-0.043892,0.870870,0.999974,-0.000000,-0.000001,0.007249
8,1,148480,58,gripper,0,"","put plastic bottle on frying pan",-0.075768,-0.020664,0.918979,0.174066,-0.779816,0.001236,0.601320
8,1,148480,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236092,0.074776,0.888112,0.388288,-0.022503,-0.015875,0.921127
8,1,148480,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.159618,-0.002796,0.890108,0.300610,-0.660441,0.615257,0.308075
8,1,148480,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
8,1,148480,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235031,-0.075054,0.870870,1.000000,0.000000,-0.000000,-0.000139
8,1,148480,59,gripper,0,"","put plastic bottle on frying pan",-0.131904,0.002943,1.022403,-0.030227,-0.712209,-0.094181,0.694963
8,1,148480,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.087032,-0.073345,0.888112,0.444534,-0.023445,-0.014455,0.895338
8,1,148480,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256146,-0.055058,0.887026,0.267087,-0.662574,0.254328,0.651903
8,1,148480,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
8,1,148480,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
8,1,148480,60,gripper,0,"","put plastic bottle on cutting board",-0.078983,-0.057714,0.971622,0.035530,-0.737128,-0.002088,0.674815
8,1,148480,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085966,0.075611,0.888112,0.712718,-0.026882,-0.006001,0.700910
8,1,148480,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.194399,-0.063786,0.888538,0.700727,-0.020665,0.009151,0.713072
8,1,148480,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
8,1,148480,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234930,-0.074970,0.870876,0.999999,0.000712,0.000647,-0.000193
8,1,148480,61,gripper,0,"","put plastic bottle on cutting board",-0.124110,-0.053959,1.042580,0.033753,-0.804825,-0.051034,0.590350
8,1,148480,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085770,0.068813,0.888113,0.282992,-0.020592,-0.018291,0.958727
8,1,148480,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256359,0.094910,0.887026,0.266267,-0.662893,0.253495,0.652238
8,1,148480,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
8,1,148480,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
8,1,148480,62,gripper,0,"","put plastic bottle on cutting board",-0.107862,0.032145,1.000205,-0.232267,-0.742208,-0.256244,0.574036
8,1,148480,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205936,-0.074409,0.888112,0.712919,-0.026881,-0.005984,0.700706
8,1,148480,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115784,0.074368,0.887026,0.497402,-0.513662,0.489733,0.498903
8,1,148480,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
8,1,148480,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
8,1,148480,63,gripper,0,"","put plastic bottle on cutting board",0.029234,0.066204,1.015033,0.025494,-0.848953,-0.001741,0.527850
8,2,153600,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.212296,0.011169,0.886724,0.652202,0.322595,-0.407862,0.551555
8,2,153600,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,0.074242,0.881638,0.382477,0.034431,-0.019077,0.923126
8,2,153600,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000053
8,2,153600,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235649,0.047020,0.871288,0.999925,-0.000166,-0.001017,-0.012195
8,2,153600,0,gripper,0,"","put ketchup bottle on cloth",-0.206215,-0.013779,1.103014,0.050907,-0.791422,0.039913,0.607838
8,2,153600,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.174492,-0.082634,0.885085,0.637791,0.320388,-0.334353,0.615452
8,2,153600,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084934,0.079521,0.881641,0.717046,-0.031006,0.025570,0.695866
8,2,153600,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205006,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000022
8,2,153600,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000236
8,2,153600,1,gripper,0,"","put ketchup bottle on cloth",-0.178036,-0.075294,0.999304,0.051651,-0.751847,0.055533,0.654961
8,2,153600,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.089058,-0.024879,0.885122,0.365027,0.631844,-0.445928,0.518341
8,2,153600,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084385,0.074272,0.881638,0.382332,0.034409,-0.019061,0.923187
8,2,153600,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.044991,0.869532,1.000000,0.000000,-0.000001,0.000186
8,2,153600,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000178
8,2,153600,2,gripper,0,"","put ketchup bottle on cloth",-0.113111,0.031101,1.083508,0.073997,-0.812688,0.092517,0.570529
8,2,153600,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091827,0.068367,0.879089,0.816718,0.178383,-0.427339,0.344286
8,2,153600,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.149426,-0.018776,0.884750,0.755634,0.010196,0.058588,0.652288
8,2,153600,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000021
8,2,153600,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235035,-0.044701,0.871289,0.999998,-0.000151,-0.001019,0.001676
8,2,153600,3,gripper,0,"","put ketchup bottle on cloth",-0.098374,0.056099,0.951407,0.249664,-0.829948,0.176197,0.466699
8,2,153600,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.193769,0.080139,0.879375,0.985293,0.017771,-0.086373,0.146362
8,2,153600,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085953,0.075111,0.881638,0.999225,-0.004451,-0.039112,-0.000196
8,2,153600,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000000
8,2,153600,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205012,-0.074982,0.871282,0.999999,-0.000450,-0.001265,-0.000102
8,2,153600,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.175820,0.085262,0.933431,0.271710,-0.766146,0.149641,0.562850
8,2,153600,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228685,0.071991,0.879088,0.589714,0.344615,-0.309315,0.661666
8,2,153600,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084414,-0.075745,0.881638,0.382354,0.034409,-0.019064,0.923178
8,2,153600,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000024
8,2,153600,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205004,-0.045006,0.871288,0.999999,-0.000155,-0.001020,-0.000032
8,2,153600,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.083871,0.008751,0.980140,-0.032462,-0.748541,-0.061359,0.659445
8,2,153600,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.146309,0.071335,0.884934,0.069511,-0.591100,0.801492,0.058131
8,2,153600,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.081879,-0.077324,0.881638,0.358593,0.034886,-0.018174,0.932665
8,2,153600,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205013,0.045006,0.869532,1.000000,0.000000,-0.000000,-0.000156
8,2,153600,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000111
8,2,153600,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.187292,0.038177,0.997618,0.102408,-0.751291,-0.016710,0.651764
8,2,153600,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.079773,-0.096870,0.885113,-0.064788,0.754952,-0.648300,-0.074550
8,2,153600,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234402,-0.075714,0.881638,0.382396,0.034440,-0.019076,0.923159
8,2,153600,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074989,0.869532,1.000000,0.000001,-0.000000,-0.000046
8,2,153600,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.206604,0.077515,0.871210,0.999717,-0.003813,-0.004217,0.023091
8,2,153600,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.142347,-0.042061,1.017229,-0.160761,-0.811835,-0.178860,0.532061
8,2,153600,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.153374,-0.052864,0.879133,0.105817,-0.084119,0.990781,0.008882
8,2,153600,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085373,-0.075230,0.881668,0.924573,0.002927,-0.018817,0.380528
8,2,153600,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000033
8,2,153600,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235023,0.045006,0.871288,0.999999,-0.000153,-0.001020,0.000401
8,2,153600,8,gripper,0,"","put kitchen shovel on cloth",-0.230236,0.031021,0.956314,-0.004433,-0.789266,0.015827,0.613831
8,2,153600,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108059,-0.081848,0.879089,0.338578,0.427324,-0.178391,0.819107
8,2,153600,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.080578,0.075008,0.881641,0.438407,-0.037845,0.013531,0.897877
8,2,153600,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000013
8,2,153600,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075024,0.871282,0.999999,-0.000451,-0.001265,0.000142
8,2,153600,9,gripper,0,"","put kitchen shovel on cloth",-0.097265,-0.058640,0.978555,0.002935,-0.774721,-0.072946,0.628074
8,2,153600,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108932,-0.046001,0.885374,0.631205,-0.205492,0.186745,0.724209
8,2,153600,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.216702,-0.060318,0.881638,0.956470,0.007060,-0.038703,0.289166
8,2,153600,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115005,-0.044994,0.869532,1.000000,-0.000000,-0.000000,-0.000041
8,2,153600,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
8,2,153600,10,gripper,0,"","put kitchen shovel on cloth",-0.220217,-0.046276,0.928647,0.063467,-0.819102,0.016046,0.569900
8,2,153600,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085028,0.065273,0.879089,0.626258,0.326525,-0.328323,0.627205
8,2,153600,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.122210,-0.077709,0.888473,0.684985,-0.020603,0.031986,0.727563
8,2,153600,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084761,-0.075077,0.869710,0.999994,0.001360,0.002680,0.001879
8,2,153600,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.194227,-0.081982,0.871288,0.999968,-0.000162,-0.001018,-0.007927
8,2,153600,11,gripper,0,"","put kitchen shovel on cloth",-0.102972,0.062431,0.942376,0.167296,-0.836422,0.019445,0.521567
8,2,153600,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.178630,-0.097939,0.879374,0.869032,0.047305,-0.074443,0.486830
8,2,153600,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205246,0.028111,0.881638,0.908702,0.012221,-0.037416,0.415586
8,2,153600,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114996,-0.045002,0.869532,1.000000,-0.000000,0.000000,0.000066
8,2,153600,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
8,2,153600,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.173715,-0.071533,0.977078,-0.167105,-0.724143,-0.145949,0.652987
8,2,153600,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.203272,0.069916,0.885085,0.695837,0.285558,-0.364584,0.548950
8,2,153600,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083241,-0.070217,0.884090,0.690172,0.014573,0.035299,0.722637
8,2,153600,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235006,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000002
8,2,153600,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205004,-0.045006,0.871288,0.999999,-0.000156,-0.001021,-0.000032
8,2,153600,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.210104,0.058762,1.118286,0.160255,-0.742263,0.153464,0.632308
8,2,153600,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.215137,-0.061691,0.879088,0.658692,0.308634,-0.345233,0.593030
8,2,153600,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113621,0.079483,0.881641,0.932403,-0.018500,0.035656,0.359181
8,2,153600,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000023
8,2,153600,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
8,2,153600,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.223370,-0.050232,0.946286,0.094037,-0.872566,0.046535,0.477096
8,2,153600,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.089993,0.078934,0.879595,0.422651,0.040586,-0.015443,0.905252
8,2,153600,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.190712,0.037273,0.881638,0.405425,0.033879,-0.019906,0.913283
8,2,153600,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234730,-0.075920,0.869532,0.999927,-0.000000,-0.000001,-0.012057
8,2,153600,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
8,2,153600,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.101019,0.066990,0.940093,0.084293,-0.782829,0.007680,0.616454
8,2,153600,16,obj,0,"003_bread_1","put bread on carpet",-0.079979,-0.014130,0.885686,0.383572,-0.001355,0.073521,0.920579
8,2,153600,16,obj,1,"005_7up can_1","put bread on carpet",-0.237289,0.046932,0.885687,0.644719,0.288199,-0.281901,0.649469
8,2,153600,16,recep,0,"004_newspaper_1","put bread on carpet",-0.085075,-0.075054,0.869490,0.999999,0.000179,0.000874,0.000792
8,2,153600,16,recep,1,"003_carpet_1","put bread on carpet",-0.114998,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
8,2,153600,16,gripper,0,"","put bread on carpet",-0.102711,0.004478,1.005632,-0.038202,-0.724540,-0.009213,0.688111
8,2,153600,17,obj,0,"003_bread_1","put bread on carpet",-0.084480,-0.075478,0.883544,0.383516,0.012274,-0.003119,0.923447
8,2,153600,17,obj,1,"005_7up can_1","put bread on carpet",-0.140682,0.190002,0.885880,0.399469,0.597183,-0.543410,0.434170
8,2,153600,17,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
8,2,153600,17,recep,1,"003_carpet_1","put bread on carpet",-0.114426,0.045334,0.870448,0.999998,-0.000821,-0.000758,-0.001290
8,2,153600,17,gripper,0,"","put bread on carpet",-0.107025,-0.018099,0.956108,-0.003224,-0.750485,-0.023350,0.660467
8,2,153600,18,obj,0,"003_bread_1","put bread on carpet",-0.224113,0.092533,0.883544,0.273656,0.012552,-0.001672,0.961744
8,2,153600,18,obj,1,"005_7up can_1","put bread on carpet",-0.081612,0.071842,0.885637,0.375087,0.142181,-0.055331,0.914348
8,2,153600,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000018
8,2,153600,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
8,2,153600,18,gripper,0,"","put bread on carpet",-0.134726,-0.045406,0.980824,0.022649,-0.776947,0.010195,0.629075
8,2,153600,19,obj,0,"003_bread_1","put bread on carpet",-0.070856,-0.075256,0.883544,0.340166,0.012400,-0.002549,0.940280
8,2,153600,19,obj,1,"005_7up can_1","put bread on carpet",-0.197235,0.082321,0.885903,0.341621,0.605100,-0.637772,0.332259
8,2,153600,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114996,0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
8,2,153600,19,recep,1,"003_carpet_1","put bread on carpet",-0.204971,-0.074783,0.870447,0.999996,-0.000540,-0.000512,0.002701
8,2,153600,19,gripper,0,"","put bread on carpet",-0.172356,-0.072088,0.960558,-0.040040,-0.787493,-0.108029,0.605460
8,2,153600,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.204622,0.081562,0.883565,0.608270,0.009585,-0.003106,0.793667
8,2,153600,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.168615,0.047302,0.886010,0.167883,-0.674186,0.699833,0.165899
8,2,153600,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
8,2,153600,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235030,-0.044952,0.870461,1.000000,0.000018,-0.000159,0.000546
8,2,153600,20,gripper,0,"","put 7up can on newspaper",-0.171169,0.047390,0.940911,-0.014293,-0.770124,-0.023957,0.637284
8,2,153600,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.066603,0.045658,0.886485,0.881955,0.010845,-0.007302,0.471152
8,2,153600,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.117622,-0.086319,0.885636,0.890669,0.100227,-0.266501,0.354457
8,2,153600,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204966,0.075005,0.869490,1.000000,0.000180,0.000873,0.000068
8,2,153600,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084974,0.045002,0.870460,1.000000,0.000018,-0.000158,-0.000129
8,2,153600,21,gripper,0,"","put 7up can on newspaper",-0.137999,-0.099945,0.964191,-0.042558,-0.767425,-0.069248,0.635965
8,2,153600,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.108887,-0.015800,0.883545,0.422614,0.012120,-0.003642,0.906221
8,2,153600,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.077824,0.066120,0.885636,0.461949,0.246820,-0.141925,0.839964
8,2,153600,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
8,2,153600,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
8,2,153600,22,gripper,0,"","put 7up can on newspaper",-0.072981,0.060347,0.958305,-0.285589,-0.644451,-0.309483,0.638234
8,2,153600,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.179581,-0.052475,0.885677,0.291181,0.091130,0.022478,0.952052
8,2,153600,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.244770,0.125195,0.886107,0.019352,0.778043,-0.627679,0.017163
8,2,153600,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.044998,0.869490,1.000000,0.000179,0.000874,0.000031
8,2,153600,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235069,-0.044956,0.870462,1.000000,0.000037,-0.000158,0.000724
8,2,153600,23,gripper,0,"","put 7up can on newspaper",-0.015892,0.054552,0.955314,-0.048990,-0.782426,-0.017614,0.620564
8,2,153600,24,obj,0,"003_bread_1","put 7up can on carpet",-0.135223,0.078403,0.885631,0.901928,-0.026116,-0.075703,0.424396
8,2,153600,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.091682,-0.081503,0.885636,0.885204,0.104246,-0.264949,0.367898
8,2,153600,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000122
8,2,153600,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,-0.075001,0.870447,1.000000,-0.000543,-0.000513,0.000003
8,2,153600,24,gripper,0,"","put 7up can on carpet",-0.129997,0.064550,0.998463,-0.022322,-0.695963,-0.024701,0.717306
8,2,153600,25,obj,0,"003_bread_1","put 7up can on carpet",-0.234482,0.074512,0.883544,0.383613,0.012262,-0.003125,0.923407
8,2,153600,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.101818,-0.055838,0.959396,0.480459,-0.125739,-0.041944,0.866943
8,2,153600,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000874,0.000068
8,2,153600,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
8,2,153600,25,gripper,0,"","put 7up can on carpet",-0.109806,-0.060188,1.006054,-0.181080,-0.764462,-0.226610,0.575722
8,2,153600,26,obj,0,"003_bread_1","put 7up can on carpet",-0.196091,0.086515,0.883544,0.622048,0.010937,-0.006368,0.782877
8,2,153600,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.115177,-0.082611,0.885626,0.686952,0.161107,-0.168333,0.688336
8,2,153600,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.080105,0.072689,0.869490,0.998160,0.000126,0.000884,0.060636
8,2,153600,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000059
8,2,153600,26,gripper,0,"","put 7up can on carpet",-0.037724,0.063647,0.975385,-0.118811,-0.720645,-0.177672,0.659536
8,2,153600,27,obj,0,"003_bread_1","put 7up can on carpet",-0.206112,0.048323,0.886479,0.769943,0.015579,-0.006204,0.637893
8,2,153600,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.119577,-0.071026,0.885633,0.571452,0.090305,-0.060075,0.813436
8,2,153600,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
8,2,153600,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074999,0.870453,0.999998,0.001569,0.001265,0.000007
8,2,153600,27,gripper,0,"","put 7up can on carpet",-0.152987,0.052392,1.098140,-0.030371,-0.745950,-0.052617,0.663226
8,2,153600,28,obj,0,"003_bread_1","put bread on newspaper",-0.237131,0.079615,0.883544,0.999554,0.002166,-0.012478,0.027052
8,2,153600,28,obj,1,"005_7up can_1","put bread on newspaper",-0.122643,-0.046196,0.885657,0.975341,-0.006470,-0.220350,-0.010695
8,2,153600,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000001
8,2,153600,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000005
8,2,153600,28,gripper,0,"","put bread on newspaper",-0.126099,-0.043379,0.949055,-0.005612,-0.751110,0.015020,0.659982
8,2,153600,29,obj,0,"003_bread_1","put bread on newspaper",-0.084467,-0.075462,0.883483,0.383116,0.012404,-0.003513,0.923610
8,2,153600,29,obj,1,"005_7up can_1","put bread on newspaper",-0.191341,-0.201180,0.885766,0.512054,-0.477292,0.408232,0.585952
8,2,153600,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000002
8,2,153600,29,recep,1,"003_carpet_1","put bread on newspaper",-0.234999,-0.044994,0.870446,0.999991,-0.003114,-0.002734,0.000024
8,2,153600,29,gripper,0,"","put bread on newspaper",-0.099710,-0.083655,0.939222,-0.066357,-0.779945,-0.055090,0.619877
8,2,153600,30,obj,0,"003_bread_1","put bread on newspaper",-0.208977,-0.046396,0.883544,0.975643,-0.000966,-0.012619,-0.218998
8,2,153600,30,obj,1,"005_7up can_1","put bread on newspaper",-0.090179,-0.077579,0.885637,0.988245,0.001170,-0.152521,-0.010371
8,2,153600,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
8,2,153600,30,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.045036,0.870447,0.999999,-0.000923,-0.000845,-0.000057
8,2,153600,30,gripper,0,"","put bread on newspaper",-0.193829,-0.052703,0.938298,0.223215,-0.736282,0.238078,0.592775
8,2,153600,31,obj,0,"003_bread_1","put bread on newspaper",-0.059128,0.089331,0.883544,0.985771,-0.000304,-0.012651,-0.167615
8,2,153600,31,obj,1,"005_7up can_1","put bread on newspaper",-0.237480,0.083479,0.885633,0.993910,0.004878,-0.108346,0.019480
8,2,153600,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
8,2,153600,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
8,2,153600,31,gripper,0,"","put bread on newspaper",-0.083801,-0.049351,1.030854,0.047924,-0.771101,-0.052074,0.632768
8,2,153600,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.211212,-0.082066,0.887157,0.374511,-0.029933,0.001795,0.926737
8,2,153600,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084656,0.075323,0.878547,0.382121,0.003181,0.013051,0.924015
8,2,153600,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
8,2,153600,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000001,-0.000000
8,2,153600,32,gripper,0,"","put carrot on flat bowl",-0.184891,-0.058345,0.963164,0.225010,-0.712099,0.188177,0.637868
8,2,153600,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243610,-0.066832,0.887325,0.999323,-0.005676,0.035248,0.008826
8,2,153600,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
8,2,153600,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
8,2,153600,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,2,153600,33,gripper,0,"","put carrot on flat bowl",-0.086826,-0.058622,0.965170,0.119021,-0.747190,0.105065,0.645370
8,2,153600,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206005,0.046184,0.887529,0.383520,-0.039915,0.016594,0.922520
8,2,153600,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234692,-0.074685,0.878547,0.382187,0.003182,0.013046,0.923988
8,2,153600,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
8,2,153600,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
8,2,153600,34,gripper,0,"","put carrot on flat bowl",-0.133802,0.057001,1.021567,0.071772,-0.693948,0.078743,0.712098
8,2,153600,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210960,-0.040451,0.887418,0.916728,-0.006087,0.012500,0.399269
8,2,153600,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011498,0.006987,0.383039
8,2,153600,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
8,2,153600,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
8,2,153600,35,gripper,0,"","put carrot on flat bowl",-0.023645,0.093255,1.001319,0.136155,-0.868369,0.089999,0.468292
8,2,153600,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236453,-0.070658,0.887486,0.354138,-0.039546,0.014985,0.934236
8,2,153600,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204717,0.045297,0.878547,0.382370,0.003186,0.013056,0.923912
8,2,153600,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
8,2,153600,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
8,2,153600,36,gripper,0,"","put banana on sheet metal",-0.125650,-0.074635,0.992258,0.251194,-0.695816,0.345022,0.577670
8,2,153600,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088514,-0.078746,0.887216,0.363661,-0.024973,0.018520,0.931012
8,2,153600,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204710,0.045296,0.878547,0.382337,0.003196,0.013072,0.923925
8,2,153600,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
8,2,153600,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
8,2,153600,37,gripper,0,"","put banana on sheet metal",-0.093174,0.094159,1.046453,0.350995,-0.851181,0.164609,0.353832
8,2,153600,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206005,0.046184,0.887529,0.383520,-0.039915,0.016594,0.922520
8,2,153600,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
8,2,153600,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
8,2,153600,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
8,2,153600,38,gripper,0,"","put banana on sheet metal",-0.127810,-0.076028,0.977484,0.434900,-0.677567,0.374193,0.460158
8,2,153600,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118938,-0.080174,0.887516,0.366808,-0.015495,0.002395,0.930164
8,2,153600,39,obj,1,"013_banana_1","put banana on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003198,0.013091,0.923968
8,2,153600,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
8,2,153600,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
8,2,153600,39,gripper,0,"","put banana on sheet metal",-0.188364,-0.042462,1.006928,0.062246,-0.727962,0.009700,0.682717
8,2,153600,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090012,0.077522,0.887034,0.914691,0.004914,0.016612,0.403782
8,2,153600,40,obj,1,"013_banana_1","put banana on flat bowl",-0.204681,-0.075304,0.878547,0.924014,0.011496,0.006971,0.382122
8,2,153600,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074940,0.871344,0.999999,-0.000158,0.001164,0.000033
8,2,153600,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
8,2,153600,40,gripper,0,"","put banana on flat bowl",-0.155476,-0.055795,0.984383,-0.318660,-0.767679,-0.232957,0.504832
8,2,153600,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
8,2,153600,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
8,2,153600,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
8,2,153600,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
8,2,153600,41,gripper,0,"","put banana on flat bowl",-0.048979,0.065702,0.981511,0.232930,-0.755818,-0.009919,0.611870
8,2,153600,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210526,-0.070427,0.887445,0.915909,-0.011216,0.024253,0.400496
8,2,153600,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
8,2,153600,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
8,2,153600,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
8,2,153600,42,gripper,0,"","put banana on flat bowl",-0.034687,-0.035796,1.023588,0.026732,-0.741251,-0.063508,0.667682
8,2,153600,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242550,0.069368,0.887176,0.254324,-0.021199,-0.002463,0.966884
8,2,153600,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114691,0.045330,0.878547,0.382934,0.003210,0.013106,0.923677
8,2,153600,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.074995,0.871344,0.999999,-0.000157,0.001164,0.000005
8,2,153600,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
8,2,153600,43,gripper,0,"","put banana on flat bowl",-0.067664,0.057001,1.002668,0.114990,-0.703592,0.109933,0.692568
8,2,153600,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204265,0.076860,0.887528,0.917956,-0.017060,0.039708,0.394320
8,2,153600,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
8,2,153600,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
8,2,153600,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
8,2,153600,44,gripper,0,"","put carrot on sheet metal",-0.040529,0.113928,0.958794,0.225400,-0.728230,0.265536,0.590226
8,2,153600,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210245,-0.081371,0.887335,0.361893,-0.020341,0.011666,0.931925
8,2,153600,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,-0.074667,0.878547,0.383193,0.003198,0.013055,0.923571
8,2,153600,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
8,2,153600,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000311
8,2,153600,45,gripper,0,"","put carrot on sheet metal",-0.040051,0.067910,1.025144,0.234328,-0.727095,0.205529,0.611704
8,2,153600,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
8,2,153600,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.204556,0.075022,0.878547,0.707560,0.007961,0.010843,0.706525
8,2,153600,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
8,2,153600,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
8,2,153600,46,gripper,0,"","put carrot on sheet metal",-0.038456,0.070077,0.993825,0.102289,-0.772998,0.061978,0.623033
8,2,153600,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237442,-0.074837,0.887529,0.676533,-0.031804,0.029268,0.735143
8,2,153600,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074989,0.878547,0.707617,0.007956,0.010840,0.706468
8,2,153600,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
8,2,153600,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
8,2,153600,47,gripper,0,"","put carrot on sheet metal",-0.044556,-0.061736,1.001446,0.062773,-0.718489,0.022765,0.692326
8,2,153600,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085205,0.076092,0.888112,0.924751,-0.027154,0.004602,0.379574
8,2,153600,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.213287,-0.043659,0.887026,0.636910,-0.317582,0.634685,0.301102
8,2,153600,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
8,2,153600,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,0.044987,0.870870,1.000000,0.000000,-0.000001,-0.000031
8,2,153600,48,gripper,0,"","put hamburger on cutting board",-0.187176,0.027905,1.016536,0.086805,-0.701212,0.178517,0.684762
8,2,153600,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.073574,-0.066917,0.888112,0.999566,-0.023219,0.014813,-0.010493
8,2,153600,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.184937,0.045818,0.891011,0.267893,-0.020779,0.963150,0.011984
8,2,153600,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000307
8,2,153600,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
8,2,153600,49,gripper,0,"","put hamburger on cutting board",-0.154428,0.038761,1.003153,0.116783,-0.698526,0.082824,0.701116
8,2,153600,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.201206,0.058109,0.888112,0.999097,-0.023824,0.013808,0.032368
8,2,153600,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085629,-0.044205,0.887027,0.704495,-0.017041,0.709503,0.001182
8,2,153600,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,2,153600,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
8,2,153600,50,gripper,0,"","put hamburger on cutting board",-0.157812,0.022783,0.989857,-0.108364,-0.784008,-0.039428,0.609946
8,2,153600,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235962,-0.074402,0.888112,0.713604,-0.026887,-0.005965,0.700008
8,2,153600,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.206299,0.105152,0.889773,0.025299,-0.714489,0.698603,0.028624
8,2,153600,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
8,2,153600,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
8,2,153600,51,gripper,0,"","put hamburger on cutting board",-0.042892,0.024746,1.004490,0.116148,-0.722519,0.064197,0.678494
8,2,153600,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085457,-0.073898,0.888112,0.932071,-0.027056,0.005141,0.361228
8,2,153600,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.186181,-0.024014,0.887068,0.669432,-0.275152,0.628022,0.285901
8,2,153600,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
8,2,153600,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234995,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000014
8,2,153600,52,gripper,0,"","put plastic bottle on frying pan",-0.171888,-0.026705,0.947295,0.023250,-0.774237,-0.026243,0.631924
8,2,153600,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.127705,0.081898,0.888112,0.407186,-0.022823,-0.015409,0.912930
8,2,153600,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.226404,-0.055153,0.887026,0.267255,-0.662507,0.254499,0.651836
8,2,153600,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000031
8,2,153600,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235029,0.044994,0.870870,1.000000,0.000000,-0.000001,-0.000076
8,2,153600,53,gripper,0,"","put plastic bottle on frying pan",-0.049806,-0.003992,0.989358,0.103423,-0.773520,-0.062761,0.622118
8,2,153600,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.076595,0.035213,0.895525,0.899602,-0.075617,-0.091095,0.420357
8,2,153600,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.213806,-0.023163,0.887026,0.650973,-0.285923,0.649561,0.269355
8,2,153600,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,2,153600,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074997,0.870858,1.000000,0.000460,0.000697,-0.000063
8,2,153600,54,gripper,0,"","put plastic bottle on frying pan",-0.069719,0.043873,0.977806,0.121496,-0.775764,0.114700,0.608501
8,2,153600,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.202011,-0.072739,0.888112,0.685376,-0.026629,-0.007022,0.727669
8,2,153600,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.047363,-0.049259,0.887026,0.503973,-0.507124,0.496499,0.492265
8,2,153600,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
8,2,153600,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000026
8,2,153600,55,gripper,0,"","put plastic bottle on frying pan",-0.073437,-0.106062,1.002962,-0.038487,-0.766251,-0.062800,0.638306
8,2,153600,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.207268,-0.075203,0.888112,0.998760,-0.023954,0.013590,0.041467
8,2,153600,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.051224,0.078789,0.887027,0.704112,-0.039262,0.708621,0.023255
8,2,153600,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
8,2,153600,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000047
8,2,153600,56,gripper,0,"","put plastic bottle on cutting board",-0.130283,-0.041496,0.977994,-0.134663,-0.790366,-0.119998,0.585481
8,2,153600,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.169769,0.047100,0.890217,0.966596,-0.042643,0.120775,-0.222007
8,2,153600,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055531,-0.074196,0.887026,0.704495,-0.016649,0.709513,0.000793
8,2,153600,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,2,153600,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.074997,0.870883,1.000000,0.000700,0.000713,-0.000128
8,2,153600,57,gripper,0,"","put plastic bottle on cutting board",-0.043753,-0.053841,0.975303,0.048997,-0.772841,0.069155,0.628915
8,2,153600,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.096169,-0.024235,0.890506,0.397295,-0.022942,-0.013103,0.917310
8,2,153600,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256130,-0.055054,0.887026,0.267674,-0.662346,0.254927,0.651661
8,2,153600,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,2,153600,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114670,-0.043911,0.870870,0.999973,-0.000000,-0.000001,0.007302
8,2,153600,58,gripper,0,"","put plastic bottle on cutting board",-0.091805,0.014984,1.028916,0.112711,-0.823203,0.072798,0.551664
8,2,153600,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236094,0.074776,0.888112,0.388294,-0.022509,-0.015873,0.921124
8,2,153600,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.159155,-0.011169,0.888182,0.447994,-0.558867,0.511779,0.474396
8,2,153600,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
8,2,153600,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235025,-0.075058,0.870870,1.000000,0.000001,0.000000,-0.000393
8,2,153600,59,gripper,0,"","put plastic bottle on cutting board",-0.085382,0.040133,1.023321,-0.043534,-0.716212,-0.046957,0.694939
8,2,153600,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086390,0.032520,0.896401,0.645090,-0.028545,-0.011396,0.763488
8,2,153600,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256146,-0.055058,0.887026,0.267087,-0.662574,0.254328,0.651903
8,2,153600,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000000
8,2,153600,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
8,2,153600,60,gripper,0,"","put hamburger on frying pan",-0.097675,-0.003618,1.072846,0.055366,-0.710004,0.022008,0.701672
8,2,153600,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.081604,0.076878,0.888112,0.701902,-0.026785,-0.006412,0.711741
8,2,153600,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.193563,-0.063316,0.888532,0.695859,-0.020716,0.008948,0.717824
8,2,153600,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
8,2,153600,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234484,-0.074932,0.870869,0.999998,0.000711,0.000593,0.001533
8,2,153600,61,gripper,0,"","put hamburger on frying pan",-0.049945,0.059708,0.989605,-0.005275,-0.867740,0.016391,0.496719
8,2,153600,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086208,-0.052452,0.895665,0.217809,0.023457,-0.059637,0.973885
8,2,153600,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256359,0.094921,0.887026,0.266288,-0.662885,0.253516,0.652230
8,2,153600,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.074997,0.872199,1.000000,-0.000001,-0.000001,0.000048
8,2,153600,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
8,2,153600,62,gripper,0,"","put hamburger on frying pan",-0.103264,-0.033901,1.118497,0.055429,-0.784378,-0.012027,0.617684
8,2,153600,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205936,-0.074409,0.888112,0.713156,-0.026883,-0.005975,0.700464
8,2,153600,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.206406,0.067932,0.889599,0.549216,-0.453240,0.548137,0.438727
8,2,153600,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
8,2,153600,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235504,0.074757,0.870883,0.999994,0.000702,0.000714,-0.003299
8,2,153600,63,gripper,0,"","put hamburger on frying pan",-0.116865,-0.017063,1.051244,0.159882,-0.732345,0.230847,0.620337
8,3,158720,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.089996,-0.091316,0.885211,-0.184840,-0.715742,0.640545,-0.207965
8,3,158720,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074242,0.881638,0.382385,0.034437,-0.019075,0.923164
8,3,158720,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085014,-0.075005,0.869533,1.000000,0.000000,-0.000000,0.000033
8,3,158720,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235657,0.047028,0.871287,0.999925,-0.000167,-0.001017,-0.012162
8,3,158720,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.139328,-0.073742,1.037401,-0.031629,-0.864549,-0.071971,0.496361
8,3,158720,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.173931,-0.083206,0.885084,0.630501,0.323845,-0.329862,0.623525
8,3,158720,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.197144,-0.058838,0.892810,0.599098,-0.341682,0.241863,0.682523
8,3,158720,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000256
8,3,158720,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000311
8,3,158720,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.236383,-0.059792,1.042719,-0.053092,-0.737406,0.097206,0.666306
8,3,158720,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.089050,-0.024895,0.885122,0.365045,0.631814,-0.445901,0.518388
8,3,158720,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074280,0.881638,0.382238,0.034404,-0.019055,0.923226
8,3,158720,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114998,-0.044991,0.869532,1.000000,0.000000,-0.000001,0.000332
8,3,158720,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000238
8,3,158720,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.146225,0.036232,1.131668,0.023169,-0.805509,0.031240,0.591305
8,3,158720,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091827,0.068367,0.879089,0.816733,0.178364,-0.427343,0.344254
8,3,158720,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.169516,-0.008293,0.885725,0.738861,0.028796,0.058367,0.670707
8,3,158720,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000031
8,3,158720,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235039,-0.044701,0.871289,0.999998,-0.000153,-0.001019,0.001680
8,3,158720,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.196500,0.025307,0.967444,0.124142,-0.809945,0.167231,0.548280
8,3,158720,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.186054,0.086006,0.879373,0.948895,-0.037472,0.275709,0.148924
8,3,158720,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084891,0.076637,0.881638,0.999191,-0.004765,-0.039077,-0.008203
8,3,158720,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
8,3,158720,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205012,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000102
8,3,158720,4,gripper,0,"","put kitchen shovel on cloth",-0.059697,0.123089,0.960388,0.260464,-0.767319,0.252474,0.528807
8,3,158720,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228685,0.071991,0.879088,0.589711,0.344615,-0.309312,0.661670
8,3,158720,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084415,-0.075745,0.881638,0.382291,0.034433,-0.019070,0.923203
8,3,158720,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000038
8,3,158720,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001022,-0.000046
8,3,158720,5,gripper,0,"","put kitchen shovel on cloth",-0.220862,0.054951,0.959429,0.007121,-0.822768,-0.050627,0.566073
8,3,158720,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.150124,0.076820,0.885112,0.075774,-0.643493,0.759041,0.063493
8,3,158720,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.081879,-0.077324,0.881638,0.358481,0.034895,-0.018172,0.932708
8,3,158720,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.201820,0.046463,0.869532,0.998905,0.000001,-0.000000,0.046780
8,3,158720,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000113
8,3,158720,6,gripper,0,"","put kitchen shovel on cloth",-0.202869,-0.128429,0.915369,0.005861,-0.782519,0.041502,0.621214
8,3,158720,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.079472,-0.098206,0.885113,-0.064771,0.755865,-0.647210,-0.074780
8,3,158720,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234997,-0.079788,0.881637,0.368990,0.034686,-0.018567,0.928600
8,3,158720,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074989,0.869532,1.000000,0.000002,-0.000001,-0.000002
8,3,158720,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.206604,0.077515,0.871210,0.999717,-0.003813,-0.004218,0.023092
8,3,158720,7,gripper,0,"","put kitchen shovel on cloth",-0.192186,-0.017990,0.957767,-0.031171,-0.830259,-0.058159,0.553458
8,3,158720,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.150696,-0.058266,0.879317,0.151926,-0.103707,0.982777,0.017701
8,3,158720,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083961,-0.074188,0.881641,0.925614,-0.019164,0.035340,0.376328
8,3,158720,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000043
8,3,158720,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235023,0.045006,0.871288,0.999999,-0.000153,-0.001020,0.000492
8,3,158720,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.159451,-0.052986,0.933948,0.027103,-0.796859,0.038858,0.602305
8,3,158720,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.207176,-0.060909,0.885083,0.599503,0.339570,-0.313910,0.653260
8,3,158720,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.080578,0.075008,0.881641,0.438471,-0.037845,0.013534,0.897846
8,3,158720,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234982,-0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000244
8,3,158720,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075020,0.871282,0.999999,-0.000451,-0.001265,0.000178
8,3,158720,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.229219,-0.029943,1.009951,0.051794,-0.743207,0.016828,0.666841
8,3,158720,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.108932,-0.045979,0.885372,0.631212,-0.205621,0.186830,0.724145
8,3,158720,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.216591,-0.060139,0.881638,0.956610,0.007038,-0.038708,0.288702
8,3,158720,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115005,-0.044994,0.869532,1.000000,-0.000000,-0.000000,-0.000030
8,3,158720,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
8,3,158720,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.171494,0.043819,1.120216,0.091664,-0.834205,0.086896,0.536794
8,3,158720,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085028,0.065273,0.879089,0.626256,0.326529,-0.328329,0.627202
8,3,158720,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.122210,-0.077713,0.888473,0.685070,-0.020566,0.031962,0.727485
8,3,158720,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084761,-0.075077,0.869710,0.999994,0.001359,0.002680,0.001882
8,3,158720,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.194227,-0.081982,0.871288,0.999968,-0.000162,-0.001018,-0.007935
8,3,158720,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.142426,0.038059,1.127621,0.053424,-0.846732,0.061676,0.525725
8,3,158720,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.178630,-0.097939,0.879374,0.869033,0.047300,-0.074431,0.486830
8,3,158720,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114630,0.074871,0.888737,0.807321,0.015299,-0.096591,0.581953
8,3,158720,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.107709,-0.049389,0.869532,0.999931,0.000000,-0.000001,-0.011755
8,3,158720,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.081844,0.072247,0.871288,0.999913,-0.000140,-0.001021,0.013180
8,3,158720,12,gripper,0,"","put ketchup bottle on cloth",-0.201642,0.093987,0.916827,0.262737,-0.747051,0.269544,0.547932
8,3,158720,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.203276,0.069885,0.885084,0.696271,0.285273,-0.364814,0.548395
8,3,158720,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.083241,-0.069805,0.884090,0.690010,0.016401,0.033522,0.722837
8,3,158720,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235006,0.075001,0.869532,1.000000,-0.000000,-0.000000,-0.000003
8,3,158720,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001022,-0.000037
8,3,158720,13,gripper,0,"","put ketchup bottle on cloth",-0.132229,0.024132,1.136887,0.087883,-0.833382,0.168521,0.518992
8,3,158720,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.199905,0.048088,0.885370,0.728748,-0.176984,0.214916,0.625632
8,3,158720,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.113621,0.079479,0.881641,0.932437,-0.018496,0.035656,0.359092
8,3,158720,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044994,0.869532,1.000000,0.000000,-0.000000,0.000010
8,3,158720,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
8,3,158720,14,gripper,0,"","put ketchup bottle on cloth",-0.209654,0.048103,1.078315,0.112604,-0.819916,0.120266,0.548265
8,3,158720,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.089474,0.078178,0.879375,0.417147,0.082010,-0.032437,0.904550
8,3,158720,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.192261,0.042992,0.881638,0.434599,0.033290,-0.021019,0.899763
8,3,158720,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234676,-0.076336,0.869532,0.999888,0.000000,-0.000001,-0.014986
8,3,158720,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
8,3,158720,15,gripper,0,"","put ketchup bottle on cloth",-0.173573,-0.062244,0.977088,-0.032575,-0.858421,-0.065712,0.507676
8,3,158720,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.079979,-0.014130,0.885685,0.383423,-0.001340,0.073532,0.920640
8,3,158720,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.237289,0.046932,0.885687,0.644764,0.288144,-0.281866,0.649464
8,3,158720,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085075,-0.075054,0.869490,0.999999,0.000179,0.000874,0.000818
8,3,158720,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,0.075043,0.870448,0.999999,-0.000924,-0.000846,-0.000084
8,3,158720,16,gripper,0,"","put 7up can on newspaper",-0.058937,0.024105,0.966303,-0.204144,-0.664675,-0.072140,0.715072
8,3,158720,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.084515,-0.075344,0.883544,0.386864,0.012263,-0.003163,0.922050
8,3,158720,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.140709,0.191547,0.885855,0.425310,0.575503,-0.523933,0.461954
8,3,158720,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
8,3,158720,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.111019,0.048615,0.870418,0.999999,-0.000218,-0.000849,-0.001423
8,3,158720,17,gripper,0,"","put 7up can on newspaper",-0.087563,-0.062149,0.983719,-0.089764,-0.744654,-0.081906,0.656296
8,3,158720,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.224113,0.092533,0.883544,0.273624,0.012551,-0.001671,0.961753
8,3,158720,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.144905,0.033752,0.956873,0.378812,-0.100548,0.425764,0.815547
8,3,158720,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000018
8,3,158720,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000102
8,3,158720,18,gripper,0,"","put 7up can on newspaper",-0.157066,0.024551,1.011096,-0.011723,-0.679912,-0.067638,0.730074
8,3,158720,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.070856,-0.075256,0.883544,0.340310,0.012395,-0.002548,0.940228
8,3,158720,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.115271,0.061062,0.888579,0.443630,0.522047,-0.342962,0.642679
8,3,158720,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114906,0.044964,0.869490,0.999999,0.000180,0.000876,-0.000721
8,3,158720,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204964,-0.074688,0.870420,0.999991,-0.000190,-0.000803,0.004131
8,3,158720,19,gripper,0,"","put 7up can on newspaper",-0.069950,-0.073114,0.991654,-0.258847,-0.725388,-0.266267,0.579580
8,3,158720,20,obj,0,"003_bread_1","put 7up can on carpet",-0.205127,0.089386,0.883544,0.486193,0.011836,-0.004492,0.873760
8,3,158720,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.141869,0.034740,0.885936,0.294102,-0.637856,0.655065,0.278448
8,3,158720,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
8,3,158720,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.235030,-0.044952,0.870461,1.000000,0.000018,-0.000157,0.000546
8,3,158720,20,gripper,0,"","put 7up can on carpet",-0.127383,0.003580,1.001900,-0.012462,-0.801686,0.000259,0.597615
8,3,158720,21,obj,0,"003_bread_1","put 7up can on carpet",-0.066540,0.045670,0.886485,0.882228,0.010840,-0.007305,0.470641
8,3,158720,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.105970,-0.077534,0.885615,0.920823,-0.060994,0.142471,0.357864
8,3,158720,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204950,0.075005,0.869490,1.000000,0.000180,0.000874,0.000094
8,3,158720,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.084942,0.045040,0.870461,1.000000,0.000019,-0.000158,-0.000249
8,3,158720,21,gripper,0,"","put 7up can on carpet",-0.112047,-0.084976,0.977267,-0.027495,-0.777245,0.045789,0.626927
8,3,158720,22,obj,0,"003_bread_1","put 7up can on carpet",-0.109634,-0.015617,0.883544,0.407228,0.012182,-0.003441,0.913239
8,3,158720,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.150993,0.114967,0.885747,0.581323,-0.413806,0.419398,0.561189
8,3,158720,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
8,3,158720,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
8,3,158720,22,gripper,0,"","put 7up can on carpet",-0.091475,-0.016556,0.945412,-0.075479,-0.774593,-0.085232,0.622128
8,3,158720,23,obj,0,"003_bread_1","put 7up can on carpet",-0.179581,-0.052475,0.885677,0.291182,0.091122,0.022479,0.952053
8,3,158720,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.244770,0.125195,0.886107,0.019343,0.778049,-0.627671,0.017149
8,3,158720,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085011,0.045002,0.869490,1.000000,0.000179,0.000874,0.000047
8,3,158720,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235069,-0.044956,0.870462,1.000000,0.000037,-0.000158,0.000712
8,3,158720,23,gripper,0,"","put 7up can on carpet",-0.083172,0.036684,0.951037,-0.089237,-0.787350,-0.081408,0.604558
8,3,158720,24,obj,0,"003_bread_1","put bread on newspaper",-0.135223,0.078403,0.885628,0.902764,-0.026018,-0.075956,0.422577
8,3,158720,24,obj,1,"005_7up can_1","put bread on newspaper",-0.091682,-0.081524,0.885636,0.885228,0.104227,-0.264945,0.367849
8,3,158720,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075005,0.869490,1.000000,0.000179,0.000874,0.000423
8,3,158720,24,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075003,0.870421,1.000000,-0.000212,-0.000807,0.000008
8,3,158720,24,gripper,0,"","put bread on newspaper",-0.019016,0.010374,0.952683,-0.102813,-0.793255,-0.165331,0.576925
8,3,158720,25,obj,0,"003_bread_1","put bread on newspaper",-0.229366,0.092014,0.883523,0.391875,0.012084,-0.003249,0.919933
8,3,158720,25,obj,1,"005_7up can_1","put bread on newspaper",-0.058788,-0.028530,0.888665,0.487107,0.135807,-0.071700,0.859734
8,3,158720,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,0.045282,0.869490,1.000000,0.000179,0.000874,0.000429
8,3,158720,25,recep,1,"003_carpet_1","put bread on newspaper",-0.067345,-0.061068,0.870414,0.999189,-0.000859,-0.001418,-0.040225
8,3,158720,25,gripper,0,"","put bread on newspaper",-0.240557,0.084638,0.933795,0.120183,-0.760171,0.021921,0.638135
8,3,158720,26,obj,0,"003_bread_1","put bread on newspaper",-0.196064,0.086515,0.883544,0.621733,0.010941,-0.006363,0.783127
8,3,158720,26,obj,1,"005_7up can_1","put bread on newspaper",-0.159664,-0.034767,0.886095,0.659805,-0.189184,0.192976,0.701162
8,3,158720,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.080105,0.072689,0.869490,0.998161,0.000126,0.000883,0.060617
8,3,158720,26,recep,1,"003_carpet_1","put bread on newspaper",-0.236233,-0.044399,0.870462,0.999964,0.000030,-0.000166,0.008518
8,3,158720,26,gripper,0,"","put bread on newspaper",-0.157509,-0.043112,0.941007,0.018425,-0.767818,0.012010,0.640290
8,3,158720,27,obj,0,"003_bread_1","put bread on newspaper",-0.206112,0.048323,0.886479,0.771129,0.015564,-0.006219,0.636458
8,3,158720,27,obj,1,"005_7up can_1","put bread on newspaper",-0.089991,0.233934,0.885986,-0.113998,0.691988,-0.705149,-0.104509
8,3,158720,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.085001,0.074997,0.869490,1.000000,0.000180,0.000875,0.000050
8,3,158720,27,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074999,0.870453,0.999998,0.001568,0.001265,0.000005
8,3,158720,27,gripper,0,"","put bread on newspaper",-0.005526,0.115684,0.933769,0.156018,-0.764611,0.093280,0.618326
8,3,158720,28,obj,0,"003_bread_1","put bread on carpet",-0.237131,0.079615,0.883544,0.999554,0.002166,-0.012477,0.027052
8,3,158720,28,obj,1,"005_7up can_1","put bread on carpet",-0.112131,0.000454,0.885615,0.984609,-0.017890,0.153953,0.080775
8,3,158720,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
8,3,158720,28,recep,1,"003_carpet_1","put bread on carpet",-0.085012,0.075024,0.870448,1.000000,-0.000104,-0.000138,-0.000170
8,3,158720,28,gripper,0,"","put bread on carpet",-0.123278,-0.027272,0.944838,0.013826,-0.784816,-0.019297,0.619274
8,3,158720,29,obj,0,"003_bread_1","put bread on carpet",-0.085365,-0.076044,0.883544,0.407252,0.012184,-0.003439,0.913228
8,3,158720,29,obj,1,"005_7up can_1","put bread on carpet",-0.191341,-0.201178,0.885766,0.512046,-0.477305,0.408243,0.585941
8,3,158720,29,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.075001,0.869490,1.000000,0.000179,0.000874,-0.000004
8,3,158720,29,recep,1,"003_carpet_1","put bread on carpet",-0.234999,-0.044994,0.870446,0.999991,-0.003114,-0.002734,0.000023
8,3,158720,29,gripper,0,"","put bread on carpet",-0.114100,-0.082077,0.983390,0.085619,-0.772959,0.008640,0.628593
8,3,158720,30,obj,0,"003_bread_1","put bread on carpet",-0.098152,0.051882,0.886532,0.957325,-0.002464,-0.009336,-0.288853
8,3,158720,30,obj,1,"005_7up can_1","put bread on carpet",-0.098274,-0.077497,0.885687,0.915075,-0.001674,-0.403141,-0.010556
8,3,158720,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
8,3,158720,30,recep,1,"003_carpet_1","put bread on carpet",-0.115009,0.045057,0.870447,0.999998,-0.001366,-0.001226,-0.000082
8,3,158720,30,gripper,0,"","put bread on carpet",-0.100616,-0.081645,0.946352,-0.079660,-0.763898,-0.063795,0.637216
8,3,158720,31,obj,0,"003_bread_1","put bread on carpet",-0.059128,0.089331,0.883544,0.985768,-0.000307,-0.012657,-0.167636
8,3,158720,31,obj,1,"005_7up can_1","put bread on carpet",-0.237480,0.083479,0.885633,0.993911,0.004876,-0.108345,0.019463
8,3,158720,31,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
8,3,158720,31,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
8,3,158720,31,gripper,0,"","put bread on carpet",-0.137733,-0.017445,1.002778,-0.036819,-0.734718,-0.006135,0.677345
8,3,158720,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.212616,-0.084638,0.887553,0.382302,-0.022067,0.012368,0.923691
8,3,158720,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084656,0.075324,0.878547,0.382121,0.003188,0.013073,0.924014
8,3,158720,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000025
8,3,158720,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
8,3,158720,32,gripper,0,"","put banana on sheet metal",-0.034058,0.074233,0.981195,0.192518,-0.773052,0.186938,0.574788
8,3,158720,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.247234,-0.067205,0.887174,0.999509,-0.009063,0.029682,-0.004315
8,3,158720,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
8,3,158720,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
8,3,158720,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,3,158720,33,gripper,0,"","put banana on sheet metal",-0.046440,0.089636,0.980595,0.021779,-0.783501,0.041393,0.619627
8,3,158720,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206005,0.046184,0.887529,0.383520,-0.039915,0.016594,0.922520
8,3,158720,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234692,-0.074684,0.878547,0.382186,0.003195,0.013092,0.923987
8,3,158720,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
8,3,158720,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,3,158720,34,gripper,0,"","put banana on sheet metal",-0.165386,-0.031509,1.003506,0.017000,-0.699954,0.011435,0.713894
8,3,158720,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.214241,-0.038005,0.887379,0.922715,-0.010549,0.020051,0.384815
8,3,158720,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011496,0.006986,0.383039
8,3,158720,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
8,3,158720,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
8,3,158720,35,gripper,0,"","put banana on sheet metal",-0.082091,-0.042149,1.030468,0.358387,-0.787901,0.118345,0.486586
8,3,158720,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236105,-0.067150,0.887529,0.331190,-0.040776,0.014326,0.942574
8,3,158720,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204717,0.045297,0.878547,0.382369,0.003189,0.013064,0.923912
8,3,158720,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
8,3,158720,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
8,3,158720,36,gripper,0,"","put banana on flat bowl",-0.052280,0.033990,1.012523,0.122748,-0.732933,-0.022509,0.668757
8,3,158720,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089666,-0.081909,0.887230,0.373406,-0.011558,0.010477,0.927537
8,3,158720,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204710,0.045297,0.878547,0.382337,0.003207,0.013108,0.923924
8,3,158720,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
8,3,158720,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
8,3,158720,37,gripper,0,"","put banana on flat bowl",-0.060764,0.064197,1.012724,0.055645,-0.743597,0.000060,0.666308
8,3,158720,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.206005,0.046184,0.887529,0.383520,-0.039915,0.016594,0.922520
8,3,158720,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
8,3,158720,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
8,3,158720,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
8,3,158720,38,gripper,0,"","put banana on flat bowl",-0.054960,-0.016312,1.002122,0.227598,-0.716825,0.262224,0.604648
8,3,158720,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122231,-0.083975,0.887232,0.382643,-0.026370,0.019432,0.923315
8,3,158720,39,obj,1,"013_banana_1","put banana on flat bowl",-0.234715,-0.044707,0.878548,0.382233,0.003199,0.013096,0.923968
8,3,158720,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
8,3,158720,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
8,3,158720,39,gripper,0,"","put banana on flat bowl",-0.112392,-0.003404,1.019268,-0.044166,-0.759266,0.056851,0.646786
8,3,158720,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093468,0.080095,0.887383,0.921003,-0.006177,0.013091,0.389286
8,3,158720,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.204681,-0.075304,0.878547,0.924184,0.011507,0.006970,0.381711
8,3,158720,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074957,0.871344,0.999999,-0.000158,0.001164,0.000062
8,3,158720,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
8,3,158720,40,gripper,0,"","put carrot on sheet metal",-0.023033,0.092912,0.979969,0.436964,-0.722245,0.310205,0.437261
8,3,158720,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092434,-0.077354,0.887535,0.758827,-0.021862,0.023123,0.650515
8,3,158720,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
8,3,158720,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
8,3,158720,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
8,3,158720,41,gripper,0,"","put carrot on sheet metal",-0.036839,-0.048490,0.998169,-0.064433,-0.772545,-0.083767,0.626103
8,3,158720,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.213650,-0.068590,0.887534,0.920882,-0.007518,0.023974,0.389031
8,3,158720,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
8,3,158720,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
8,3,158720,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
8,3,158720,42,gripper,0,"","put carrot on sheet metal",-0.019012,0.069179,1.051229,-0.002321,-0.810876,-0.024202,0.584713
8,3,158720,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.242271,0.069170,0.887343,0.252180,-0.033565,0.004011,0.967090
8,3,158720,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114691,0.045334,0.878547,0.383270,0.003205,0.013074,0.923538
8,3,158720,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.074993,0.871344,0.999999,-0.000157,0.001164,0.000012
8,3,158720,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
8,3,158720,43,gripper,0,"","put carrot on sheet metal",-0.117591,-0.027786,1.039797,-0.116147,-0.805574,-0.092658,0.573563
8,3,158720,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204265,0.076860,0.887528,0.917956,-0.017060,0.039707,0.394320
8,3,158720,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,-0.075308,0.878547,0.923619,0.011487,0.006981,0.383075
8,3,158720,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204993,-0.075006,0.871344,0.999999,-0.000157,0.001164,0.000008
8,3,158720,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
8,3,158720,44,gripper,0,"","put carrot on flat bowl",-0.053189,0.103430,1.027445,0.236653,-0.717309,0.169428,0.633054
8,3,158720,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.211685,-0.084042,0.887320,0.367599,-0.023011,0.013885,0.929596
8,3,158720,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074663,0.878547,0.383676,0.003200,0.013039,0.923370
8,3,158720,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
8,3,158720,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000484
8,3,158720,45,gripper,0,"","put carrot on flat bowl",-0.116156,0.020046,1.035335,0.248466,-0.681277,0.320954,0.609193
8,3,158720,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092434,-0.077354,0.887535,0.758827,-0.021862,0.023123,0.650515
8,3,158720,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.204552,0.075026,0.878546,0.707918,0.007954,0.010825,0.706167
8,3,158720,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
8,3,158720,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
8,3,158720,46,gripper,0,"","put carrot on flat bowl",-0.032770,0.082909,0.998131,0.199458,-0.742947,0.263313,0.582162
8,3,158720,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237408,-0.074837,0.887528,0.674593,-0.031876,0.029177,0.736924
8,3,158720,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074986,0.878547,0.707979,0.007950,0.010822,0.706105
8,3,158720,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
8,3,158720,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
8,3,158720,47,gripper,0,"","put carrot on flat bowl",-0.177155,-0.059568,0.998474,-0.084771,-0.713326,-0.043331,0.694336
8,3,158720,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.067444,0.013783,0.957350,0.860476,-0.027246,-0.048727,0.506423
8,3,158720,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.213287,-0.043671,0.887027,0.636895,-0.317611,0.634671,0.301131
8,3,158720,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,3,158720,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205002,0.044987,0.870870,1.000000,0.000001,-0.000000,-0.000057
8,3,158720,48,gripper,0,"","put plastic bottle on frying pan",-0.068596,0.006676,1.009336,0.090040,-0.828778,0.010948,0.552178
8,3,158720,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.112122,-0.007175,0.888112,0.995941,-0.022038,0.016519,-0.085687
8,3,158720,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.184841,0.045818,0.891010,0.267554,-0.022434,0.963201,0.012465
8,3,158720,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000448
8,3,158720,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
8,3,158720,49,gripper,0,"","put plastic bottle on frying pan",-0.145634,-0.015713,0.943552,0.003560,-0.800088,-0.050205,0.597767
8,3,158720,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.201210,0.058113,0.888112,0.999036,-0.023849,0.013763,0.034187
8,3,158720,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.085629,-0.044205,0.887027,0.704495,-0.017013,0.709504,0.001155
8,3,158720,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,3,158720,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
8,3,158720,50,gripper,0,"","put plastic bottle on frying pan",-0.065691,-0.023861,0.947288,0.067473,-0.772106,0.031869,0.631097
8,3,158720,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235962,-0.074402,0.888112,0.714377,-0.026894,-0.005935,0.699219
8,3,158720,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206299,0.105156,0.889773,0.025295,-0.714596,0.698493,0.028627
8,3,158720,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
8,3,158720,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
8,3,158720,51,gripper,0,"","put plastic bottle on frying pan",-0.003135,0.110121,0.995552,0.074108,-0.852747,-0.008463,0.516971
8,3,158720,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.081102,-0.009342,0.892274,0.977362,0.188001,0.018796,0.095211
8,3,158720,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186384,-0.019882,0.887026,0.634920,-0.321740,0.632589,0.305273
8,3,158720,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
8,3,158720,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234995,0.074993,0.870870,1.000000,-0.000000,-0.000001,0.000014
8,3,158720,52,gripper,0,"","put plastic bottle on cutting board",-0.086357,0.002710,0.990166,0.046274,-0.847008,0.026068,0.528920
8,3,158720,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.127705,0.081898,0.888112,0.407187,-0.022825,-0.015409,0.912930
8,3,158720,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.226387,-0.055244,0.887026,0.268315,-0.662091,0.255575,0.651401
8,3,158720,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000055
8,3,158720,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235039,0.044994,0.870870,1.000000,0.000000,-0.000001,-0.000104
8,3,158720,53,gripper,0,"","put plastic bottle on cutting board",-0.216291,-0.057787,0.958783,0.060746,-0.784568,0.026316,0.616499
8,3,158720,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.076595,0.035213,0.895525,0.899602,-0.075611,-0.091094,0.420358
8,3,158720,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.213806,-0.023163,0.887026,0.650974,-0.285923,0.649561,0.269355
8,3,158720,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,0.000000,0.000001
8,3,158720,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074997,0.870858,1.000000,0.000461,0.000697,-0.000067
8,3,158720,54,gripper,0,"","put plastic bottle on cutting board",-0.181265,-0.023960,0.978261,0.159815,-0.683609,0.177463,0.689670
8,3,158720,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.316147,0.081871,0.021786,-0.371141,0.813498,0.269553,-0.357516
8,3,158720,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.029510,-0.017555,0.953963,0.451442,-0.544770,0.581572,0.401496
8,3,158720,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
8,3,158720,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114895,0.075005,0.870870,1.000000,-0.000000,-0.000001,0.000069
8,3,158720,55,gripper,0,"","put plastic bottle on cutting board",-0.026478,-0.021931,0.992092,0.087172,-0.784475,0.000135,0.614003
8,3,158720,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.207268,-0.075203,0.888112,0.998742,-0.023959,0.013582,0.041898
8,3,158720,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.042961,0.086452,0.887027,0.704333,-0.031138,0.709024,0.015182
8,3,158720,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,3,158720,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000067
8,3,158720,56,gripper,0,"","put hamburger on frying pan",-0.080582,-0.064539,0.992592,-0.051415,-0.803346,-0.052471,0.590964
8,3,158720,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.169643,0.046772,0.890201,0.974592,-0.039595,0.119622,-0.185182
8,3,158720,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055531,-0.074196,0.887026,0.704496,-0.016624,0.709513,0.000769
8,3,158720,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,3,158720,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235023,0.075287,0.870883,0.999999,0.000700,0.000715,0.001275
8,3,158720,57,gripper,0,"","put hamburger on frying pan",-0.036945,-0.086048,0.954968,0.057559,-0.761167,0.041857,0.644639
8,3,158720,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.088890,-0.020744,0.890449,0.305354,-0.020663,-0.015147,0.951894
8,3,158720,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256130,-0.055054,0.887026,0.267619,-0.662367,0.254871,0.651683
8,3,158720,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
8,3,158720,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.110977,-0.041351,0.870840,0.999984,-0.000020,0.000327,-0.005570
8,3,158720,58,gripper,0,"","put hamburger on frying pan",-0.133577,-0.068840,0.916327,-0.038019,-0.792017,-0.057680,0.606578
8,3,158720,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236092,0.074776,0.888112,0.388304,-0.022505,-0.015874,0.921120
8,3,158720,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.156054,-0.013527,0.888223,0.454020,-0.551779,0.522240,0.465479
8,3,158720,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
8,3,158720,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233799,-0.075321,0.870869,0.999933,0.000001,-0.000000,-0.011562
8,3,158720,59,gripper,0,"","put hamburger on frying pan",-0.041060,0.062164,0.968171,0.149599,-0.795022,0.032113,0.586966
8,3,158720,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086391,0.032551,0.896402,0.645152,-0.028579,-0.011406,0.763435
8,3,158720,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256146,-0.055058,0.887026,0.267087,-0.662573,0.254328,0.651904
8,3,158720,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115004,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000010
8,3,158720,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
8,3,158720,60,gripper,0,"","put hamburger on cutting board",-0.097761,0.061340,1.023642,0.015319,-0.770458,-0.001531,0.637305
8,3,158720,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082525,0.076138,0.888112,0.728919,-0.027013,-0.005367,0.684046
8,3,158720,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.192560,-0.062897,0.888525,0.687429,-0.020804,0.008612,0.725903
8,3,158720,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
8,3,158720,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233923,-0.074898,0.870859,0.999991,0.000712,0.000514,0.004036
8,3,158720,61,gripper,0,"","put hamburger on cutting board",-0.051324,-0.041449,1.037458,-0.044526,-0.793489,-0.077024,0.602046
8,3,158720,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086121,-0.052418,0.895688,0.215350,0.024156,-0.057736,0.974529
8,3,158720,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256359,0.094933,0.887026,0.266291,-0.662884,0.253519,0.652229
8,3,158720,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084984,-0.074989,0.872199,1.000000,-0.000001,-0.000001,-0.000036
8,3,158720,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
8,3,158720,62,gripper,0,"","put hamburger on cutting board",-0.064671,-0.054140,0.994234,0.099095,-0.800753,0.094710,0.583099
8,3,158720,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205936,-0.074409,0.888112,0.713403,-0.026884,-0.005968,0.700212
8,3,158720,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.206554,0.067944,0.889604,0.550363,-0.451807,0.549351,0.437247
8,3,158720,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
8,3,158720,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235500,0.074936,0.870884,0.999989,0.000708,0.000715,-0.004509
8,3,158720,63,gripper,0,"","put hamburger on cutting board",-0.109396,-0.000902,1.124073,0.071109,-0.802454,-0.006793,0.592423
8,4,163840,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.089996,-0.091339,0.885209,-0.185002,-0.715486,0.640779,-0.207982
8,4,163840,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084396,0.074242,0.881638,0.382301,0.034442,-0.019074,0.923198
8,4,163840,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085014,-0.075005,0.869533,1.000000,0.000000,-0.000000,0.000026
8,4,163840,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235657,0.047028,0.871288,0.999926,-0.000166,-0.001017,-0.012101
8,4,163840,0,gripper,0,"","put kitchen shovel on cloth",-0.172226,-0.041382,0.935244,0.011571,-0.847000,-0.002161,0.531463
8,4,163840,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.170330,-0.098808,0.885172,0.401622,0.598267,-0.512780,0.466726
8,4,163840,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.190292,-0.078346,0.891565,0.614294,-0.236361,0.162662,0.735063
8,4,163840,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205597,-0.076080,0.869532,0.999721,-0.000000,-0.000001,0.023629
8,4,163840,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235027,0.075027,0.871288,1.000000,-0.000154,-0.001019,0.000051
8,4,163840,1,gripper,0,"","put kitchen shovel on cloth",-0.227360,-0.016052,0.919576,0.123015,-0.808113,0.083663,0.569930
8,4,163840,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.089039,-0.024887,0.885122,0.365030,0.631820,-0.445868,0.518418
8,4,163840,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084389,0.074280,0.881638,0.382136,0.034405,-0.019050,0.923269
8,4,163840,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114998,-0.044991,0.869532,1.000000,0.000000,-0.000001,0.000488
8,4,163840,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000300
8,4,163840,2,gripper,0,"","put kitchen shovel on cloth",-0.189672,-0.056957,0.979229,-0.170749,-0.712278,-0.167360,0.659920
8,4,163840,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091827,0.068367,0.879089,0.816746,0.178348,-0.427350,0.344222
8,4,163840,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.170385,-0.006989,0.885774,0.708228,0.027196,0.059610,0.702936
8,4,163840,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000040
8,4,163840,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235210,-0.044853,0.871288,0.999996,-0.000151,-0.001020,0.002668
8,4,163840,3,gripper,0,"","put kitchen shovel on cloth",-0.225962,-0.030273,0.972621,0.040054,-0.732023,0.036883,0.679101
8,4,163840,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067925,-0.047417,0.884978,0.504934,-0.481031,0.438793,0.566666
8,4,163840,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084890,0.076637,0.881638,0.999193,-0.004767,-0.039043,-0.008203
8,4,163840,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075012,0.869532,1.000000,-0.000000,0.000000,0.000545
8,4,163840,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205012,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000102
8,4,163840,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.122228,-0.047497,1.051434,-0.034018,-0.809628,-0.069018,0.581878
8,4,163840,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.050709,0.100441,0.885369,0.764403,-0.163876,0.224822,0.581625
8,4,163840,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084417,-0.075737,0.881638,0.382230,0.034407,-0.019058,0.923230
8,4,163840,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000011
8,4,163840,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205004,-0.045006,0.871288,0.999999,-0.000157,-0.001022,-0.000056
8,4,163840,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.195979,-0.051579,0.956867,-0.077277,-0.788518,-0.141310,0.593549
8,4,163840,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.150120,0.076836,0.885112,0.075723,-0.644231,0.758413,0.063585
8,4,163840,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081882,-0.077316,0.881638,0.358365,0.034918,-0.018175,0.932751
8,4,163840,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.201820,0.046463,0.869532,0.998905,0.000000,-0.000001,0.046780
8,4,163840,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000110
8,4,163840,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.148121,0.034416,1.108926,-0.020224,-0.857310,0.016947,0.514124
8,4,163840,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.079239,-0.099937,0.885114,-0.064806,0.753835,-0.649629,-0.074263
8,4,163840,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.236439,-0.079742,0.881631,0.386016,0.035827,-0.019680,0.921586
8,4,163840,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074989,0.869532,1.000000,0.000001,-0.000000,0.000001
8,4,163840,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205948,0.077911,0.871282,0.999756,-0.000422,-0.001274,0.022065
8,4,163840,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.242384,-0.069855,0.932259,0.018389,-0.791454,0.001831,0.610949
8,4,163840,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156898,-0.062637,0.879755,0.920426,-0.041496,0.376195,0.097830
8,4,163840,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.083961,-0.074192,0.881641,0.925637,-0.019153,0.035315,0.376273
8,4,163840,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000052
8,4,163840,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235023,0.045002,0.871288,0.999999,-0.000153,-0.001019,0.000592
8,4,163840,8,gripper,0,"","put ketchup bottle on cloth",-0.199795,-0.072737,0.914986,0.045514,-0.827274,-0.002634,0.559946
8,4,163840,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.207172,-0.060902,0.885083,0.599463,0.339574,-0.313862,0.653317
8,4,163840,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082062,0.083237,0.881638,0.404783,0.033970,-0.019907,0.913565
8,4,163840,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234982,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000121
8,4,163840,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205837,0.075703,0.871289,0.999998,-0.000155,-0.001019,-0.001557
8,4,163840,9,gripper,0,"","put ketchup bottle on cloth",-0.113853,0.049145,0.951640,0.046067,-0.856629,-0.063345,0.509952
8,4,163840,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.108932,-0.045979,0.885372,0.631219,-0.205618,0.186830,0.724140
8,4,163840,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.216587,-0.060135,0.881638,0.956569,0.007042,-0.038701,0.288840
8,4,163840,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115005,-0.044994,0.869532,1.000000,-0.000000,-0.000000,-0.000031
8,4,163840,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
8,4,163840,10,gripper,0,"","put ketchup bottle on cloth",-0.181526,-0.054348,0.959949,-0.007159,-0.903331,-0.080862,0.421194
8,4,163840,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.186142,-0.036720,0.935111,0.681279,-0.247878,0.273375,0.632204
8,4,163840,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.122213,-0.077713,0.888472,0.684879,-0.020680,0.032061,0.727657
8,4,163840,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084761,-0.075077,0.869710,0.999994,0.001360,0.002680,0.001906
8,4,163840,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.194227,-0.081982,0.871288,0.999968,-0.000162,-0.001018,-0.007935
8,4,163840,11,gripper,0,"","put ketchup bottle on cloth",-0.208882,-0.038080,0.973996,0.061260,-0.811576,0.013287,0.580874
8,4,163840,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.141077,-0.116432,0.879821,0.934941,-0.038924,0.097006,0.339056
8,4,163840,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.112979,0.078171,0.889086,0.750699,-0.027850,-0.039753,0.658858
8,4,163840,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.107709,-0.049389,0.869532,0.999931,0.000001,-0.000001,-0.011755
8,4,163840,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.081844,0.072247,0.871288,0.999913,-0.000140,-0.001021,0.013180
8,4,163840,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.195262,-0.093470,0.934796,-0.081763,-0.794992,-0.086099,0.594887
8,4,163840,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.203276,0.069878,0.885084,0.696455,0.285161,-0.364938,0.548137
8,4,163840,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083237,-0.069012,0.884086,0.692007,0.014185,0.035633,0.720871
8,4,163840,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235006,0.075001,0.869532,1.000000,-0.000000,-0.000001,-0.000009
8,4,163840,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205004,-0.045006,0.871288,1.000000,-0.000156,-0.001020,-0.000037
8,4,163840,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.168067,0.010239,1.111577,0.080748,-0.828884,0.080246,0.547716
8,4,163840,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199902,0.048073,0.885370,0.728817,-0.176977,0.214953,0.625539
8,4,163840,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.113625,0.079479,0.881641,0.932471,-0.018501,0.035683,0.359002
8,4,163840,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234997,0.044994,0.869532,1.000000,0.000000,-0.000000,-0.000133
8,4,163840,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
8,4,163840,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.127869,-0.064117,1.007209,-0.062550,-0.750250,-0.091795,0.651757
8,4,163840,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.089497,0.078281,0.879374,0.416910,0.082020,-0.032417,0.904659
8,4,163840,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.193195,0.044659,0.881642,0.432978,-0.037931,0.013303,0.900508
8,4,163840,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234676,-0.076336,0.869532,0.999888,-0.000001,-0.000000,-0.014991
8,4,163840,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
8,4,163840,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.239120,-0.027834,0.964110,-0.017391,-0.802622,-0.037981,0.595023
8,4,163840,16,obj,0,"003_bread_1","put 7up can on carpet",-0.079979,-0.014130,0.885685,0.383033,-0.001330,0.073553,0.920801
8,4,163840,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.234398,0.054264,0.885675,0.640880,0.264922,-0.246805,0.676887
8,4,163840,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085075,-0.075054,0.869490,0.999999,0.000179,0.000874,0.000844
8,4,163840,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.114998,0.077515,0.870418,0.999976,-0.000753,-0.001380,0.006787
8,4,163840,16,gripper,0,"","put 7up can on carpet",-0.211411,0.043364,0.968217,0.076640,-0.738163,0.029234,0.669617
8,4,163840,17,obj,0,"003_bread_1","put 7up can on carpet",-0.080605,-0.068653,0.883591,0.404730,0.009079,-0.000369,0.914391
8,4,163840,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.140709,0.191547,0.885855,0.425242,0.575581,-0.523855,0.462009
8,4,163840,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
8,4,163840,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.111027,0.048626,0.870447,0.999990,-0.003118,-0.002729,-0.001414
8,4,163840,17,gripper,0,"","put 7up can on carpet",-0.095819,-0.066055,0.928652,-0.018823,-0.760100,0.022713,0.649136
8,4,163840,18,obj,0,"003_bread_1","put 7up can on carpet",-0.201283,0.083836,0.883544,0.369820,0.012313,-0.002941,0.929017
8,4,163840,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.136776,-0.019711,0.885885,0.221610,0.767790,-0.370183,0.473658
8,4,163840,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204987,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000086
8,4,163840,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074947,0.870352,0.999998,-0.000341,-0.001671,-0.000184
8,4,163840,18,gripper,0,"","put 7up can on carpet",-0.154339,-0.046614,1.012831,-0.019845,-0.690536,-0.040617,0.721884
8,4,163840,19,obj,0,"003_bread_1","put 7up can on carpet",-0.065708,-0.045364,0.883544,0.341108,0.012397,-0.002556,0.939939
8,4,163840,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.114952,0.061600,0.888591,0.440365,0.517541,-0.333090,0.653668
8,4,163840,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114738,0.044956,0.869490,0.999999,0.000181,0.000873,-0.001189
8,4,163840,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.204950,-0.074589,0.870368,0.999984,0.000185,-0.001147,0.005587
8,4,163840,19,gripper,0,"","put 7up can on carpet",-0.067832,-0.046486,0.942870,0.031926,-0.773610,0.007909,0.632808
8,4,163840,20,obj,0,"003_bread_1","put bread on newspaper",-0.205127,0.089386,0.883544,0.486193,0.011840,-0.004495,0.873760
8,4,163840,20,obj,1,"005_7up can_1","put bread on newspaper",-0.188285,-0.037796,0.888590,0.525016,-0.468602,0.505079,0.499665
8,4,163840,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
8,4,163840,20,recep,1,"003_carpet_1","put bread on newspaper",-0.235030,-0.044952,0.870460,1.000000,0.000019,-0.000160,0.000546
8,4,163840,20,gripper,0,"","put bread on newspaper",-0.111109,-0.000639,1.118137,0.019911,-0.711059,0.030806,0.702175
8,4,163840,21,obj,0,"003_bread_1","put bread on newspaper",-0.066458,0.045662,0.886469,0.882837,0.010477,-0.007741,0.469498
8,4,163840,21,obj,1,"005_7up can_1","put bread on newspaper",-0.079720,0.042191,0.961258,0.217058,-0.607697,0.720407,0.254173
8,4,163840,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.204933,0.075005,0.869490,1.000000,0.000180,0.000874,0.000128
8,4,163840,21,recep,1,"003_carpet_1","put bread on newspaper",-0.084932,0.045101,0.870460,1.000000,0.000019,-0.000158,-0.000368
8,4,163840,21,gripper,0,"","put bread on newspaper",-0.080946,0.040203,1.002146,0.066788,-0.729837,0.031404,0.679625
8,4,163840,22,obj,0,"003_bread_1","put bread on newspaper",-0.166531,-0.012558,0.883570,0.613777,0.014135,-0.009156,0.789300
8,4,163840,22,obj,1,"005_7up can_1","put bread on newspaper",-0.150993,0.114967,0.885747,0.581299,-0.413829,0.419397,0.561198
8,4,163840,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
8,4,163840,22,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
8,4,163840,22,gripper,0,"","put bread on newspaper",-0.163347,-0.017885,0.936873,0.087434,-0.739309,0.042007,0.666343
8,4,163840,23,obj,0,"003_bread_1","put bread on newspaper",-0.179581,-0.052475,0.885677,0.291135,0.091140,0.022475,0.952065
8,4,163840,23,obj,1,"005_7up can_1","put bread on newspaper",-0.244770,0.125195,0.886107,0.019354,0.778043,-0.627678,0.017164
8,4,163840,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085018,0.045002,0.869490,1.000000,0.000179,0.000874,0.000053
8,4,163840,23,recep,1,"003_carpet_1","put bread on newspaper",-0.235069,-0.044956,0.870462,1.000000,0.000037,-0.000158,0.000706
8,4,163840,23,gripper,0,"","put bread on newspaper",-0.077600,-0.012674,0.985384,-0.006797,-0.743489,0.016084,0.668521
8,4,163840,24,obj,0,"003_bread_1","put bread on carpet",-0.135223,0.078405,0.885626,0.903430,-0.025973,-0.076107,0.421126
8,4,163840,24,obj,1,"005_7up can_1","put bread on carpet",-0.091682,-0.081545,0.885636,0.885277,0.104193,-0.264965,0.367727
8,4,163840,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000487
8,4,163840,24,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.074924,0.870368,0.999998,0.000191,-0.001154,0.001514
8,4,163840,24,gripper,0,"","put bread on carpet",-0.110664,0.078871,0.976907,0.155704,-0.711818,0.087186,0.679316
8,4,163840,25,obj,0,"003_bread_1","put bread on carpet",-0.125820,-0.012299,0.885338,0.519263,0.054456,-0.048861,0.851477
8,4,163840,25,obj,1,"005_7up can_1","put bread on carpet",-0.046921,-0.023260,0.888666,0.504839,0.134180,-0.074503,0.849460
8,4,163840,25,recep,0,"004_newspaper_1","put bread on carpet",-0.114960,0.053890,0.869490,0.999768,0.000161,0.000877,0.021502
8,4,163840,25,recep,1,"003_carpet_1","put bread on carpet",-0.057510,-0.054367,0.870415,0.997233,-0.000889,-0.001368,-0.074318
8,4,163840,25,gripper,0,"","put bread on carpet",-0.119743,-0.006438,0.988831,0.020882,-0.760973,0.047158,0.646730
8,4,163840,26,obj,0,"003_bread_1","put bread on carpet",-0.194107,0.091137,0.883544,0.626402,0.010905,-0.006432,0.779398
8,4,163840,26,obj,1,"005_7up can_1","put bread on carpet",-0.159664,-0.034798,0.886096,0.661032,-0.189449,0.194004,0.699649
8,4,163840,26,recep,0,"004_newspaper_1","put bread on carpet",-0.080105,0.072689,0.869490,0.998162,0.000126,0.000884,0.060595
8,4,163840,26,recep,1,"003_carpet_1","put bread on carpet",-0.236233,-0.044399,0.870462,0.999964,0.000033,-0.000163,0.008502
8,4,163840,26,gripper,0,"","put bread on carpet",-0.116302,-0.087323,1.014093,-0.033540,-0.770292,-0.017922,0.636557
8,4,163840,27,obj,0,"003_bread_1","put bread on carpet",-0.206116,0.048325,0.886487,0.772280,0.015353,-0.006312,0.635066
8,4,163840,27,obj,1,"005_7up can_1","put bread on carpet",-0.089991,0.233934,0.885986,-0.113995,0.691993,-0.705145,-0.104508
8,4,163840,27,recep,0,"004_newspaper_1","put bread on carpet",-0.085001,0.074997,0.869490,1.000000,0.000180,0.000875,0.000058
8,4,163840,27,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074999,0.870453,0.999998,0.001568,0.001265,0.000010
8,4,163840,27,gripper,0,"","put bread on carpet",-0.151471,0.028514,1.107888,0.047021,-0.837452,0.079095,0.538709
8,4,163840,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.237131,0.079615,0.883544,0.999554,0.002166,-0.012477,0.027052
8,4,163840,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.123281,0.020445,0.885637,0.938186,0.050584,-0.143930,0.310698
8,4,163840,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
8,4,163840,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.089757,0.084215,0.870460,0.997069,0.000006,-0.000159,-0.076501
8,4,163840,28,gripper,0,"","put 7up can on newspaper",-0.076487,0.011068,0.971824,-0.042113,-0.774025,-0.032470,0.630918
8,4,163840,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.116682,-0.061712,0.961410,0.443454,0.002408,0.008969,0.896249
8,4,163840,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.191341,-0.201178,0.885766,0.512049,-0.477304,0.408250,0.585934
8,4,163840,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075001,0.869490,1.000000,0.000179,0.000873,-0.000005
8,4,163840,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234999,-0.044994,0.870446,0.999991,-0.003114,-0.002734,0.000023
8,4,163840,29,gripper,0,"","put 7up can on newspaper",-0.122589,-0.057526,1.003916,-0.004629,-0.765161,0.061927,0.640837
8,4,163840,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.098141,0.051872,0.886533,0.957505,-0.002462,-0.009353,-0.288254
8,4,163840,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.094078,-0.077375,0.885636,0.958564,-0.008338,-0.284587,-0.009832
8,4,163840,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
8,4,163840,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115009,0.045076,0.870448,0.999998,-0.001376,-0.001236,-0.000135
8,4,163840,30,gripper,0,"","put 7up can on newspaper",-0.095348,-0.063382,0.976415,-0.174684,-0.730544,-0.116452,0.649792
8,4,163840,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.059128,0.089331,0.883544,0.985763,-0.000306,-0.012653,-0.167662
8,4,163840,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.237480,0.083479,0.885633,0.993911,0.004876,-0.108343,0.019459
8,4,163840,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000074
8,4,163840,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
8,4,163840,31,gripper,0,"","put 7up can on newspaper",-0.200546,0.078698,0.975455,0.081863,-0.689884,0.050341,0.717512
8,4,163840,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214905,-0.088240,0.887446,0.396827,-0.022366,0.009469,0.917572
8,4,163840,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084656,0.075324,0.878547,0.382121,0.003192,0.013084,0.924014
8,4,163840,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
8,4,163840,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000000,-0.000000
8,4,163840,32,gripper,0,"","put banana on flat bowl",-0.041470,0.091468,0.982557,0.114696,-0.761770,0.096638,0.630247
8,4,163840,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247234,-0.067205,0.887174,0.999509,-0.009064,0.029681,-0.004315
8,4,163840,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
8,4,163840,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
8,4,163840,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
8,4,163840,33,gripper,0,"","put banana on flat bowl",-0.034271,0.089076,1.003228,0.220520,-0.695462,0.179700,0.659858
8,4,163840,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.206005,0.046184,0.887529,0.383520,-0.039914,0.016594,0.922520
8,4,163840,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234692,-0.074685,0.878547,0.382187,0.003184,0.013057,0.923987
8,4,163840,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
8,4,163840,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
8,4,163840,34,gripper,0,"","put banana on flat bowl",-0.177448,-0.044726,0.968393,-0.097083,-0.769347,-0.007139,0.631371
8,4,163840,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.219908,-0.033792,0.887533,0.924078,-0.007781,0.024671,0.381327
8,4,163840,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011528,0.007002,0.383039
8,4,163840,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
8,4,163840,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
8,4,163840,35,gripper,0,"","put banana on flat bowl",-0.040522,-0.020174,1.002372,0.045490,-0.737683,0.029067,0.672985
8,4,163840,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236105,-0.067150,0.887529,0.331189,-0.040778,0.014326,0.942574
8,4,163840,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204717,0.045297,0.878547,0.382369,0.003192,0.013074,0.923912
8,4,163840,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
8,4,163840,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000002,0.000002
8,4,163840,36,gripper,0,"","put carrot on sheet metal",-0.200853,-0.054029,0.962628,0.111993,-0.710392,0.120258,0.684353
8,4,163840,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092047,-0.085362,0.887420,0.386899,-0.013744,0.006265,0.921998
8,4,163840,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204710,0.045296,0.878547,0.382337,0.003196,0.013073,0.923925
8,4,163840,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
8,4,163840,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
8,4,163840,37,gripper,0,"","put carrot on sheet metal",-0.024922,0.056848,0.985956,0.428972,-0.666389,0.380618,0.476486
8,4,163840,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.206005,0.046184,0.887529,0.383520,-0.039914,0.016594,0.922520
8,4,163840,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
8,4,163840,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
8,4,163840,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
8,4,163840,38,gripper,0,"","put carrot on sheet metal",-0.166607,0.049301,1.014313,0.230867,-0.690710,0.301182,0.615556
8,4,163840,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122814,-0.085963,0.887277,0.388962,-0.026365,0.004982,0.920863
8,4,163840,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003196,0.013085,0.923968
8,4,163840,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
8,4,163840,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
8,4,163840,39,gripper,0,"","put carrot on sheet metal",-0.056437,-0.055013,1.009044,-0.057882,-0.751634,-0.078557,0.652323
8,4,163840,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095650,0.081732,0.887491,0.923732,-0.009100,0.024459,0.382148
8,4,163840,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.204674,-0.075302,0.878547,0.924351,0.011511,0.006966,0.381305
8,4,163840,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074974,0.871344,0.999999,-0.000158,0.001164,0.000096
8,4,163840,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
8,4,163840,40,gripper,0,"","put carrot on flat bowl",0.002514,-0.024435,0.995082,-0.087850,-0.737077,-0.057740,0.667582
8,4,163840,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095306,-0.077477,0.887476,0.767668,-0.025237,0.032528,0.639523
8,4,163840,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075020,0.878547,0.707910,0.007968,0.010844,0.706174
8,4,163840,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
8,4,163840,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
8,4,163840,41,gripper,0,"","put carrot on flat bowl",-0.077198,-0.016289,0.999200,0.051763,-0.763856,0.124727,0.631101
8,4,163840,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.216904,-0.066496,0.887447,0.926047,-0.007981,0.018250,0.376882
8,4,163840,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
8,4,163840,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
8,4,163840,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
8,4,163840,42,gripper,0,"","put carrot on flat bowl",-0.048763,-0.049624,1.056358,0.160581,-0.792551,-0.025640,0.587724
8,4,163840,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.241753,0.068840,0.887485,0.252535,-0.040064,0.009283,0.966713
8,4,163840,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114691,0.045338,0.878548,0.383594,0.003220,0.013107,0.923403
8,4,163840,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.074991,0.871344,0.999999,-0.000158,0.001164,0.000020
8,4,163840,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
8,4,163840,43,gripper,0,"","put carrot on flat bowl",-0.135772,-0.026999,1.014877,-0.166746,-0.678245,-0.173664,0.694277
8,4,163840,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204265,0.076860,0.887528,0.917956,-0.017060,0.039707,0.394321
8,4,163840,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
8,4,163840,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204993,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000008
8,4,163840,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000000
8,4,163840,44,gripper,0,"","put banana on sheet metal",0.042697,-0.051008,0.983523,0.095242,-0.884350,0.269964,0.368747
8,4,163840,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.213833,-0.087305,0.887179,0.382151,-0.021404,0.018430,0.923668
8,4,163840,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074657,0.878547,0.384161,0.003216,0.013065,0.923168
8,4,163840,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
8,4,163840,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000658
8,4,163840,45,gripper,0,"","put banana on sheet metal",-0.029545,-0.031669,0.982392,0.103438,-0.752637,0.156132,0.631238
8,4,163840,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095306,-0.077477,0.887476,0.767668,-0.025237,0.032528,0.639523
8,4,163840,46,obj,1,"013_banana_1","put banana on sheet metal",-0.204548,0.075029,0.878547,0.708272,0.007973,0.010837,0.705811
8,4,163840,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
8,4,163840,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
8,4,163840,46,gripper,0,"","put banana on sheet metal",-0.136070,0.102685,1.002987,0.115621,-0.721465,0.071017,0.679026
8,4,163840,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237370,-0.074835,0.887529,0.672618,-0.031959,0.029098,0.738727
8,4,163840,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,-0.074982,0.878547,0.708351,0.007955,0.010818,0.705732
8,4,163840,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
8,4,163840,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
8,4,163840,47,gripper,0,"","put banana on sheet metal",-0.041477,-0.030891,0.950153,0.358917,-0.755060,0.212415,0.505908
8,4,163840,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.067268,0.008926,0.888113,0.854090,-0.027541,0.000303,0.519396
8,4,163840,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.161987,0.017372,0.893087,-0.207826,-0.645312,0.716196,-0.165661
8,4,163840,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,4,163840,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.201607,0.042854,0.870883,0.999485,0.000674,0.000732,0.032063
8,4,163840,48,gripper,0,"","put plastic bottle on cutting board",-0.197170,0.004250,0.940202,0.115242,-0.776006,-0.015607,0.619911
8,4,163840,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.112118,-0.007179,0.888112,0.995756,-0.022003,0.016566,-0.087816
8,4,163840,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.184662,0.045815,0.891018,0.270903,-0.026223,0.962158,0.013309
8,4,163840,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000720
8,4,163840,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
8,4,163840,49,gripper,0,"","put plastic bottle on cutting board",-0.099167,0.015903,0.975703,0.143601,-0.754425,0.090659,0.634037
8,4,163840,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.201221,0.058136,0.888112,0.998993,-0.023869,0.013740,0.035414
8,4,163840,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.086075,-0.042732,0.887357,0.704232,-0.015439,0.709763,-0.007437
8,4,163840,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
8,4,163840,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
8,4,163840,50,gripper,0,"","put plastic bottle on cutting board",-0.070629,-0.009754,0.949159,0.196072,-0.734380,0.154237,0.631231
8,4,163840,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235960,-0.074402,0.888112,0.715120,-0.026900,-0.005908,0.698459
8,4,163840,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.141888,0.099384,0.900187,0.020309,-0.746447,0.664647,-0.025473
8,4,163840,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
8,4,163840,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084055,0.074627,0.870870,0.999988,0.000000,-0.000001,0.004811
8,4,163840,51,gripper,0,"","put plastic bottle on cutting board",-0.163483,0.095102,0.934751,-0.013270,-0.824570,-0.057896,0.562633
8,4,163840,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.081252,-0.009350,0.892298,0.976878,0.191643,0.013359,0.093831
8,4,163840,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.200920,0.039658,0.892446,0.623498,-0.395719,0.587874,0.330244
8,4,163840,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114984,0.044994,0.872199,1.000000,-0.000001,-0.000001,0.000214
8,4,163840,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236704,0.074661,0.870883,0.999964,0.000705,0.000711,-0.008441
8,4,163840,52,gripper,0,"","put hamburger on frying pan",-0.167940,0.022945,0.999530,0.143676,-0.776227,0.162973,0.591834
8,4,163840,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.127705,0.081898,0.888112,0.407196,-0.022825,-0.015409,0.912925
8,4,163840,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.226387,-0.055244,0.887026,0.268315,-0.662092,0.255575,0.651401
8,4,163840,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000078
8,4,163840,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235048,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000128
8,4,163840,53,gripper,0,"","put hamburger on frying pan",-0.027040,-0.009253,1.012051,-0.189340,-0.866215,-0.246984,0.390923
8,4,163840,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.076595,0.035213,0.895525,0.899603,-0.075613,-0.091094,0.420356
8,4,163840,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215534,-0.022488,0.887026,0.647992,-0.292999,0.646403,0.276444
8,4,163840,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000001,-0.000000,0.000001
8,4,163840,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870858,1.000000,0.000462,0.000699,-0.000082
8,4,163840,54,gripper,0,"","put hamburger on frying pan",-0.043087,-0.000219,0.974773,0.003993,-0.728233,-0.042258,0.684014
8,4,163840,55,obj,0,"014_hamburger_1","put hamburger on frying pan",0.316143,0.081871,0.021786,-0.370797,0.813238,0.270335,-0.357873
8,4,163840,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.228027,0.067772,0.895403,0.564241,-0.437594,0.558113,0.422674
8,4,163840,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235004,0.044979,0.872199,1.000000,-0.000000,-0.000001,0.000254
8,4,163840,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114895,0.075005,0.870870,1.000000,-0.000000,-0.000000,0.000065
8,4,163840,55,gripper,0,"","put hamburger on frying pan",-0.163471,-0.000523,1.028240,0.085733,-0.764375,0.023594,0.638611
8,4,163840,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.188354,0.097256,0.890424,0.996958,-0.024079,0.017638,-0.071997
8,4,163840,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.042961,0.086452,0.887027,0.704333,-0.031103,0.709026,0.015148
8,4,163840,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
8,4,163840,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,0.074993,0.870883,0.999999,0.000698,0.000710,-0.000033
8,4,163840,56,gripper,0,"","put hamburger on cutting board",-0.171101,0.071512,1.056314,0.097567,-0.797047,0.071987,0.591620
8,4,163840,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.169643,0.046780,0.890200,0.973838,-0.039874,0.119533,-0.189106
8,4,163840,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055531,-0.074196,0.887026,0.704494,-0.016585,0.709515,0.000729
8,4,163840,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
8,4,163840,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235023,0.075287,0.870883,0.999999,0.000699,0.000714,0.001161
8,4,163840,57,gripper,0,"","put hamburger on cutting board",-0.086275,0.040272,1.144547,0.080935,-0.815044,0.075950,0.568669
8,4,163840,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.088905,-0.020710,0.890494,0.304501,-0.020946,-0.015274,0.952159
8,4,163840,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256130,-0.055054,0.887026,0.267555,-0.662391,0.254805,0.651711
8,4,163840,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
8,4,163840,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.110966,-0.041367,0.870870,0.999987,0.000000,-0.000001,-0.005181
8,4,163840,58,gripper,0,"","put hamburger on cutting board",-0.134640,0.026438,1.108404,0.133016,-0.828632,0.145869,0.523829
8,4,163840,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236094,0.074776,0.888112,0.388322,-0.022503,-0.015871,0.921112
8,4,163840,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.156055,-0.013535,0.888222,0.454329,-0.551445,0.522526,0.465253
8,4,163840,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
8,4,163840,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233799,-0.075321,0.870869,0.999936,0.000002,0.000001,-0.011327
8,4,163840,59,gripper,0,"","put hamburger on cutting board",-0.084110,-0.000940,1.024022,-0.070374,-0.731204,-0.014700,0.678360
8,4,163840,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086391,0.032551,0.896402,0.645153,-0.028584,-0.011409,0.763434
8,4,163840,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256146,-0.055058,0.887026,0.267087,-0.662574,0.254328,0.651903
8,4,163840,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115004,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000010
8,4,163840,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
8,4,163840,60,gripper,0,"","put plastic bottle on frying pan",0.007901,-0.063890,0.928918,0.062342,-0.765256,-0.005662,0.640675
8,4,163840,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.082523,0.076141,0.888112,0.729949,-0.027020,-0.005329,0.682947
8,4,163840,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.192205,-0.062691,0.888523,0.683213,-0.020867,0.008490,0.729872
8,4,163840,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
8,4,163840,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.233877,-0.074883,0.870856,0.999984,0.000711,0.000490,0.005548
8,4,163840,61,gripper,0,"","put plastic bottle on frying pan",-0.162543,-0.011566,1.054896,0.151403,-0.800399,0.232819,0.531258
8,4,163840,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086121,-0.052418,0.895689,0.215298,0.024151,-0.057773,0.974539
8,4,163840,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256359,0.094933,0.887026,0.266295,-0.662882,0.253523,0.652228
8,4,163840,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084984,-0.074989,0.872199,1.000000,0.000000,-0.000001,-0.000146
8,4,163840,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
8,4,163840,62,gripper,0,"","put plastic bottle on frying pan",-0.106493,0.049097,0.976133,0.151290,-0.793472,0.034892,0.588470
8,4,163840,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205936,-0.074406,0.888112,0.713661,-0.026891,-0.005956,0.699950
8,4,163840,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206562,0.067883,0.889604,0.550611,-0.451502,0.549612,0.436922
8,4,163840,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
8,4,163840,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235504,0.075050,0.870884,0.999984,0.000709,0.000716,-0.005523
8,4,163840,63,gripper,0,"","put plastic bottle on frying pan",-0.100164,0.014076,1.144767,0.073591,-0.842900,0.234678,0.478570
9,1,168960,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.108063,-0.081909,0.879089,0.336949,0.427685,-0.177544,0.819774
9,1,168960,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234962,-0.060753,0.882428,0.512353,-0.053421,0.046096,0.855871
9,1,168960,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000002,-0.000011
9,1,168960,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
9,1,168960,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.235607,-0.058720,0.915314,-0.039090,-0.794540,-0.115865,0.594772
9,1,168960,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.055283,0.070206,0.885126,0.458714,0.533400,-0.559853,0.437756
9,1,168960,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
9,1,168960,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000022
9,1,168960,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
9,1,168960,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.076685,0.077164,1.151453,0.072113,-0.784546,0.021345,0.615493
9,1,168960,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.060215,0.073769,0.885122,0.559801,0.362222,-0.683324,0.297467
9,1,168960,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115768,-0.075577,0.881638,0.923219,0.010848,-0.037820,0.382254
9,1,168960,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084988,0.044998,0.869532,1.000000,0.000002,-0.000002,0.000084
9,1,168960,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000100
9,1,168960,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.085583,0.076859,1.154477,0.148780,-0.754107,0.237909,0.593790
9,1,168960,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.200130,-0.099251,0.881633,-0.748784,-0.150702,0.076861,-0.640861
9,1,168960,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235750,0.074440,0.881638,0.923191,0.010862,-0.037843,0.382320
9,1,168960,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.236315,-0.039253,0.869531,0.999999,0.000000,-0.000000,-0.001517
9,1,168960,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114998,0.044998,0.871288,0.999999,-0.000154,-0.001020,0.000019
9,1,168960,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.224932,-0.078262,0.944461,0.083354,-0.816741,0.006890,0.570911
9,1,168960,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.217758,-0.018341,0.878981,0.505916,-0.480265,0.439605,0.565811
9,1,168960,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085753,0.074440,0.881638,0.923221,0.010840,-0.037812,0.382250
9,1,168960,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000000
9,1,168960,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000012
9,1,168960,4,gripper,0,"","put ketchup bottle on cloth",-0.184155,-0.010384,0.944929,0.017286,-0.934629,-0.133962,0.328973
9,1,168960,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.225367,-0.087814,0.879544,0.916688,0.024600,-0.047769,0.395975
9,1,168960,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085752,-0.075554,0.881638,0.923181,0.010859,-0.037836,0.382345
9,1,168960,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000011
9,1,168960,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
9,1,168960,5,gripper,0,"","put ketchup bottle on cloth",-0.242885,-0.075314,0.943954,0.022981,-0.830472,0.023842,0.556076
9,1,168960,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.108109,0.038155,0.879088,0.338455,0.427353,-0.178328,0.819156
9,1,168960,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234356,-0.075882,0.881638,0.381957,0.034421,-0.019050,0.923342
9,1,168960,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000000,0.000015
9,1,168960,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
9,1,168960,6,gripper,0,"","put ketchup bottle on cloth",-0.172819,-0.019836,0.975478,-0.203299,-0.827903,-0.128090,0.506793
9,1,168960,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200531,-0.066216,0.888452,0.643529,-0.203050,0.182466,0.715086
9,1,168960,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085770,0.074417,0.881638,0.923213,0.010860,-0.037847,0.382266
9,1,168960,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
9,1,168960,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000004
9,1,168960,7,gripper,0,"","put ketchup bottle on cloth",-0.227875,-0.037437,1.045670,-0.032137,-0.770603,0.016093,0.636301
9,1,168960,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085014,-0.084728,0.879089,0.626223,0.326555,-0.328328,0.627221
9,1,168960,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235146,0.046066,0.881641,0.706324,-0.031395,0.025088,0.706747
9,1,168960,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000034
9,1,168960,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,0.075005,0.871288,1.000000,-0.000154,-0.001019,-0.000042
9,1,168960,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.198502,-0.045231,0.958645,-0.046721,-0.757576,0.008151,0.651022
9,1,168960,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078060,0.068161,0.879089,0.338011,0.427454,-0.178098,0.819337
9,1,168960,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.176414,0.072029,0.881641,0.118367,-0.040171,0.000313,0.992157
9,1,168960,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
9,1,168960,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
9,1,168960,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.132586,0.083452,0.959280,-0.044808,-0.753008,-0.098241,0.649091
9,1,168960,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.150372,-0.001694,0.965459,0.683523,0.317575,-0.511150,0.413120
9,1,168960,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085758,0.074394,0.881638,0.923221,0.010842,-0.037812,0.382251
9,1,168960,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
9,1,168960,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
9,1,168960,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.165527,0.004393,1.001094,0.176781,-0.715278,0.160423,0.656803
9,1,168960,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.075228,-0.043388,0.879373,0.959949,-0.003786,0.278219,0.032833
9,1,168960,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.202009,-0.074589,0.883790,0.999177,0.031174,0.025693,0.003641
9,1,168960,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000013
9,1,168960,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235010,0.045082,0.871282,0.999999,-0.000451,-0.001265,0.000136
9,1,168960,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.129370,-0.048239,0.967968,-0.130396,-0.747355,-0.208348,0.617291
9,1,168960,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.162574,-0.057575,0.885112,-0.024412,0.965693,-0.240109,-0.095861
9,1,168960,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.156557,-0.013958,0.885781,0.693436,0.013997,-0.004698,0.720367
9,1,168960,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.208031,-0.048458,0.869532,0.998624,-0.000001,0.000000,0.052446
9,1,168960,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,0.045006,0.871288,0.999999,-0.000153,-0.001019,-0.000015
9,1,168960,12,gripper,0,"","put kitchen shovel on cloth",-0.240184,-0.026667,0.941430,-0.010931,-0.770018,-0.018145,0.637670
9,1,168960,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.065378,0.198719,0.879212,0.223450,0.569980,-0.773088,0.165918
9,1,168960,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085749,-0.045593,0.881638,0.923219,0.010845,-0.037819,0.382255
9,1,168960,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000020
9,1,168960,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,0.075001,0.871288,0.999999,-0.000154,-0.001019,-0.000015
9,1,168960,13,gripper,0,"","put kitchen shovel on cloth",-0.194346,0.069662,0.916406,0.099492,-0.811084,0.069722,0.572174
9,1,168960,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091900,-0.081844,0.879088,0.818028,0.176750,-0.428009,0.341172
9,1,168960,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.243416,0.034729,0.881638,0.897052,0.013243,-0.037071,0.440168
9,1,168960,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
9,1,168960,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
9,1,168960,14,gripper,0,"","put kitchen shovel on cloth",-0.217091,0.024118,0.947146,0.028167,-0.732504,-0.095422,0.673454
9,1,168960,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.022968,0.173035,0.879213,-0.270084,-0.228296,0.932973,-0.067062
9,1,168960,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.114391,-0.075764,0.881638,0.382564,0.034402,-0.019070,0.923091
9,1,168960,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000012
9,1,168960,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000025
9,1,168960,15,gripper,0,"","put kitchen shovel on cloth",-0.057375,0.151554,0.917143,0.101770,-0.753482,-0.031326,0.648788
9,1,168960,16,obj,0,"003_bread_1","put bread on newspaper",-0.077606,-0.063984,0.886601,0.651588,0.014068,-0.004924,0.758426
9,1,168960,16,obj,1,"005_7up can_1","put bread on newspaper",-0.108185,0.059250,0.885687,-0.629900,-0.294482,0.275318,-0.663857
9,1,168960,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
9,1,168960,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084984,-0.075008,0.870461,1.000000,0.000018,-0.000158,0.000018
9,1,168960,16,gripper,0,"","put bread on newspaper",-0.070351,-0.003387,0.993768,-0.039437,-0.733976,0.065463,0.674862
9,1,168960,17,obj,0,"003_bread_1","put bread on newspaper",-0.085587,-0.044552,0.883544,0.999862,0.001692,-0.012549,-0.010752
9,1,168960,17,obj,1,"005_7up can_1","put bread on newspaper",-0.212605,-0.074833,0.885626,0.972478,-0.005063,-0.232937,0.001161
9,1,168960,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235031,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000037
9,1,168960,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000033
9,1,168960,17,gripper,0,"","put bread on newspaper",-0.203506,-0.071466,0.954224,-0.013772,-0.732303,-0.002492,0.680835
9,1,168960,18,obj,0,"003_bread_1","put bread on newspaper",-0.083805,-0.056767,0.883544,0.959265,0.005278,-0.011504,0.282225
9,1,168960,18,obj,1,"005_7up can_1","put bread on newspaper",-0.210506,-0.080257,0.885626,0.897964,0.084487,-0.217129,0.373334
9,1,168960,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.115002,0.044998,0.869490,1.000000,0.000180,0.000874,0.000021
9,1,168960,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
9,1,168960,18,gripper,0,"","put bread on newspaper",-0.213850,-0.025887,0.980163,0.106214,-0.712669,0.106820,0.685136
9,1,168960,19,obj,0,"003_bread_1","put bread on newspaper",-0.085485,0.074501,0.883544,0.924357,0.006462,-0.010886,0.381317
9,1,168960,19,obj,1,"005_7up can_1","put bread on newspaper",-0.240484,-0.080261,0.885627,0.898414,0.084227,-0.217236,0.372246
9,1,168960,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,0.044998,0.869489,1.000000,0.000180,0.000875,0.000021
9,1,168960,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000032
9,1,168960,19,gripper,0,"","put bread on newspaper",-0.080374,-0.090422,0.970251,-0.032858,-0.802828,0.020173,0.594963
9,1,168960,20,obj,0,"003_bread_1","put bread on carpet",-0.070359,0.038486,0.946766,0.343251,0.045358,-0.001842,0.938146
9,1,168960,20,obj,1,"005_7up can_1","put bread on carpet",-0.231937,0.069836,0.885637,0.393347,0.141038,-0.058170,0.906644
9,1,168960,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204997,-0.044998,0.869490,1.000000,0.000180,0.000875,-0.000007
9,1,168960,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
9,1,168960,20,gripper,0,"","put bread on carpet",-0.076764,0.031738,0.993391,0.015870,-0.765832,-0.067476,0.639294
9,1,168960,21,obj,0,"003_bread_1","put bread on carpet",-0.084480,-0.045471,0.883544,0.383759,0.012268,-0.003131,0.923347
9,1,168960,21,obj,1,"005_7up can_1","put bread on carpet",-0.098063,0.082134,0.885633,0.567275,0.090620,-0.059616,0.816354
9,1,168960,21,recep,0,"004_newspaper_1","put bread on carpet",-0.235022,0.044998,0.869490,1.000000,0.000179,0.000874,-0.000019
9,1,168960,21,recep,1,"003_carpet_1","put bread on carpet",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
9,1,168960,21,gripper,0,"","put bread on carpet",-0.062212,-0.031263,0.950985,-0.148551,-0.780667,-0.120042,0.595048
9,1,168960,22,obj,0,"003_bread_1","put bread on carpet",-0.128532,-0.048527,0.975404,0.749682,0.062429,0.017154,0.658623
9,1,168960,22,obj,1,"005_7up can_1","put bread on carpet",-0.235165,0.065681,0.885635,0.677726,0.197492,-0.205088,0.677955
9,1,168960,22,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
9,1,168960,22,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000025
9,1,168960,22,gripper,0,"","put bread on carpet",-0.127234,-0.047394,1.012001,-0.052415,-0.745257,-0.051850,0.662689
9,1,168960,23,obj,0,"003_bread_1","put bread on carpet",-0.085129,0.074444,0.883544,0.709180,0.010119,-0.007601,0.704914
9,1,168960,23,obj,1,"005_7up can_1","put bread on carpet",-0.114555,-0.223171,0.885866,0.448878,-0.530167,0.609607,0.381852
9,1,168960,23,recep,0,"004_newspaper_1","put bread on carpet",-0.235031,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000037
9,1,168960,23,recep,1,"003_carpet_1","put bread on carpet",-0.084919,-0.074913,0.870461,1.000000,0.000019,-0.000158,-0.000093
9,1,168960,23,gripper,0,"","put bread on carpet",-0.155514,-0.113834,0.929569,0.027045,-0.780821,-0.070628,0.620161
9,1,168960,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.204483,-0.075499,0.883544,0.383563,0.012266,-0.003122,0.923428
9,1,168960,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.226562,0.068293,0.885675,0.441728,0.320215,-0.169003,0.820839
9,1,168960,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000030
9,1,168960,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000029
9,1,168960,24,gripper,0,"","put 7up can on newspaper",-0.123749,0.055671,1.029510,0.046544,-0.721566,-0.029360,0.690155
9,1,168960,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.234486,-0.075497,0.883544,0.383807,0.012270,-0.003115,0.923327
9,1,168960,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.073246,0.006935,0.887152,-0.411322,0.557679,-0.471657,-0.545296
9,1,168960,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084648,0.074957,0.869490,0.999999,0.000549,0.001425,-0.000244
9,1,168960,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.044989,0.870447,0.999999,-0.000924,-0.000846,0.000004
9,1,168960,25,gripper,0,"","put 7up can on newspaper",-0.222178,-0.031571,0.988920,-0.016621,-0.676346,0.021330,0.736087
9,1,168960,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.052814,0.032900,0.886332,0.408075,0.016829,-0.003322,0.912787
9,1,168960,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.109753,-0.080505,0.885627,0.371108,0.213270,-0.093828,0.898883
9,1,168960,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
9,1,168960,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084984,0.045017,0.870462,1.000000,0.000036,-0.000158,0.000029
9,1,168960,26,gripper,0,"","put 7up can on newspaper",-0.050039,0.032887,0.952986,-0.043042,-0.756702,-0.013689,0.652198
9,1,168960,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.205545,0.074459,0.883544,0.924016,0.006476,-0.010882,0.382145
9,1,168960,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.089531,0.098265,0.885765,0.497790,-0.486984,0.396603,0.598128
9,1,168960,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
9,1,168960,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235003,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000005
9,1,168960,27,gripper,0,"","put 7up can on newspaper",-0.072557,0.095564,0.983856,0.003067,-0.828476,-0.078433,0.554497
9,1,168960,28,obj,0,"003_bread_1","put 7up can on carpet",-0.115491,0.074488,0.883544,0.924239,0.006465,-0.010884,0.381604
9,1,168960,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.210501,-0.080254,0.885627,0.898023,0.084453,-0.217150,0.373185
9,1,168960,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
9,1,168960,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.235000,0.045000,0.870460,1.000000,0.000019,-0.000158,-0.000000
9,1,168960,28,gripper,0,"","put 7up can on carpet",-0.066376,-0.028965,0.980229,-0.143947,-0.714482,-0.185269,0.659143
9,1,168960,29,obj,0,"003_bread_1","put 7up can on carpet",-0.085127,0.074453,0.883544,0.709141,0.010131,-0.007598,0.704953
9,1,168960,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.184675,0.071117,0.888789,0.391665,-0.552894,0.648526,0.346874
9,1,168960,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
9,1,168960,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204987,0.074995,0.870453,0.999998,0.001569,0.001265,0.000007
9,1,168960,29,gripper,0,"","put 7up can on carpet",-0.163953,0.074179,1.131167,0.036964,-0.779917,0.088086,0.618550
9,1,168960,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,-0.075481,0.883544,0.383790,0.012267,-0.003126,0.923334
9,1,168960,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.233398,0.045261,0.885639,0.395257,0.105344,-0.042638,0.911513
9,1,168960,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
9,1,168960,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
9,1,168960,30,gripper,0,"","put 7up can on carpet",-0.212919,0.055011,0.944502,0.067037,-0.739478,0.074524,0.665676
9,1,168960,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
9,1,168960,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.122467,0.070139,0.888772,0.790823,0.130736,-0.189821,0.566987
9,1,168960,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205193,-0.045095,0.869490,0.999997,0.000188,0.000887,0.002251
9,1,168960,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.114529,0.044619,0.870590,0.999976,-0.003060,-0.001753,-0.005887
9,1,168960,31,gripper,0,"","put 7up can on carpet",-0.118526,0.006100,1.106830,0.051490,-0.738859,0.043989,0.670449
9,1,168960,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205505,0.080370,0.887187,0.381170,-0.024393,0.019819,0.923971
9,1,168960,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204674,-0.074676,0.878547,0.382241,0.003184,0.013057,0.923965
9,1,168960,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
9,1,168960,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
9,1,168960,32,gripper,0,"","put carrot on sheet metal",-0.160561,0.071678,0.972914,-0.038184,-0.705287,-0.076823,0.703712
9,1,168960,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118023,-0.071741,0.887536,0.996776,-0.000836,0.032093,0.073533
9,1,168960,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.044559,0.878547,0.999909,0.013324,0.002051,0.000327
9,1,168960,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
9,1,168960,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
9,1,168960,33,gripper,0,"","put carrot on sheet metal",-0.157104,0.004461,1.002829,-0.287851,-0.579392,-0.465451,0.603988
9,1,168960,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.116699,0.077763,0.887210,0.910479,-0.005039,0.031651,0.412312
9,1,168960,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.044693,0.878547,0.923634,0.011493,0.006984,0.383040
9,1,168960,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,1,168960,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
9,1,168960,34,gripper,0,"","put carrot on sheet metal",-0.081493,0.056013,1.022192,0.022785,-0.739783,-0.060538,0.669729
9,1,168960,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117270,-0.070559,0.887513,0.996740,-0.003243,0.031376,0.074256
9,1,168960,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074562,0.878547,0.999910,0.013285,0.002051,0.000327
9,1,168960,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
9,1,168960,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
9,1,168960,35,gripper,0,"","put carrot on sheet metal",-0.126824,0.000713,1.040889,-0.052001,-0.726634,0.008996,0.684995
9,1,168960,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117410,-0.070702,0.887278,0.997010,-0.008344,0.030157,0.070656
9,1,168960,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084993,0.074561,0.878547,0.999910,0.013276,0.002048,0.000284
9,1,168960,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.075000,0.871344,0.999999,-0.000157,0.001164,0.000001
9,1,168960,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000003
9,1,168960,36,gripper,0,"","put carrot on flat bowl",-0.122664,-0.019443,1.023085,-0.189053,-0.771128,-0.148454,0.589561
9,1,168960,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088026,-0.071455,0.887291,0.911665,-0.014803,0.020677,0.410146
9,1,168960,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204697,0.074737,0.878547,0.923942,0.011515,0.006982,0.382296
9,1,168960,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
9,1,168960,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
9,1,168960,37,gripper,0,"","put carrot on flat bowl",-0.052781,-0.037595,0.969257,-0.069482,-0.710293,0.050041,0.698679
9,1,168960,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238037,-0.067912,0.887536,0.999601,0.002285,0.027466,-0.006142
9,1,168960,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,0.074515,0.878547,0.999909,0.013286,0.002053,0.000547
9,1,168960,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
9,1,168960,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
9,1,168960,38,gripper,0,"","put carrot on flat bowl",-0.156126,-0.048722,1.016249,-0.176192,-0.669472,-0.126442,0.710476
9,1,168960,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238800,0.045210,0.887622,0.741815,-0.030305,0.033597,0.669076
9,1,168960,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007934,0.010839,0.707296
9,1,168960,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,1,168960,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
9,1,168960,39,gripper,0,"","put carrot on flat bowl",-0.195309,0.020420,1.002153,0.018865,-0.737748,-0.074502,0.670688
9,1,168960,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088676,-0.076632,0.887688,0.352499,-0.043661,0.016467,0.934648
9,1,168960,40,obj,1,"013_banana_1","put banana on sheet metal",-0.114677,0.045328,0.878546,0.382671,0.003186,0.013042,0.923787
9,1,168960,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000006
9,1,168960,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
9,1,168960,40,gripper,0,"","put banana on sheet metal",-0.057098,0.101203,1.026062,0.234261,-0.761842,0.226791,0.559718
9,1,168960,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
9,1,168960,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
9,1,168960,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
9,1,168960,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
9,1,168960,41,gripper,0,"","put banana on sheet metal",-0.169140,-0.051488,0.975512,0.036587,-0.755799,0.017601,0.653543
9,1,168960,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117825,-0.070969,0.887419,0.913559,-0.012435,0.034711,0.405032
9,1,168960,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.045307,0.878547,0.923789,0.011527,0.006996,0.382664
9,1,168960,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
9,1,168960,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000156
9,1,168960,42,gripper,0,"","put banana on sheet metal",-0.035021,0.056332,1.046851,0.007062,-0.809332,-0.012430,0.587178
9,1,168960,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087666,-0.077135,0.887277,0.352488,-0.026592,0.003987,0.935430
9,1,168960,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,0.075331,0.878547,0.382505,0.003203,0.013104,0.923855
9,1,168960,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.044985,0.871344,0.999999,-0.000158,0.001163,0.000045
9,1,168960,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,-0.000001,0.000096
9,1,168960,43,gripper,0,"","put banana on sheet metal",-0.042885,0.108568,0.993015,0.290118,-0.768236,0.300825,0.484922
9,1,168960,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117081,-0.042007,0.887299,0.996391,0.003474,0.034658,0.077405
9,1,168960,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084989,0.074560,0.878547,0.999910,0.013280,0.002053,0.000309
9,1,168960,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
9,1,168960,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
9,1,168960,44,gripper,0,"","put banana on flat bowl",-0.120703,0.029144,0.978853,-0.288783,-0.796542,-0.167390,0.504090
9,1,168960,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
9,1,168960,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234686,-0.074673,0.878547,0.382973,0.003196,0.013060,0.923661
9,1,168960,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.045008,0.871344,0.999999,-0.000157,0.001163,0.000010
9,1,168960,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
9,1,168960,45,gripper,0,"","put banana on flat bowl",-0.188308,-0.038345,0.962628,0.025191,-0.741633,0.000744,0.670332
9,1,168960,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087616,-0.069841,0.887288,0.996615,0.003864,0.034284,0.074621
9,1,168960,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
9,1,168960,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
9,1,168960,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
9,1,168960,46,gripper,0,"","put banana on flat bowl",-0.123037,0.093690,0.971937,-0.103325,-0.888227,0.036319,0.446158
9,1,168960,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.116985,-0.042198,0.887356,0.912062,-0.015054,0.024806,0.409025
9,1,168960,47,obj,1,"013_banana_1","put banana on flat bowl",-0.204674,0.044695,0.878547,0.923851,0.011498,0.006978,0.382517
9,1,168960,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
9,1,168960,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
9,1,168960,47,gripper,0,"","put banana on flat bowl",-0.139965,-0.009834,1.031799,0.059379,-0.750227,0.095207,0.651590
9,1,168960,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.198120,-0.063889,0.888112,0.500313,-0.024310,-0.012941,0.865407
9,1,168960,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256409,0.094910,0.887026,0.266631,-0.662748,0.253863,0.652094
9,1,168960,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000007
9,1,168960,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000012
9,1,168960,48,gripper,0,"","put hamburger on frying pan",-0.170635,-0.070107,0.964724,-0.038776,-0.823996,-0.115847,0.553269
9,1,168960,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.136597,-0.048233,0.891263,-0.037137,0.814485,-0.125710,-0.565183
9,1,168960,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.240372,-0.046261,0.887026,0.507005,-0.504045,0.499627,0.489139
9,1,168960,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
9,1,168960,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
9,1,168960,49,gripper,0,"","put hamburger on frying pan",-0.122101,-0.053545,0.970976,-0.165178,-0.678870,-0.181862,0.691938
9,1,168960,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234478,-0.073956,0.888112,0.999591,-0.023263,0.014749,-0.007661
9,1,168960,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055653,0.075813,0.887027,0.704494,-0.017074,0.709503,0.001215
9,1,168960,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
9,1,168960,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
9,1,168960,50,gripper,0,"","put hamburger on frying pan",-0.192413,-0.033194,0.990258,0.115564,-0.785485,0.068427,0.604133
9,1,168960,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.188732,0.043724,0.891600,-0.042859,-0.701428,0.474217,0.530359
9,1,168960,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085831,0.104355,0.887027,0.497369,-0.513694,0.489699,0.498936
9,1,168960,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114988,-0.045002,0.872199,1.000000,-0.000001,-0.000001,0.000176
9,1,168960,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
9,1,168960,51,gripper,0,"","put hamburger on frying pan",-0.182982,0.028215,0.974986,0.065141,-0.751654,-0.011728,0.656229
9,1,168960,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.176459,-0.028774,0.888112,0.947020,-0.026806,0.006322,0.319993
9,1,168960,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.072809,-0.057766,0.888580,0.797944,-0.216482,0.397050,0.398462
9,1,168960,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
9,1,168960,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000001
9,1,168960,52,gripper,0,"","put hamburger on cutting board",-0.056028,-0.078011,0.950828,-0.154479,-0.709556,-0.213660,0.653465
9,1,168960,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235949,0.075615,0.888112,0.712331,-0.026880,-0.006009,0.701303
9,1,168960,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.070908,0.096218,0.889582,0.565739,-0.432718,0.565098,0.416364
9,1,168960,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
9,1,168960,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084948,0.075092,0.870870,1.000000,0.000000,-0.000002,-0.000016
9,1,168960,53,gripper,0,"","put hamburger on cutting board",-0.066622,0.063169,1.080137,0.132814,-0.751613,0.065568,0.642759
9,1,168960,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115955,0.045609,0.888113,0.713044,-0.026882,-0.005986,0.700578
9,1,168960,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205803,-0.045696,0.887026,0.497114,-0.513945,0.489435,0.499192
9,1,168960,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
9,1,168960,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
9,1,168960,54,gripper,0,"","put hamburger on cutting board",-0.054466,-0.024694,1.035120,-0.109357,-0.734533,-0.024515,0.669255
9,1,168960,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.156628,-0.036274,0.890421,0.999516,-0.025635,0.017052,-0.004423
9,1,168960,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055653,0.075813,0.887027,0.704494,-0.017074,0.709503,0.001215
9,1,168960,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
9,1,168960,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204948,-0.074970,0.870870,1.000000,0.000000,-0.000001,-0.000230
9,1,168960,55,gripper,0,"","put hamburger on cutting board",-0.161276,-0.069578,1.080915,0.034931,-0.805388,0.054247,0.589226
9,1,168960,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205978,0.045578,0.888112,0.725235,-0.026988,-0.005515,0.687950
9,1,168960,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.076340,0.109119,0.926129,0.529161,-0.627060,0.398579,0.409779
9,1,168960,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
9,1,168960,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
9,1,168960,56,gripper,0,"","put plastic bottle on frying pan",-0.060776,0.108250,0.982695,0.006150,-0.843182,-0.076112,0.532178
9,1,168960,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204403,-0.074047,0.888112,0.999589,-0.023257,0.014755,-0.007930
9,1,168960,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065220,-0.069500,0.886883,0.713825,-0.080388,0.692478,0.066826
9,1,168960,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
9,1,168960,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
9,1,168960,57,gripper,0,"","put plastic bottle on frying pan",-0.037699,-0.080038,0.942882,0.072625,-0.753729,0.037342,0.652092
9,1,168960,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205505,-0.073914,0.888112,0.708006,-0.026841,-0.006181,0.705669
9,1,168960,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.135960,0.019547,0.885720,-0.419184,-0.566973,0.395841,-0.588333
9,1,168960,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084427,-0.074860,0.872199,0.999982,-0.000001,-0.000001,-0.006001
9,1,168960,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235012,0.075008,0.870871,1.000000,0.000000,-0.000001,0.000014
9,1,168960,58,gripper,0,"","put plastic bottle on frying pan",-0.069002,-0.019270,0.981171,-0.051381,-0.842627,-0.113179,0.523957
9,1,168960,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075954,0.888112,0.999525,-0.023167,0.014890,-0.013806
9,1,168960,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175886,-0.074078,0.887026,0.704473,-0.021643,0.709377,0.005751
9,1,168960,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
9,1,168960,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000004
9,1,168960,59,gripper,0,"","put plastic bottle on frying pan",-0.139775,-0.057722,0.967229,0.079977,-0.714611,0.111199,0.685980
9,1,168960,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.073083,-0.042667,0.890406,0.986705,-0.023246,0.018545,-0.159777
9,1,168960,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055611,0.045803,0.887026,0.704495,-0.017225,0.709498,0.001364
9,1,168960,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
9,1,168960,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115001,-0.075005,0.870870,1.000000,0.000000,-0.000000,-0.000035
9,1,168960,60,gripper,0,"","put plastic bottle on cutting board",-0.079264,-0.066412,1.065428,0.046097,-0.790896,0.079879,0.604961
9,1,168960,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204376,-0.074081,0.888112,0.999512,-0.023153,0.014913,-0.014739
9,1,168960,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.162258,0.048183,0.887608,0.770320,-0.044431,0.634074,0.050828
9,1,168960,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
9,1,168960,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082846,0.078259,0.870870,0.999697,-0.000000,-0.000001,-0.024622
9,1,168960,61,gripper,0,"","put plastic bottle on cutting board",-0.176795,0.015886,0.940797,0.004516,-0.784247,-0.082856,0.614874
9,1,168960,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205959,0.075634,0.888112,0.712259,-0.026883,-0.006014,0.701376
9,1,168960,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.107460,-0.052490,0.888389,0.569238,0.431786,-0.540525,0.444254
9,1,168960,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
9,1,168960,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115585,-0.045433,0.870884,0.999989,0.000706,0.000719,0.004516
9,1,168960,62,gripper,0,"","put plastic bottle on cutting board",-0.120152,-0.049717,1.092992,0.027387,-0.786004,-0.015752,0.617413
9,1,168960,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.216946,-0.077267,0.888112,0.324354,-0.021367,-0.017381,0.945535
9,1,168960,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.166233,0.036293,0.973180,-0.004379,-0.691116,0.722724,0.003035
9,1,168960,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
9,1,168960,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
9,1,168960,63,gripper,0,"","put plastic bottle on cutting board",-0.147255,0.034836,1.002233,0.010942,-0.804267,0.021535,0.593777
9,2,174080,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.113205,-0.076096,0.879373,0.439708,-0.244709,0.132443,0.853952
9,2,174080,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.233246,-0.062798,0.881638,0.518356,0.031125,-0.024092,0.854259
9,2,174080,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000021
9,2,174080,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000157,-0.001019,0.000033
9,2,174080,0,gripper,0,"","put ketchup bottle on cloth",-0.063038,0.031269,1.015508,0.164708,-0.821316,0.032573,0.545206
9,2,174080,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.055283,0.070213,0.885127,0.458778,0.533346,-0.559751,0.437886
9,2,174080,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
9,2,174080,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,0.000000,0.000000,-0.000010
9,2,174080,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,-0.074989,0.871282,0.999999,-0.000449,-0.001263,0.000013
9,2,174080,1,gripper,0,"","put ketchup bottle on cloth",-0.093672,0.072002,1.124456,0.134661,-0.785556,0.054414,0.601504
9,2,174080,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.060410,0.077301,0.885128,0.561601,0.355174,-0.688628,0.290253
9,2,174080,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115211,-0.073311,0.881641,0.923962,-0.019306,0.035221,0.380369
9,2,174080,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085735,0.049065,0.869540,0.999945,-0.000118,0.000005,-0.010512
9,2,174080,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000162
9,2,174080,2,gripper,0,"","put ketchup bottle on cloth",-0.060526,0.011646,0.920267,0.231729,-0.740822,0.199568,0.598045
9,2,174080,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.204872,-0.121628,0.879212,-0.208923,-0.632120,0.723163,-0.183875
9,2,174080,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.218367,0.084541,0.881638,0.950059,0.007889,-0.038562,0.309578
9,2,174080,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.236315,-0.039253,0.869531,0.999999,-0.000000,-0.000000,-0.001528
9,2,174080,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114794,0.044876,0.871289,0.999999,-0.000153,-0.001020,0.001248
9,2,174080,3,gripper,0,"","put ketchup bottle on cloth",-0.192046,0.069740,0.925327,0.029205,-0.782954,-0.038600,0.620194
9,2,174080,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.081425,-0.046112,0.884979,0.411767,-0.542726,0.359428,0.637736
9,2,174080,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085753,0.074440,0.881638,0.923221,0.010844,-0.037818,0.382250
9,2,174080,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115024,-0.075012,0.869532,1.000000,0.000001,-0.000001,0.000231
9,2,174080,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000012
9,2,174080,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.092776,0.083149,0.975288,0.135379,-0.803525,0.052110,0.577326
9,2,174080,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.150183,0.127060,0.880714,-0.234049,-0.508311,0.810961,-0.170832
9,2,174080,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085749,-0.075546,0.881638,0.923134,0.010852,-0.037810,0.382461
9,2,174080,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000181
9,2,174080,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000017
9,2,174080,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.107402,-0.018185,0.994109,-0.063642,-0.776239,-0.075315,0.622680
9,2,174080,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.200481,0.075760,0.885082,0.648035,0.314372,-0.339101,0.605171
9,2,174080,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.240341,-0.044807,0.946914,0.682043,0.019112,0.012851,0.730949
9,2,174080,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235271,0.075035,0.869531,0.999998,-0.000001,-0.000000,0.001724
9,2,174080,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
9,2,174080,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.244646,-0.046528,0.983358,-0.008114,-0.708808,-0.036868,0.704391
9,2,174080,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.159782,-0.188980,0.879373,0.561405,-0.222379,0.167245,0.779359
9,2,174080,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085766,0.074417,0.881638,0.923171,0.010862,-0.037839,0.382369
9,2,174080,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
9,2,174080,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205009,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000135
9,2,174080,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.109064,0.086357,0.954602,0.018008,-0.770413,-0.102923,0.628925
9,2,174080,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085014,-0.084728,0.879089,0.626226,0.326549,-0.328324,0.627224
9,2,174080,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.103416,0.129894,0.879792,-0.245298,-0.575135,0.755901,-0.194068
9,2,174080,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000043
9,2,174080,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114769,0.075905,0.871288,0.999974,-0.000161,-0.001018,-0.007179
9,2,174080,8,gripper,0,"","put kitchen shovel on cloth",-0.193226,0.007446,0.988429,-0.014849,-0.718143,-0.065023,0.692692
9,2,174080,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078060,0.068161,0.879089,0.338009,0.427438,-0.178088,0.819348
9,2,174080,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.170601,0.070908,0.881603,0.093505,-0.057866,0.002184,0.993933
9,2,174080,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.044998,0.869532,1.000000,0.000000,-0.000001,-0.000001
9,2,174080,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000096
9,2,174080,9,gripper,0,"","put kitchen shovel on cloth",-0.184578,0.116222,0.923211,0.106553,-0.758252,0.048532,0.641362
9,2,174080,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.133484,0.013332,0.879738,0.781151,-0.202582,0.313184,0.500678
9,2,174080,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.127953,-0.123508,0.883630,0.917283,0.007926,0.056263,0.394161
9,2,174080,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
9,2,174080,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.238182,-0.071171,0.871383,0.998983,-0.001983,0.003549,0.044915
9,2,174080,10,gripper,0,"","put kitchen shovel on cloth",-0.179461,-0.032654,0.922271,0.318713,-0.661492,0.263395,0.625678
9,2,174080,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.075228,-0.043388,0.879373,0.959948,-0.003787,0.278223,0.032836
9,2,174080,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.169367,-0.074352,0.881667,0.994455,-0.008869,-0.064008,-0.082972
9,2,174080,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
9,2,174080,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234598,0.046440,0.871282,0.999964,-0.000440,-0.001268,0.008423
9,2,174080,11,gripper,0,"","put kitchen shovel on cloth",-0.186573,-0.067337,0.925236,0.010340,-0.811096,-0.050460,0.582641
9,2,174080,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.162574,-0.057575,0.885112,-0.024414,0.965691,-0.240108,-0.095880
9,2,174080,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.156539,-0.014416,0.885758,0.693101,0.029831,-0.019945,0.719947
9,2,174080,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.208031,-0.048458,0.869532,0.998624,-0.000000,0.000000,0.052446
9,2,174080,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,0.045006,0.871288,1.000000,-0.000154,-0.001019,-0.000015
9,2,174080,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.104193,-0.037077,1.145012,-0.006834,-0.688503,0.083592,0.720367
9,2,174080,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.065378,0.198723,0.879212,0.223451,0.569974,-0.773092,0.165917
9,2,174080,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085751,-0.045597,0.881638,0.923181,0.010847,-0.037804,0.382348
9,2,174080,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000015
9,2,174080,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,0.075001,0.871288,0.999999,-0.000154,-0.001019,-0.000015
9,2,174080,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.064942,-0.035177,0.932744,0.124435,-0.803087,0.107796,0.572667
9,2,174080,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091908,-0.081844,0.879088,0.818034,0.176740,-0.428022,0.341144
9,2,174080,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.233929,0.011723,0.881848,0.841195,0.028818,-0.053542,0.537303
9,2,174080,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.203049,-0.077621,0.869821,0.998202,0.005383,-0.000323,-0.059698
9,2,174080,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
9,2,174080,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.216076,0.004515,0.929028,-0.100737,-0.802881,-0.166069,0.563610
9,2,174080,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.021301,0.173767,0.879213,-0.269295,-0.239230,0.930224,-0.070230
9,2,174080,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.116867,-0.069885,0.881637,0.385595,0.034377,-0.019194,0.921828
9,2,174080,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000023
9,2,174080,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001019,0.000025
9,2,174080,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.161613,-0.113573,0.913935,-0.100615,-0.826242,-0.149527,0.533706
9,2,174080,16,obj,0,"003_bread_1","put bread on carpet",-0.077217,-0.063782,0.886549,0.666729,0.012373,-0.004676,0.745183
9,2,174080,16,obj,1,"005_7up can_1","put bread on carpet",-0.106506,-0.015415,0.885746,-0.548854,-0.431037,0.413309,-0.584929
9,2,174080,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
9,2,174080,16,recep,1,"003_carpet_1","put bread on carpet",-0.084946,-0.074795,0.870447,0.999999,-0.000705,-0.000655,-0.000041
9,2,174080,16,gripper,0,"","put bread on carpet",-0.128819,-0.027634,1.036949,-0.026408,-0.806545,-0.042045,0.589084
9,2,174080,17,obj,0,"003_bread_1","put bread on carpet",-0.085220,-0.025547,0.883544,0.999907,0.001760,-0.012536,-0.005137
9,2,174080,17,obj,1,"005_7up can_1","put bread on carpet",-0.212605,-0.074833,0.885626,0.972477,-0.005063,-0.232940,0.001161
9,2,174080,17,recep,0,"004_newspaper_1","put bread on carpet",-0.235065,0.044998,0.869490,1.000000,0.000180,0.000875,-0.000072
9,2,174080,17,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.075024,0.870447,0.999999,-0.000923,-0.000845,-0.000070
9,2,174080,17,gripper,0,"","put bread on carpet",-0.076311,0.033949,1.000738,-0.039541,-0.750793,-0.095503,0.652399
9,2,174080,18,obj,0,"003_bread_1","put bread on carpet",-0.081097,-0.060287,0.883544,0.964473,0.005063,-0.011598,0.263878
9,2,174080,18,obj,1,"005_7up can_1","put bread on carpet",-0.198505,-0.068405,0.885672,0.885091,-0.106290,0.261732,0.369881
9,2,174080,18,recep,0,"004_newspaper_1","put bread on carpet",-0.115002,0.044998,0.869490,1.000000,0.000180,0.000874,0.000038
9,2,174080,18,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
9,2,174080,18,gripper,0,"","put bread on carpet",-0.088732,-0.063215,1.001815,-0.222992,-0.713081,-0.190931,0.636660
9,2,174080,19,obj,0,"003_bread_1","put bread on carpet",-0.085485,0.074501,0.883544,0.924448,0.006460,-0.010890,0.381099
9,2,174080,19,obj,1,"005_7up can_1","put bread on carpet",-0.240486,-0.080261,0.885627,0.898429,0.084224,-0.217264,0.372193
9,2,174080,19,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,0.044998,0.869489,1.000000,0.000180,0.000875,0.000029
9,2,174080,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,-0.074997,0.870447,0.999999,-0.000923,-0.000845,-0.000071
9,2,174080,19,gripper,0,"","put bread on carpet",-0.165418,0.079092,0.979434,-0.037727,-0.757256,-0.107557,0.643095
9,2,174080,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.074459,0.025871,0.883544,0.333496,0.012415,-0.002458,0.942667
9,2,174080,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.234464,0.071445,0.885637,0.457687,0.136480,-0.068187,0.875926
9,2,174080,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204997,-0.044998,0.869489,1.000000,0.000180,0.000875,-0.000007
9,2,174080,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000924,-0.000845,-0.000000
9,2,174080,20,gripper,0,"","put 7up can on newspaper",-0.199082,0.048338,0.994729,-0.020607,-0.711331,-0.102137,0.695092
9,2,174080,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.084480,-0.045471,0.883544,0.383757,0.012263,-0.003128,0.923347
9,2,174080,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184235,0.080585,0.886661,0.787508,0.116624,-0.116710,0.593809
9,2,174080,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235556,0.044979,0.869490,0.999990,0.000176,0.000875,0.004327
9,2,174080,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204971,-0.074783,0.870447,0.999996,-0.000540,-0.000512,0.002701
9,2,174080,21,gripper,0,"","put 7up can on newspaper",-0.132894,0.062893,1.058014,0.016415,-0.760747,-0.021620,0.648480
9,2,174080,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.140408,-0.046780,0.883544,0.815900,0.008726,-0.009166,0.578054
9,2,174080,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.231178,0.069256,0.885636,0.640875,0.208073,-0.194340,0.712893
9,2,174080,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
9,2,174080,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000053
9,2,174080,22,gripper,0,"","put 7up can on newspaper",-0.197628,0.078371,0.973542,0.108305,-0.762625,0.075498,0.633224
9,2,174080,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.085129,0.074444,0.883544,0.709064,0.010121,-0.007602,0.705030
9,2,174080,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.114555,-0.223164,0.885866,0.449003,-0.529960,0.609795,0.381692
9,2,174080,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235065,0.044998,0.869490,1.000000,0.000180,0.000875,-0.000072
9,2,174080,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084919,-0.074917,0.870461,1.000000,0.000018,-0.000158,-0.000082
9,2,174080,23,gripper,0,"","put 7up can on newspaper",-0.073786,0.042994,0.976520,0.088870,-0.732811,0.082445,0.669547
9,2,174080,24,obj,0,"003_bread_1","put 7up can on carpet",-0.204483,-0.075499,0.883544,0.383547,0.012269,-0.003124,0.923434
9,2,174080,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.225594,0.071609,0.885675,0.543539,0.295845,-0.208747,0.757275
9,2,174080,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000054
9,2,174080,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075037,0.870447,0.999999,-0.000923,-0.000846,-0.000065
9,2,174080,24,gripper,0,"","put 7up can on carpet",-0.068302,0.077240,0.988760,-0.011666,-0.760335,-0.059745,0.646672
9,2,174080,25,obj,0,"003_bread_1","put 7up can on carpet",-0.228092,-0.066395,0.883544,0.180707,0.012654,-0.000463,0.983455
9,2,174080,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.073254,0.007113,0.887093,-0.412263,0.558369,-0.475607,-0.540428
9,2,174080,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084644,0.074961,0.869490,0.999999,0.000538,0.001407,0.000109
9,2,174080,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,-0.045029,0.870447,0.999999,-0.000923,-0.000846,0.000107
9,2,174080,25,gripper,0,"","put 7up can on carpet",-0.139824,-0.062570,0.972864,-0.114840,-0.773069,-0.056462,0.621280
9,2,174080,26,obj,0,"003_bread_1","put 7up can on carpet",-0.053078,0.033045,0.886337,0.403097,0.016505,-0.002852,0.915004
9,2,174080,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.056755,0.289152,0.885849,0.495726,-0.500566,0.523421,0.479291
9,2,174080,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
9,2,174080,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.084980,0.045073,0.870460,1.000000,0.000019,-0.000158,0.000010
9,2,174080,26,gripper,0,"","put 7up can on carpet",-0.046238,0.005160,0.992399,-0.005579,-0.758959,0.013609,0.650972
9,2,174080,27,obj,0,"003_bread_1","put 7up can on carpet",-0.205545,0.074459,0.883544,0.924040,0.006476,-0.010882,0.382086
9,2,174080,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.199814,-0.017904,0.888726,0.442924,-0.553998,0.546107,0.445725
9,2,174080,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
9,2,174080,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235823,-0.045248,0.870447,0.999994,-0.001330,-0.001203,0.002980
9,2,174080,27,gripper,0,"","put 7up can on carpet",-0.158504,-0.016804,1.072591,-0.021635,-0.823239,0.017718,0.567006
9,2,174080,28,obj,0,"003_bread_1","put bread on newspaper",-0.115491,0.074488,0.883544,0.924239,0.006464,-0.010881,0.381605
9,2,174080,28,obj,1,"005_7up can_1","put bread on newspaper",-0.210502,-0.080254,0.885627,0.898021,0.084459,-0.217162,0.373184
9,2,174080,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
9,2,174080,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235000,0.045000,0.870460,1.000000,0.000018,-0.000158,-0.000000
9,2,174080,28,gripper,0,"","put bread on newspaper",-0.038743,-0.024615,0.968098,0.030570,-0.758329,0.026900,0.650599
9,2,174080,29,obj,0,"003_bread_1","put bread on newspaper",-0.085127,0.074453,0.883544,0.709016,0.010131,-0.007594,0.705078
9,2,174080,29,obj,1,"005_7up can_1","put bread on newspaper",-0.184679,0.071106,0.888789,0.391696,-0.552857,0.648543,0.346866
9,2,174080,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
9,2,174080,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204987,0.074984,0.870453,0.999998,0.001569,0.001266,-0.000033
9,2,174080,29,gripper,0,"","put bread on newspaper",-0.120870,0.031699,1.124649,0.091155,-0.780475,0.085243,0.612604
9,2,174080,30,obj,0,"003_bread_1","put bread on newspaper",-0.081711,-0.065786,0.883544,0.352024,0.012366,-0.002707,0.935905
9,2,174080,30,obj,1,"005_7up can_1","put bread on newspaper",-0.233513,0.045385,0.885633,0.395746,0.100575,-0.040641,0.911931
9,2,174080,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
9,2,174080,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
9,2,174080,30,gripper,0,"","put bread on newspaper",-0.092188,-0.049495,1.000065,-0.063403,-0.746876,-0.109092,0.652882
9,2,174080,31,obj,0,"003_bread_1","put bread on newspaper",-0.168144,-0.039694,0.930244,0.970351,0.023583,0.014671,0.240099
9,2,174080,31,obj,1,"005_7up can_1","put bread on newspaper",-0.122044,0.070112,0.888807,0.793871,0.130814,-0.190036,0.562622
9,2,174080,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.205193,-0.045103,0.869490,0.999998,0.000188,0.000888,0.001567
9,2,174080,31,recep,1,"003_carpet_1","put bread on newspaper",-0.114536,0.044634,0.870615,0.999953,-0.002766,-0.000772,-0.009289
9,2,174080,31,gripper,0,"","put bread on newspaper",-0.167755,-0.038609,0.979415,-0.071652,-0.723473,-0.060290,0.683972
9,2,174080,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205505,0.080369,0.887187,0.381170,-0.024392,0.019819,0.923971
9,2,174080,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204674,-0.074676,0.878547,0.382240,0.003192,0.013081,0.923965
9,2,174080,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
9,2,174080,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
9,2,174080,32,gripper,0,"","put carrot on flat bowl",-0.102310,-0.045530,1.037278,-0.123121,-0.667947,-0.246703,0.691249
9,2,174080,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118259,-0.071831,0.887541,0.996733,-0.000823,0.032714,0.073838
9,2,174080,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.044560,0.878547,0.999909,0.013300,0.002050,0.000327
9,2,174080,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001163,0.000000
9,2,174080,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
9,2,174080,33,gripper,0,"","put carrot on flat bowl",-0.086275,-0.028978,1.033931,0.099204,-0.743293,0.039881,0.660366
9,2,174080,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.120174,0.080223,0.887492,0.917508,-0.014886,0.033466,0.396027
9,2,174080,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.044693,0.878546,0.923634,0.011474,0.006975,0.383040
9,2,174080,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,2,174080,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
9,2,174080,34,gripper,0,"","put carrot on flat bowl",-0.132370,-0.037546,0.994069,-0.063869,-0.720878,0.061811,0.687339
9,2,174080,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118143,-0.070294,0.887481,0.997166,-0.000306,0.021846,0.071984
9,2,174080,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074563,0.878547,0.999910,0.013275,0.002051,0.000327
9,2,174080,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
9,2,174080,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
9,2,174080,35,gripper,0,"","put carrot on flat bowl",-0.135191,-0.028871,1.017612,-0.137913,-0.692578,-0.151618,0.691612
9,2,174080,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118196,-0.069251,0.887506,0.997226,-0.003341,0.025050,0.070010
9,2,174080,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084993,0.074561,0.878547,0.999909,0.013313,0.002051,0.000284
9,2,174080,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.075000,0.871344,0.999999,-0.000157,0.001163,0.000001
9,2,174080,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000005
9,2,174080,36,gripper,0,"","put banana on sheet metal",-0.061964,0.075951,0.991754,0.260870,-0.754643,0.284735,0.530459
9,2,174080,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.090807,-0.070437,0.887294,0.916319,-0.008570,0.011504,0.400192
9,2,174080,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204697,0.074737,0.878547,0.923942,0.011518,0.006984,0.382296
9,2,174080,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
9,2,174080,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
9,2,174080,37,gripper,0,"","put banana on sheet metal",-0.119660,0.061522,1.016361,0.029535,-0.758927,-0.041786,0.649162
9,2,174080,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243610,-0.066832,0.887325,0.999323,-0.005676,0.035248,0.008826
9,2,174080,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,0.074515,0.878547,0.999909,0.013306,0.002055,0.000547
9,2,174080,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
9,2,174080,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
9,2,174080,38,gripper,0,"","put banana on sheet metal",-0.061905,0.046801,0.980477,0.260345,-0.713610,0.166585,0.628674
9,2,174080,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242237,0.043889,0.887476,0.750261,-0.020350,0.023434,0.660413
9,2,174080,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007929,0.010833,0.707296
9,2,174080,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,2,174080,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
9,2,174080,39,gripper,0,"","put banana on sheet metal",-0.050228,0.099513,0.965559,0.199646,-0.769948,0.226695,0.562078
9,2,174080,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090424,-0.080915,0.887549,0.369091,-0.026677,0.013005,0.928919
9,2,174080,40,obj,1,"013_banana_1","put banana on flat bowl",-0.114677,0.045332,0.878547,0.383111,0.003197,0.013056,0.923604
9,2,174080,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000006
9,2,174080,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
9,2,174080,40,gripper,0,"","put banana on flat bowl",-0.093945,0.082796,1.031475,0.274447,-0.776518,0.198993,0.531132
9,2,174080,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
9,2,174080,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
9,2,174080,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
9,2,174080,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
9,2,174080,41,gripper,0,"","put banana on flat bowl",-0.191988,-0.045990,0.994345,0.009319,-0.714280,0.006355,0.699769
9,2,174080,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120079,-0.070829,0.887409,0.916389,-0.007386,0.018642,0.399786
9,2,174080,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,-0.045307,0.878547,0.923958,0.011506,0.006978,0.382258
9,2,174080,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
9,2,174080,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000307
9,2,174080,42,gripper,0,"","put banana on flat bowl",-0.050426,0.072885,1.012579,0.085992,-0.793878,0.098882,0.593789
9,2,174080,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089258,-0.079844,0.887407,0.363787,-0.031443,0.015332,0.930825
9,2,174080,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,0.075333,0.878547,0.382783,0.003209,0.013108,0.923740
9,2,174080,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.044966,0.871344,0.999999,-0.000158,0.001163,0.000083
9,2,174080,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000186
9,2,174080,43,gripper,0,"","put banana on flat bowl",-0.048492,0.092560,0.957626,0.339517,-0.679161,0.356953,0.544108
9,2,174080,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117649,-0.040833,0.887405,0.996777,-0.005952,0.038090,0.070355
9,2,174080,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084986,0.074560,0.878547,0.999910,0.013263,0.002051,0.000203
9,2,174080,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204991,0.045004,0.871344,0.999999,-0.000157,0.001164,-0.000005
9,2,174080,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000003
9,2,174080,44,gripper,0,"","put carrot on sheet metal",-0.100128,-0.020041,1.013234,-0.259184,-0.712785,-0.229441,0.610014
9,2,174080,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
9,2,174080,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234686,-0.074673,0.878547,0.383657,0.003203,0.013046,0.923378
9,2,174080,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.045013,0.871344,0.999999,-0.000157,0.001163,0.000018
9,2,174080,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
9,2,174080,45,gripper,0,"","put carrot on sheet metal",-0.024865,0.073073,0.987646,0.232025,-0.677062,0.162853,0.679139
9,2,174080,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088287,-0.068514,0.887297,0.996871,0.003843,0.034530,0.070996
9,2,174080,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
9,2,174080,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
9,2,174080,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
9,2,174080,46,gripper,0,"","put carrot on sheet metal",-0.040867,0.065905,1.044410,0.124853,-0.798779,0.036534,0.587392
9,2,174080,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118763,-0.040812,0.887547,0.913205,-0.017689,0.039869,0.405159
9,2,174080,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.204670,0.044695,0.878547,0.924087,0.011507,0.006973,0.381945
9,2,174080,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
9,2,174080,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
9,2,174080,47,gripper,0,"","put carrot on sheet metal",-0.097843,-0.067290,1.003055,-0.279803,-0.639222,-0.367915,0.614609
9,2,174080,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.198631,-0.063591,0.888112,0.517791,-0.024572,-0.012443,0.855063
9,2,174080,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256409,0.094910,0.887026,0.266631,-0.662748,0.253863,0.652094
9,2,174080,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114998,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000007
9,2,174080,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000023
9,2,174080,48,gripper,0,"","put hamburger on cutting board",-0.104034,-0.053087,0.984211,-0.159570,-0.708653,-0.246627,0.641501
9,2,174080,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.136059,-0.035561,0.891601,0.177408,0.799563,-0.278530,-0.501643
9,2,174080,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.240372,-0.046261,0.887026,0.507002,-0.504048,0.499625,0.489141
9,2,174080,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
9,2,174080,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
9,2,174080,49,gripper,0,"","put hamburger on cutting board",-0.158836,0.068184,1.062393,0.076269,-0.692622,-0.009912,0.717189
9,2,174080,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197273,-0.071907,0.938973,0.998597,0.026261,-0.043519,0.014864
9,2,174080,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055653,0.075813,0.887027,0.704495,-0.017046,0.709503,0.001187
9,2,174080,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
9,2,174080,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
9,2,174080,50,gripper,0,"","put hamburger on cutting board",-0.200489,-0.083862,0.979426,-0.040104,-0.752949,-0.184956,0.630279
9,2,174080,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.210655,0.063488,0.891801,-0.162822,-0.857527,0.484675,-0.056808
9,2,174080,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085831,0.104355,0.887027,0.497405,-0.513659,0.489735,0.498902
9,2,174080,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114988,-0.045002,0.872199,1.000000,0.000000,-0.000000,0.000170
9,2,174080,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
9,2,174080,51,gripper,0,"","put hamburger on cutting board",-0.187008,0.072918,0.964679,0.002840,-0.802030,-0.080894,0.591773
9,2,174080,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.176459,-0.028774,0.888112,0.947042,-0.026804,0.006323,0.319926
9,2,174080,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.021557,0.019863,0.889039,0.585349,-0.102709,0.801120,0.070877
9,2,174080,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.089756,0.085892,0.872199,0.985654,0.000000,-0.000000,0.168780
9,2,174080,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000001
9,2,174080,52,gripper,0,"","put plastic bottle on frying pan",0.011683,-0.022190,1.021767,0.147693,-0.726867,0.097412,0.663598
9,2,174080,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235949,0.075615,0.888112,0.712595,-0.026883,-0.006006,0.701035
9,2,174080,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.071054,0.106728,0.889578,0.538519,-0.467286,0.536862,0.451022
9,2,174080,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
9,2,174080,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082830,0.083721,0.870871,0.998344,0.000000,-0.000003,0.057524
9,2,174080,53,gripper,0,"","put plastic bottle on frying pan",-0.038367,0.083923,0.992595,-0.005190,-0.882678,-0.020110,0.469518
9,2,174080,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.161144,0.023540,0.888734,0.501326,0.023754,0.004094,0.864923
9,2,174080,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205803,-0.045696,0.887026,0.497132,-0.513927,0.489454,0.499173
9,2,174080,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
9,2,174080,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235901,0.074554,0.870883,0.999944,0.000708,0.000707,-0.010566
9,2,174080,54,gripper,0,"","put plastic bottle on frying pan",-0.154709,0.021461,0.953533,-0.025428,-0.782496,-0.049172,0.620190
9,2,174080,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.156681,-0.036041,0.890419,0.999451,-0.025574,0.017208,-0.012158
9,2,174080,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055611,0.075878,0.887027,0.704495,-0.016650,0.709513,0.000794
9,2,174080,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
9,2,174080,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204948,-0.074936,0.870870,1.000000,0.000000,0.000000,-0.000342
9,2,174080,55,gripper,0,"","put plastic bottle on frying pan",-0.034513,0.079298,0.943676,0.015761,-0.805648,-0.054503,0.589672
9,2,174080,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206184,0.046257,0.888112,0.727084,-0.027001,-0.005437,0.685996
9,2,174080,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.180840,-0.001232,0.889773,0.023779,-0.749824,0.660534,0.029900
9,2,174080,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084740,-0.075008,0.872199,0.999997,-0.000000,-0.000001,-0.002562
9,2,174080,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.236458,-0.075230,0.870868,0.999978,0.000019,-0.000001,0.006601
9,2,174080,56,gripper,0,"","put plastic bottle on cutting board",-0.010494,0.051952,1.037087,0.032066,-0.885774,0.011088,0.462874
9,2,174080,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206596,-0.073544,0.888112,0.999608,-0.023447,0.014447,0.005115
9,2,174080,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.723873,-0.504929,0.016920,0.722379,0.010593,-0.691404,0.004154
9,2,174080,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
9,2,174080,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000001,-0.000001,0.000020
9,2,174080,57,gripper,0,"","put plastic bottle on cutting board",-0.181040,-0.062464,0.978566,-0.116991,-0.741290,-0.146879,0.644383
9,2,174080,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205486,-0.074364,0.888112,0.707273,-0.026833,-0.006209,0.706404
9,2,174080,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.214859,0.123341,0.888124,-0.451287,-0.545919,0.422192,-0.565744
9,2,174080,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084427,-0.074860,0.872199,0.999982,-0.000001,-0.000001,-0.006000
9,2,174080,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.240211,0.081886,0.870871,0.999549,-0.000000,-0.000003,0.030018
9,2,174080,58,gripper,0,"","put plastic bottle on cutting board",-0.130030,0.058725,1.020559,0.072744,-0.760271,-0.021568,0.645159
9,2,174080,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084379,0.075951,0.888112,0.999421,-0.023074,0.015034,-0.019978
9,2,174080,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.176096,-0.073853,0.887026,0.704485,-0.019766,0.709432,0.003888
9,2,174080,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
9,2,174080,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204992,0.074993,0.870870,1.000000,0.000002,0.000002,0.000004
9,2,174080,59,gripper,0,"","put plastic bottle on cutting board",-0.155603,-0.079941,0.955299,0.025779,-0.816803,0.005411,0.576315
9,2,174080,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.073083,-0.042637,0.890406,0.986451,-0.023235,0.018582,-0.161338
9,2,174080,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055611,0.045803,0.887026,0.704496,-0.017224,0.709497,0.001365
9,2,174080,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
9,2,174080,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115001,-0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000035
9,2,174080,60,gripper,0,"","put hamburger on frying pan",-0.079885,-0.032576,1.014836,-0.083676,-0.778873,-0.187950,0.592477
9,2,174080,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.204370,-0.074089,0.888112,0.999400,-0.023061,0.015056,-0.020992
9,2,174080,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.150116,0.060154,0.887067,0.717502,-0.108434,0.679764,0.106556
9,2,174080,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
9,2,174080,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.073185,0.084145,0.870870,0.998030,0.000000,0.000000,-0.062745
9,2,174080,61,gripper,0,"","put hamburger on frying pan",-0.155259,0.039751,0.982501,0.032225,-0.833232,-0.001104,0.551983
9,2,174080,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.213707,-0.044174,0.896416,0.636971,-0.026371,-0.017875,0.770229
9,2,174080,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.107548,-0.052628,0.888390,0.569607,0.431443,-0.540493,0.444153
9,2,174080,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000524
9,2,174080,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115585,-0.045536,0.870884,0.999992,0.000699,0.000711,0.003917
9,2,174080,62,gripper,0,"","put hamburger on frying pan",-0.114153,-0.095743,1.084099,0.019782,-0.793279,-0.084417,0.602653
9,2,174080,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.224731,-0.069172,0.888112,0.205301,-0.019061,-0.019880,0.978311
9,2,174080,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.176167,0.040596,0.897245,0.061290,-0.672148,0.735925,-0.053613
9,2,174080,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114990,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000059
9,2,174080,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235069,0.074947,0.870883,0.999999,0.000699,0.000704,-0.000901
9,2,174080,63,gripper,0,"","put hamburger on frying pan",-0.212917,-0.065151,0.971986,-0.009211,-0.786094,-0.020006,0.617714
9,3,179200,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.113205,-0.076103,0.879373,0.439670,-0.244716,0.132433,0.853971
9,3,179200,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204102,0.027855,0.887247,0.792860,0.031057,-0.058786,0.605766
9,3,179200,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204987,0.074966,0.869532,1.000000,-0.000001,-0.000001,0.000480
9,3,179200,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000155,-0.001020,0.000040
9,3,179200,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.213291,0.023037,0.971674,0.117950,-0.824315,0.067645,0.549560
9,3,179200,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.055283,0.070213,0.885127,0.458778,0.533336,-0.559807,0.437826
9,3,179200,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
9,3,179200,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,0.000000,-0.000008
9,3,179200,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204746,-0.075378,0.871287,0.999999,-0.000154,-0.001019,-0.000679
9,3,179200,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.200647,-0.080536,0.932086,0.051765,-0.762418,0.003797,0.644999
9,3,179200,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.060600,0.080582,0.885122,0.565135,0.349694,-0.689819,0.287204
9,3,179200,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.116215,-0.033546,0.881638,0.765396,0.021721,-0.032805,0.642355
9,3,179200,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.086346,0.052643,0.869532,0.999851,-0.000000,-0.000001,-0.017290
9,3,179200,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000232
9,3,179200,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.135408,-0.015686,0.964026,0.071906,-0.784320,0.081713,0.610732
9,3,179200,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204872,-0.121620,0.879212,-0.208933,-0.632096,0.723182,-0.183872
9,3,179200,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.218538,0.084587,0.881638,0.949556,0.007947,-0.038529,0.311119
9,3,179200,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.236315,-0.039253,0.869531,0.999999,0.000001,-0.000000,-0.001541
9,3,179200,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114796,0.044876,0.871289,0.999999,-0.000153,-0.001020,0.001273
9,3,179200,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.204088,0.106106,0.973580,0.165835,-0.771522,0.115542,0.603243
9,3,179200,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.081421,-0.046112,0.884979,0.411859,-0.542698,0.359542,0.637637
9,3,179200,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085753,0.074440,0.881638,0.923221,0.010844,-0.037818,0.382250
9,3,179200,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115024,-0.075012,0.869532,1.000000,0.000001,-0.000001,0.000238
9,3,179200,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000012
9,3,179200,4,gripper,0,"","put kitchen shovel on cloth",-0.111866,-0.080517,0.945151,-0.112051,-0.736269,-0.065664,0.664109
9,3,179200,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.150232,0.127075,0.880696,-0.234268,-0.507854,0.811252,-0.170508
9,3,179200,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.034927,0.036018,0.887410,0.694065,0.126587,-0.133209,0.696064
9,3,179200,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000175
9,3,179200,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000028
9,3,179200,5,gripper,0,"","put kitchen shovel on cloth",-0.137483,-0.050743,0.998017,-0.009377,-0.692523,0.001115,0.721334
9,3,179200,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200481,0.075768,0.885083,0.647977,0.314408,-0.339085,0.605223
9,3,179200,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.245495,-0.047653,0.881637,0.670397,0.026025,-0.029535,0.740958
9,3,179200,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235271,0.075027,0.869531,0.999999,0.000001,-0.000001,0.001732
9,3,179200,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
9,3,179200,6,gripper,0,"","put kitchen shovel on cloth",-0.197083,0.065113,0.977507,0.139248,-0.752022,0.091542,0.637725
9,3,179200,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.159782,-0.188980,0.879373,0.561380,-0.222382,0.167237,0.779378
9,3,179200,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.075043,0.074928,0.910599,0.925128,-0.014545,0.007827,0.379296
9,3,179200,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000028
9,3,179200,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205009,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000131
9,3,179200,7,gripper,0,"","put kitchen shovel on cloth",-0.099920,0.098030,0.952952,0.223027,-0.769777,0.300818,0.516924
9,3,179200,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085014,-0.084728,0.879089,0.626225,0.326552,-0.328324,0.627223
9,3,179200,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.102837,0.133461,0.878124,-0.193038,-0.632827,0.735469,-0.146122
9,3,179200,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000037
9,3,179200,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114693,0.075821,0.871288,0.999971,-0.000161,-0.001018,-0.007532
9,3,179200,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.154778,0.112890,0.994615,0.082338,-0.731518,0.036539,0.675845
9,3,179200,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.077736,0.068352,0.879088,0.338289,0.427391,-0.178243,0.819223
9,3,179200,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.155792,0.062565,0.881641,-0.102116,-0.039267,-0.008505,0.993961
9,3,179200,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.095741,-0.060230,0.869532,0.990378,-0.001155,-0.001200,-0.138379
9,3,179200,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074963,0.871288,0.999999,-0.000155,-0.001020,0.000111
9,3,179200,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.175900,-0.066923,0.979249,-0.084664,-0.727316,-0.021616,0.680717
9,3,179200,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067413,-0.051037,0.885370,0.578106,-0.218898,0.172135,0.766972
9,3,179200,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.127537,-0.123619,0.883611,0.916444,0.005858,0.060624,0.395499
9,3,179200,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000000,-0.000086
9,3,179200,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.238918,-0.070221,0.871288,0.998365,-0.000095,-0.001026,0.057157
9,3,179200,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.098370,-0.035568,1.121866,-0.025181,-0.795410,-0.009599,0.605473
9,3,179200,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.112947,0.036644,0.879374,0.810952,0.055117,-0.068856,0.578427
9,3,179200,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.177197,-0.073437,0.881638,0.995335,-0.007874,-0.038570,-0.088084
9,3,179200,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.119490,0.107155,0.869532,0.967592,0.000000,-0.000001,-0.252519
9,3,179200,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234598,0.046440,0.871282,0.999964,-0.000440,-0.001269,0.008436
9,3,179200,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.095071,0.027155,0.969099,0.250157,-0.724124,0.112417,0.632794
9,3,179200,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.161302,-0.055695,0.885123,-0.022519,0.969991,-0.223172,-0.093838
9,3,179200,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.156247,-0.014141,0.885726,0.689079,0.048055,-0.035072,0.722241
9,3,179200,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.207871,-0.048584,0.869533,0.998553,-0.000013,0.000003,0.053778
9,3,179200,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,0.045006,0.871288,1.000000,-0.000154,-0.001019,-0.000015
9,3,179200,12,gripper,0,"","put ketchup bottle on cloth",-0.178147,-0.091436,1.000321,-0.028397,-0.848395,-0.063397,0.524786
9,3,179200,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.065378,0.198723,0.879212,0.223450,0.569969,-0.773096,0.165914
9,3,179200,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085749,-0.045593,0.881638,0.923143,0.010853,-0.037809,0.382440
9,3,179200,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.191265,-0.089714,0.869532,0.999925,-0.000000,-0.000000,0.012198
9,3,179200,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,0.075001,0.871288,0.999999,-0.000154,-0.001019,-0.000015
9,3,179200,13,gripper,0,"","put ketchup bottle on cloth",-0.275712,0.006136,0.939510,0.052719,-0.771943,0.049797,0.631542
9,3,179200,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.093285,-0.066929,0.879089,0.770650,0.227319,-0.403429,0.437800
9,3,179200,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.233807,0.011997,0.881635,0.841950,0.023638,-0.044179,0.537224
9,3,179200,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.203041,-0.077629,0.869897,0.998558,0.006790,-0.000363,-0.053244
9,3,179200,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
9,3,179200,14,gripper,0,"","put ketchup bottle on cloth",0.146484,0.027431,1.031329,0.367197,0.422443,0.192460,-0.806019
9,3,179200,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.021301,0.173767,0.879213,-0.269311,-0.239087,0.930259,-0.070190
9,3,179200,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.110600,-0.071987,0.881638,0.474287,0.032299,-0.022472,0.879490
9,3,179200,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
9,3,179200,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044960,0.871288,0.999999,-0.000154,-0.001019,0.000020
9,3,179200,15,gripper,0,"","put ketchup bottle on cloth",-0.203022,-0.064489,0.955253,-0.049974,-0.786834,-0.082009,0.609646
9,3,179200,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.080177,-0.065422,0.886561,0.696617,0.012862,-0.006952,0.717294
9,3,179200,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.106506,-0.015415,0.885746,-0.548863,-0.431031,0.413317,-0.584919
9,3,179200,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
9,3,179200,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084946,-0.074734,0.870416,0.999999,-0.000557,-0.001191,0.000081
9,3,179200,16,gripper,0,"","put 7up can on newspaper",-0.134792,0.008299,1.119380,0.337807,-0.713695,0.336294,0.513256
9,3,179200,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.102379,0.085007,0.886569,0.914554,-0.003510,-0.007765,-0.404374
9,3,179200,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212605,-0.074833,0.885626,0.972479,-0.005063,-0.232932,0.001161
9,3,179200,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235100,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000082
9,3,179200,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114990,0.075043,0.870461,1.000000,0.000018,-0.000158,-0.000053
9,3,179200,17,gripper,0,"","put 7up can on newspaper",-0.192650,-0.072517,0.962170,0.099657,-0.751286,0.082516,0.647170
9,3,179200,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.081097,-0.060287,0.883544,0.964468,0.005064,-0.011606,0.263895
9,3,179200,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.197872,0.050056,0.888549,0.477517,-0.506704,0.589489,0.409550
9,3,179200,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115002,0.045002,0.869490,1.000000,0.000180,0.000874,0.000051
9,3,179200,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235279,0.075127,0.870462,1.000000,0.000037,-0.000158,-0.000871
9,3,179200,18,gripper,0,"","put 7up can on newspaper",-0.165865,0.071381,1.102270,0.096316,-0.762291,0.081987,0.634755
9,3,179200,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.085485,0.074501,0.883544,0.924480,0.006458,-0.010886,0.381019
9,3,179200,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.154139,0.019726,0.885712,0.923006,0.067854,-0.325810,0.193141
9,3,179200,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205002,0.044998,0.869489,1.000000,0.000180,0.000874,0.000028
9,3,179200,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084961,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000107
9,3,179200,19,gripper,0,"","put 7up can on newspaper",-0.161177,-0.003506,1.000369,0.160064,-0.709623,0.120221,0.675546
9,3,179200,20,obj,0,"003_bread_1","put 7up can on carpet",-0.074459,0.025871,0.883544,0.333496,0.012416,-0.002459,0.942667
9,3,179200,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.234054,0.075115,0.885633,0.434240,0.098736,-0.044884,0.894244
9,3,179200,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204997,-0.044998,0.869490,1.000000,0.000180,0.000875,-0.000007
9,3,179200,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000844,-0.000001
9,3,179200,20,gripper,0,"","put 7up can on carpet",-0.192038,0.070812,1.023066,0.046642,-0.655951,-0.064472,0.750597
9,3,179200,21,obj,0,"003_bread_1","put 7up can on carpet",-0.084480,-0.045471,0.883544,0.383757,0.012269,-0.003131,0.923348
9,3,179200,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.184559,0.081448,0.886642,0.773107,0.118942,-0.113945,0.612515
9,3,179200,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235983,0.045036,0.869490,0.999973,0.000173,0.000875,0.007311
9,3,179200,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.204964,-0.074688,0.870420,0.999991,-0.000190,-0.000803,0.004131
9,3,179200,21,gripper,0,"","put 7up can on carpet",-0.146387,0.065872,1.067883,-0.001991,-0.765647,0.015482,0.643071
9,3,179200,22,obj,0,"003_bread_1","put 7up can on carpet",-0.140408,-0.046780,0.883544,0.815922,0.008725,-0.009166,0.578023
9,3,179200,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.197151,0.046310,0.885582,0.687385,0.097739,-0.086671,0.714449
9,3,179200,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
9,3,179200,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000071
9,3,179200,22,gripper,0,"","put 7up can on carpet",-0.191690,0.050817,0.957577,-0.136872,-0.744713,-0.121403,0.641818
9,3,179200,23,obj,0,"003_bread_1","put 7up can on carpet",-0.085129,0.074444,0.883544,0.708950,0.010121,-0.007599,0.705146
9,3,179200,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.114555,-0.223137,0.885866,0.449135,-0.529755,0.609965,0.381550
9,3,179200,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235100,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000082
9,3,179200,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.084919,-0.074921,0.870461,1.000000,0.000018,-0.000158,-0.000064
9,3,179200,23,gripper,0,"","put 7up can on carpet",-0.165707,0.058773,1.001053,0.184291,-0.696181,0.136335,0.680280
9,3,179200,24,obj,0,"003_bread_1","put bread on newspaper",-0.075394,-0.055384,0.886011,0.413245,0.028195,0.003820,0.910175
9,3,179200,24,obj,1,"005_7up can_1","put bread on newspaper",-0.225441,0.071470,0.885675,0.542964,0.295995,-0.208515,0.757693
9,3,179200,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.085037,-0.074972,0.869490,1.000000,0.000180,0.000875,0.000176
9,3,179200,24,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.074631,0.870448,0.999999,-0.000819,-0.000758,0.000142
9,3,179200,24,gripper,0,"","put bread on newspaper",-0.158581,-0.050042,0.973272,-0.022614,-0.715185,-0.036965,0.697591
9,3,179200,25,obj,0,"003_bread_1","put bread on newspaper",-0.117100,-0.043266,0.886670,0.178798,0.017240,-0.001132,0.983734
9,3,179200,25,obj,1,"005_7up can_1","put bread on newspaper",-0.075871,0.010403,0.885955,-0.380982,0.605521,-0.571607,-0.401824
9,3,179200,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084507,0.075031,0.869490,0.999999,0.000178,0.000874,0.001431
9,3,179200,25,recep,1,"003_carpet_1","put bread on newspaper",-0.114227,-0.044561,0.870461,0.999999,0.000018,-0.000158,0.000924
9,3,179200,25,gripper,0,"","put bread on newspaper",-0.163080,0.004927,1.004477,0.113300,-0.785232,0.086094,0.602629
9,3,179200,26,obj,0,"003_bread_1","put bread on newspaper",-0.053093,0.033035,0.886358,0.403863,0.016125,-0.003342,0.914671
9,3,179200,26,obj,1,"005_7up can_1","put bread on newspaper",-0.056755,0.289160,0.885849,0.495718,-0.500574,0.523421,0.479291
9,3,179200,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000059
9,3,179200,26,recep,1,"003_carpet_1","put bread on newspaper",-0.084980,0.045073,0.870460,1.000000,0.000019,-0.000158,0.000010
9,3,179200,26,gripper,0,"","put bread on newspaper",-0.228851,-0.117571,0.919128,-0.044423,-0.776593,-0.035654,0.627422
9,3,179200,27,obj,0,"003_bread_1","put bread on newspaper",-0.207237,0.085188,0.883544,0.931306,0.006257,-0.011007,0.364018
9,3,179200,27,obj,1,"005_7up can_1","put bread on newspaper",-0.199772,-0.017876,0.888725,0.442866,-0.554072,0.546009,0.445812
9,3,179200,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
9,3,179200,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235823,-0.045248,0.870447,0.999994,-0.001339,-0.001211,0.002996
9,3,179200,27,gripper,0,"","put bread on newspaper",-0.126261,-0.007010,1.005843,-0.001251,-0.700086,-0.039012,0.712991
9,3,179200,28,obj,0,"003_bread_1","put bread on carpet",-0.115491,0.074488,0.883544,0.924239,0.006464,-0.010882,0.381605
9,3,179200,28,obj,1,"005_7up can_1","put bread on carpet",-0.225694,0.035887,0.888698,0.838398,0.034722,-0.047698,0.541856
9,3,179200,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
9,3,179200,28,recep,1,"003_carpet_1","put bread on carpet",-0.234983,0.045004,0.870460,1.000000,0.000018,-0.000160,0.000040
9,3,179200,28,gripper,0,"","put bread on carpet",-0.171012,0.009522,0.997958,0.090255,-0.703919,0.112264,0.695520
9,3,179200,29,obj,0,"003_bread_1","put bread on carpet",-0.085127,0.074453,0.883544,0.708892,0.010134,-0.007593,0.705203
9,3,179200,29,obj,1,"005_7up can_1","put bread on carpet",-0.184683,0.071096,0.888789,0.391635,-0.552878,0.648596,0.346801
9,3,179200,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
9,3,179200,29,recep,1,"003_carpet_1","put bread on carpet",-0.204987,0.074972,0.870453,0.999998,0.001569,0.001265,-0.000068
9,3,179200,29,gripper,0,"","put bread on carpet",-0.125925,-0.012403,1.118304,0.025314,-0.804325,0.100149,0.585141
9,3,179200,30,obj,0,"003_bread_1","put bread on carpet",-0.081711,-0.065786,0.883544,0.352204,0.012367,-0.002710,0.935838
9,3,179200,30,obj,1,"005_7up can_1","put bread on carpet",-0.233513,0.045385,0.885633,0.396015,0.100559,-0.040669,0.911815
9,3,179200,30,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
9,3,179200,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
9,3,179200,30,gripper,0,"","put bread on carpet",-0.164251,0.012527,0.997517,0.077202,-0.701056,0.091957,0.702925
9,3,179200,31,obj,0,"003_bread_1","put bread on carpet",-0.173203,-0.035389,0.885316,0.964063,0.008150,0.001779,0.265543
9,3,179200,31,obj,1,"005_7up can_1","put bread on carpet",-0.121609,0.070087,0.888826,0.797578,0.129163,-0.190567,0.557558
9,3,179200,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205193,-0.045105,0.869490,0.999998,0.000563,0.001447,0.001555
9,3,179200,31,recep,1,"003_carpet_1","put bread on carpet",-0.114552,0.044645,0.870661,0.999913,-0.003288,-0.000741,-0.012751
9,3,179200,31,gripper,0,"","put bread on carpet",-0.207985,-0.013380,0.966046,0.055835,-0.735314,0.015037,0.675256
9,3,179200,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205505,0.080369,0.887187,0.381170,-0.024392,0.019817,0.923971
9,3,179200,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204674,-0.074676,0.878547,0.382241,0.003184,0.013055,0.923965
9,3,179200,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000025
9,3,179200,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
9,3,179200,32,gripper,0,"","put banana on sheet metal",-0.076595,0.029355,1.022176,0.232971,-0.668550,0.154108,0.689214
9,3,179200,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118713,-0.070268,0.887523,0.997099,-0.000660,0.029751,0.070049
9,3,179200,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.044559,0.878547,0.999909,0.013330,0.002052,0.000328
9,3,179200,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
9,3,179200,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
9,3,179200,33,gripper,0,"","put banana on sheet metal",-0.012138,0.088457,0.949168,0.463923,-0.784777,0.295434,0.285691
9,3,179200,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123211,0.081502,0.887530,0.922968,-0.011789,0.022218,0.384054
9,3,179200,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.044693,0.878547,0.923634,0.011478,0.006977,0.383040
9,3,179200,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,3,179200,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
9,3,179200,34,gripper,0,"","put banana on sheet metal",-0.133945,-0.051534,1.021996,-0.013180,-0.716588,-0.151795,0.680651
9,3,179200,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118454,-0.068617,0.887544,0.997137,0.000096,0.029387,0.069666
9,3,179200,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074562,0.878547,0.999909,0.013308,0.002053,0.000327
9,3,179200,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
9,3,179200,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000000
9,3,179200,35,gripper,0,"","put banana on sheet metal",-0.088619,0.077276,1.046933,0.221463,-0.743684,0.237834,0.584229
9,3,179200,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118901,-0.067722,0.887335,0.997309,0.001871,0.023440,0.069442
9,3,179200,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084993,0.074561,0.878547,0.999909,0.013312,0.002052,0.000284
9,3,179200,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.075000,0.871344,0.999999,-0.000157,0.001164,0.000001
9,3,179200,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000006
9,3,179200,36,gripper,0,"","put banana on flat bowl",-0.052929,0.086280,1.009016,0.244124,-0.729056,0.242534,0.591658
9,3,179200,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092575,-0.069187,0.887455,0.920022,-0.010242,0.023743,0.391012
9,3,179200,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204697,0.074737,0.878547,0.923942,0.011485,0.006966,0.382296
9,3,179200,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
9,3,179200,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
9,3,179200,37,gripper,0,"","put banana on flat bowl",-0.177525,-0.005156,1.007857,0.014222,-0.815417,0.001779,0.578697
9,3,179200,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247234,-0.067205,0.887174,0.999509,-0.009063,0.029682,-0.004315
9,3,179200,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,0.074515,0.878547,0.999909,0.013287,0.002053,0.000547
9,3,179200,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
9,3,179200,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
9,3,179200,38,gripper,0,"","put banana on flat bowl",-0.053469,-0.033011,1.034082,-0.086682,-0.776265,-0.040226,0.623122
9,3,179200,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244850,0.043162,0.887449,0.757039,-0.021909,0.023649,0.652574
9,3,179200,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007943,0.010849,0.707296
9,3,179200,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,3,179200,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
9,3,179200,39,gripper,0,"","put banana on flat bowl",-0.068354,0.080741,0.986844,0.378479,-0.798535,0.151250,0.442966
9,3,179200,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092552,-0.084713,0.887554,0.386154,-0.021747,0.012407,0.922095
9,3,179200,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.114677,0.045338,0.878546,0.383559,0.003199,0.013041,0.923419
9,3,179200,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000006
9,3,179200,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
9,3,179200,40,gripper,0,"","put carrot on sheet metal",-0.039387,-0.054971,0.981014,-0.018661,-0.770184,-0.016635,0.637332
9,3,179200,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092434,-0.077354,0.887535,0.758827,-0.021862,0.023123,0.650515
9,3,179200,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
9,3,179200,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
9,3,179200,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
9,3,179200,41,gripper,0,"","put carrot on sheet metal",-0.034868,-0.017008,0.998801,0.051147,-0.748857,0.087046,0.654996
9,3,179200,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122612,-0.069569,0.887424,0.919386,-0.008174,0.018448,0.392838
9,3,179200,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234665,-0.045307,0.878547,0.924128,0.011533,0.006986,0.381845
9,3,179200,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
9,3,179200,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000458
9,3,179200,42,gripper,0,"","put carrot on sheet metal",-0.038046,0.035727,1.010234,0.009656,-0.824658,-0.015150,0.565347
9,3,179200,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091162,-0.083624,0.887560,0.378759,-0.022575,0.012604,0.925134
9,3,179200,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,0.075336,0.878547,0.383063,0.003211,0.013103,0.923624
9,3,179200,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.044949,0.871344,0.999999,-0.000158,0.001164,0.000115
9,3,179200,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000275
9,3,179200,43,gripper,0,"","put carrot on sheet metal",-0.045092,-0.033259,1.020572,-0.065850,-0.712116,-0.070895,0.695362
9,3,179200,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118333,-0.041227,0.887295,0.996896,0.004154,0.034304,0.070737
9,3,179200,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999910,0.013264,0.002050,0.000101
9,3,179200,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
9,3,179200,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000005
9,3,179200,44,gripper,0,"","put carrot on flat bowl",-0.101147,-0.026903,0.995419,0.071313,-0.770345,-0.083612,0.628086
9,3,179200,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093090,0.065413,0.887383,0.386505,-0.024386,0.013103,0.921872
9,3,179200,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,-0.074667,0.878547,0.384375,0.003209,0.013029,0.923079
9,3,179200,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.045019,0.871344,0.999999,-0.000157,0.001164,0.000026
9,3,179200,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
9,3,179200,45,gripper,0,"","put carrot on flat bowl",-0.021118,0.075528,0.969777,0.282027,-0.800380,0.085071,0.522126
9,3,179200,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089172,-0.067060,0.887278,0.997105,-0.007902,0.028010,0.070241
9,3,179200,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
9,3,179200,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
9,3,179200,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
9,3,179200,46,gripper,0,"","put carrot on flat bowl",-0.017277,-0.027864,1.010195,0.004303,-0.739169,-0.099728,0.666082
9,3,179200,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123310,-0.038876,0.887401,0.919726,-0.008089,0.023099,0.391798
9,3,179200,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.204662,0.044697,0.878547,0.924330,0.011512,0.006966,0.381358
9,3,179200,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
9,3,179200,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
9,3,179200,47,gripper,0,"","put carrot on flat bowl",-0.125540,-0.078424,1.004572,-0.036968,-0.783398,-0.013739,0.620268
9,3,179200,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.174393,-0.052910,0.947299,0.408873,0.021001,-0.002741,0.912346
9,3,179200,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256409,0.094910,0.887026,0.266631,-0.662746,0.253862,0.652096
9,3,179200,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114998,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000007
9,3,179200,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000026
9,3,179200,48,gripper,0,"","put plastic bottle on frying pan",-0.175976,-0.053953,0.993265,-0.055198,-0.783703,-0.081320,0.613310
9,3,179200,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.153309,-0.024067,0.890528,-0.048967,0.898030,-0.429286,-0.082812
9,3,179200,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.240383,-0.046272,0.887026,0.506965,-0.504086,0.499586,0.489181
9,3,179200,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
9,3,179200,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
9,3,179200,49,gripper,0,"","put plastic bottle on frying pan",-0.156460,-0.018370,1.000050,-0.015368,-0.726315,-0.029801,0.686544
9,3,179200,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.194870,-0.074387,0.888112,0.999437,-0.023644,0.014118,0.019166
9,3,179200,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055653,0.075813,0.887026,0.704495,-0.017018,0.709504,0.001159
9,3,179200,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
9,3,179200,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085209,-0.074230,0.870870,0.999995,0.000000,-0.000000,0.003020
9,3,179200,50,gripper,0,"","put plastic bottle on frying pan",-0.026876,0.025721,0.954641,0.051220,-0.737075,-0.054369,0.671670
9,3,179200,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.210716,0.063499,0.891802,-0.164607,-0.841066,0.512710,-0.051396
9,3,179200,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.020483,0.065487,0.887026,0.477123,-0.532772,0.468873,0.518330
9,3,179200,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114988,-0.045002,0.872199,1.000000,0.000000,-0.000000,0.000161
9,3,179200,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
9,3,179200,51,gripper,0,"","put plastic bottle on frying pan",-0.076139,0.041664,1.017882,-0.047753,-0.758942,-0.122699,0.637707
9,3,179200,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.176459,-0.028774,0.888112,0.947045,-0.026804,0.006323,0.319918
9,3,179200,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.023258,0.020424,0.889101,0.631506,-0.093170,0.765788,0.078028
9,3,179200,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.090313,0.086437,0.872208,0.984411,0.000010,0.000108,0.175884
9,3,179200,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000001
9,3,179200,52,gripper,0,"","put plastic bottle on cutting board",-0.020447,0.006014,0.949616,0.148179,-0.745948,0.096258,0.642136
9,3,179200,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235949,0.075615,0.888112,0.712828,-0.026883,-0.005996,0.700798
9,3,179200,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.071089,0.106743,0.889580,0.538263,-0.467571,0.536614,0.451327
9,3,179200,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
9,3,179200,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082867,0.083740,0.870870,0.998351,-0.000000,-0.000004,0.057412
9,3,179200,53,gripper,0,"","put plastic bottle on cutting board",-0.148973,0.025904,1.068667,0.197833,-0.759447,0.195678,0.588058
9,3,179200,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.161190,0.023399,0.888731,0.501526,0.024823,-0.000013,0.864787
9,3,179200,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.159832,-0.032276,0.909975,0.633167,-0.584325,0.288569,0.417602
9,3,179200,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085724,-0.072948,0.872199,0.999819,-0.000000,-0.000001,-0.019031
9,3,179200,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235901,0.074554,0.870883,0.999945,0.000707,0.000704,-0.010432
9,3,179200,54,gripper,0,"","put plastic bottle on cutting board",-0.144091,-0.033949,0.979702,0.007867,-0.832360,-0.038391,0.552849
9,3,179200,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.156776,-0.036007,0.890421,0.999503,-0.025630,0.017087,-0.006740
9,3,179200,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.063950,0.076157,0.888789,0.844753,-0.016254,0.534901,0.003218
9,3,179200,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
9,3,179200,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204948,-0.074913,0.870870,1.000000,-0.000000,-0.000002,-0.000467
9,3,179200,55,gripper,0,"","put plastic bottle on cutting board",-0.081663,0.080711,0.946531,0.144922,-0.743227,0.083507,0.647794
9,3,179200,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206184,0.046257,0.888112,0.727024,-0.027002,-0.005437,0.686060
9,3,179200,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.168037,-0.001659,0.889793,-0.067407,-0.769546,0.632817,-0.052887
9,3,179200,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084740,-0.075008,0.872199,0.999997,-0.000000,-0.000001,-0.002542
9,3,179200,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236748,-0.079029,0.870870,0.999924,0.000000,-0.000001,0.012328
9,3,179200,56,gripper,0,"","put hamburger on frying pan",-0.145157,0.016796,0.972466,-0.057219,-0.793960,-0.104876,0.596116
9,3,179200,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.191044,0.031384,0.987237,0.984593,0.062375,0.097471,-0.131094
9,3,179200,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.723873,-0.504929,0.016920,0.722378,0.010589,-0.691404,0.004150
9,3,179200,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
9,3,179200,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000002,0.000001,0.000024
9,3,179200,57,gripper,0,"","put hamburger on frying pan",-0.181437,0.023268,1.031954,0.114942,-0.698606,0.028017,0.705657
9,3,179200,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.074245,-0.001038,0.893174,0.697220,-0.408785,0.457216,0.371125
9,3,179200,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215210,0.123291,0.888125,-0.453540,-0.544217,0.424316,-0.563990
9,3,179200,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084427,-0.074860,0.872199,0.999982,-0.000000,-0.000000,-0.005990
9,3,179200,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.240608,0.081898,0.870870,0.999575,-0.000000,-0.000003,0.029161
9,3,179200,58,gripper,0,"","put hamburger on frying pan",-0.039967,-0.011900,1.011571,0.006976,-0.709192,-0.027637,0.704439
9,3,179200,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.080017,0.086567,0.888112,0.993887,-0.021679,0.016988,-0.106911
9,3,179200,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.177317,-0.074135,0.887063,0.728798,-0.014124,0.684530,0.008561
9,3,179200,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
9,3,179200,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204992,0.074993,0.870870,1.000000,-0.000001,-0.000002,0.000015
9,3,179200,59,gripper,0,"","put hamburger on frying pan",-0.157454,-0.064190,0.946336,-0.021352,-0.723401,-0.040988,0.688879
9,3,179200,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.073086,-0.042625,0.890406,0.986238,-0.023194,0.018562,-0.162643
9,3,179200,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055611,0.045803,0.887026,0.704496,-0.017225,0.709498,0.001365
9,3,179200,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
9,3,179200,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115001,-0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000035
9,3,179200,60,gripper,0,"","put hamburger on cutting board",-0.118785,0.014942,1.124057,0.014088,-0.783049,-0.025165,0.621291
9,3,179200,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.091091,0.062695,0.890767,0.993601,-0.026991,0.013278,0.108871
9,3,179200,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.150114,0.060020,0.887068,0.720602,-0.098299,0.679445,0.097078
9,3,179200,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
9,3,179200,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.073280,0.084129,0.870870,0.998023,0.000000,0.000000,-0.062853
9,3,179200,61,gripper,0,"","put hamburger on cutting board",-0.084507,0.049170,1.142031,0.393225,-0.672436,0.210981,0.590500
9,3,179200,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.213707,-0.044136,0.896416,0.637881,-0.026408,-0.017850,0.769475
9,3,179200,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107555,-0.052502,0.888389,0.569542,0.431407,-0.540847,0.443841
9,3,179200,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000001,-0.000000,0.000531
9,3,179200,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115585,-0.045376,0.870884,0.999990,0.000704,0.000718,0.004282
9,3,179200,62,gripper,0,"","put hamburger on cutting board",-0.100174,-0.011820,1.137436,-0.099824,-0.826620,0.138087,0.536346
9,3,179200,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.224735,-0.069160,0.888112,0.212467,-0.019212,-0.019735,0.976780
9,3,179200,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.176170,0.040581,0.897244,0.061270,-0.672195,0.735883,-0.053628
9,3,179200,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114990,0.044998,0.872199,1.000000,-0.000002,-0.000001,0.000272
9,3,179200,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235069,0.074947,0.870883,0.999999,0.000697,0.000705,-0.000966
9,3,179200,63,gripper,0,"","put hamburger on cutting board",-0.114429,0.001467,1.006222,0.065552,-0.765659,0.021070,0.639550
9,4,184320,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.113205,-0.076111,0.879373,0.439646,-0.244719,0.132426,0.853983
9,4,184320,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.188515,0.028763,0.885549,0.855788,0.026566,-0.093876,0.508043
9,4,184320,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.198494,0.084641,0.876463,0.990657,0.070619,-0.083951,0.081016
9,4,184320,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000069
9,4,184320,0,gripper,0,"","put kitchen shovel on cloth",-0.224602,0.023323,0.932767,0.028946,-0.726285,-0.014000,0.686641
9,4,184320,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.055283,0.070206,0.885126,0.458702,0.533412,-0.559857,0.437748
9,4,184320,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083443,-0.076355,0.881637,0.372008,0.044757,-0.022116,0.926886
9,4,184320,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074997,0.869532,1.000000,0.000000,0.000000,-0.000010
9,4,184320,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.195740,-0.077278,0.871288,0.999831,-0.000172,-0.001016,-0.018360
9,4,184320,1,gripper,0,"","put kitchen shovel on cloth",-0.230631,-0.057796,0.959015,-0.075925,-0.769450,-0.082783,0.628752
9,4,184320,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.060574,0.080589,0.885122,0.565185,0.349546,-0.689908,0.287071
9,4,184320,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.127811,-0.031662,0.881641,0.647893,-0.033274,0.022499,0.760671
9,4,184320,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.086346,0.052643,0.869532,0.999851,-0.000000,-0.000001,-0.017271
9,4,184320,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000306
9,4,184320,2,gripper,0,"","put kitchen shovel on cloth",-0.084280,-0.034065,0.932149,0.027821,-0.794805,0.011429,0.606119
9,4,184320,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.189848,-0.044403,0.885157,0.089221,-0.678069,0.724604,0.084917
9,4,184320,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219200,0.084114,0.881638,0.951225,0.007746,-0.038598,0.305977
9,4,184320,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.237514,-0.038193,0.869532,0.999993,0.000000,-0.000001,-0.003729
9,4,184320,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114794,0.044876,0.871288,0.999999,-0.000152,-0.001019,0.001300
9,4,184320,3,gripper,0,"","put kitchen shovel on cloth",-0.215531,-0.052868,0.940433,-0.006196,-0.733398,0.011515,0.679674
9,4,184320,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.081413,-0.046120,0.884979,0.411910,-0.542762,0.359751,0.637431
9,4,184320,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085754,0.074440,0.881638,0.923220,0.010857,-0.037846,0.382250
9,4,184320,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115024,-0.075012,0.869532,1.000000,0.000000,-0.000001,0.000246
9,4,184320,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.194829,0.076958,0.871262,0.999775,0.000250,0.000650,0.021188
9,4,184320,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.172443,-0.071861,1.004458,-0.143343,-0.786525,-0.292596,0.524613
9,4,184320,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.150238,0.127068,0.880695,-0.234332,-0.507548,0.811445,-0.170411
9,4,184320,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.034931,0.036026,0.887411,0.693960,0.126589,-0.133216,0.696167
9,4,184320,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.074989,0.869532,1.000000,0.000001,-0.000001,-0.000186
9,4,184320,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084993,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000065
9,4,184320,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.236953,-0.034313,0.961638,0.041708,-0.775342,0.072682,0.625957
9,4,184320,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.200481,0.075760,0.885082,0.648019,0.314378,-0.339087,0.605192
9,4,184320,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.245495,-0.047653,0.881637,0.670412,0.026002,-0.029517,0.740946
9,4,184320,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235271,0.075027,0.869531,0.999998,-0.000001,-0.000000,0.001732
9,4,184320,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
9,4,184320,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.153109,0.027912,1.135284,0.002548,-0.834088,0.119389,0.538551
9,4,184320,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.159782,-0.188995,0.879373,0.561382,-0.222384,0.167238,0.779376
9,4,184320,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.076275,0.073860,0.881638,0.925329,0.010649,-0.037903,0.377116
9,4,184320,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000052
9,4,184320,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205017,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000115
9,4,184320,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.180552,-0.068073,0.957212,-0.040606,-0.830350,-0.091414,0.548191
9,4,184320,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.153252,-0.047680,0.885369,0.693790,-0.188280,0.204969,0.664224
9,4,184320,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.102821,0.133514,0.878135,-0.193054,-0.633982,0.734324,-0.146848
9,4,184320,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205017,-0.075005,0.869532,1.000000,-0.000001,0.000000,0.000496
9,4,184320,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114693,0.075821,0.871288,0.999972,-0.000162,-0.001018,-0.007473
9,4,184320,8,gripper,0,"","put ketchup bottle on cloth",-0.146603,-0.046305,1.009655,0.006153,-0.727312,0.003054,0.686272
9,4,184320,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.075794,0.069630,0.879088,0.328281,0.429529,-0.173019,0.823287
9,4,184320,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.155792,0.062565,0.881641,-0.102153,-0.039272,-0.008506,0.993957
9,4,184320,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.095741,-0.060230,0.869532,0.990339,-0.001100,-0.001142,-0.138658
9,4,184320,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074947,0.871288,0.999999,-0.000155,-0.001020,0.000140
9,4,184320,9,gripper,0,"","put ketchup bottle on cloth",-0.107573,0.010334,0.982437,0.041092,-0.757671,0.025396,0.650847
9,4,184320,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.067402,-0.051033,0.885370,0.578166,-0.218885,0.172158,0.766926
9,4,184320,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.126202,-0.125141,0.883641,0.912652,0.005825,0.060487,0.404194
9,4,184320,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085007,-0.075001,0.869532,1.000000,0.000000,-0.000000,-0.000201
9,4,184320,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.238258,-0.071835,0.871288,0.999076,-0.000110,-0.001024,0.042964
9,4,184320,10,gripper,0,"","put ketchup bottle on cloth",-0.181629,-0.014555,1.072461,0.011724,-0.823854,0.045143,0.564880
9,4,184320,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.168539,0.021961,0.883844,-0.341959,0.525831,-0.577280,-0.522794
9,4,184320,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.177219,-0.073437,0.881638,0.995312,-0.007883,-0.038544,-0.088347
9,4,184320,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.119490,0.107155,0.869532,0.967593,0.000000,-0.000001,-0.252514
9,4,184320,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234598,0.046440,0.871282,0.999963,-0.000441,-0.001269,0.008446
9,4,184320,11,gripper,0,"","put ketchup bottle on cloth",-0.168362,-0.066311,0.973471,0.029978,-0.760081,0.007598,0.649092
9,4,184320,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.163667,-0.062222,0.885453,-0.032161,0.959080,-0.263315,-0.098972
9,4,184320,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.156796,-0.022923,0.885658,0.729220,0.065294,-0.056251,0.678831
9,4,184320,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.208578,-0.049969,0.869532,0.999043,0.000000,-0.000000,0.043749
9,4,184320,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,0.045002,0.871288,0.999999,-0.000153,-0.001018,-0.000027
9,4,184320,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.120697,-0.019630,0.929362,-0.014516,-0.782363,-0.032639,0.621798
9,4,184320,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.065378,0.198727,0.879212,0.223446,0.569987,-0.773083,0.165919
9,4,184320,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083492,-0.041828,0.881638,0.918240,0.011331,-0.037669,0.394067
9,4,184320,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.191265,-0.089714,0.869532,0.999925,0.000000,-0.000000,0.012200
9,4,184320,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115015,0.075611,0.871288,0.999992,-0.000161,-0.001019,-0.003728
9,4,184320,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.062871,-0.036263,0.940678,0.049209,-0.800886,0.069725,0.592704
9,4,184320,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.200626,-0.070385,0.885294,0.652041,0.312727,-0.344536,0.598615
9,4,184320,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.233944,0.011585,0.882107,0.837489,0.035671,-0.065143,0.541383
9,4,184320,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203045,-0.077774,0.869700,0.998739,0.002488,-0.000989,-0.050126
9,4,184320,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,1.000000,-0.000153,-0.001019,0.000018
9,4,184320,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.234520,-0.016888,0.999044,0.019754,-0.763984,-0.014256,0.644775
9,4,184320,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.021305,0.173763,0.879213,-0.269321,-0.238947,0.930295,-0.070150
9,4,184320,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.109028,-0.074196,0.881638,0.488058,0.031933,-0.022972,0.871924
9,4,184320,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000018
9,4,184320,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044968,0.871288,0.999999,-0.000154,-0.001019,0.000019
9,4,184320,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.192923,0.024679,0.997441,0.029977,-0.704650,-0.047193,0.707349
9,4,184320,16,obj,0,"003_bread_1","put 7up can on carpet",-0.087578,-0.067039,0.886533,0.736695,0.012017,-0.007032,0.676081
9,4,184320,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.106506,-0.015415,0.885746,-0.548862,-0.431034,0.413321,-0.584916
9,4,184320,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
9,4,184320,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084946,-0.074738,0.870355,0.999998,-0.000377,-0.001675,-0.000512
9,4,184320,16,gripper,0,"","put 7up can on carpet",-0.131348,-0.001110,1.116609,0.035199,-0.788256,-0.019146,0.614041
9,4,184320,17,obj,0,"003_bread_1","put 7up can on carpet",-0.102375,0.084980,0.886569,0.914481,-0.003516,-0.007768,-0.404539
9,4,184320,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.212620,-0.074795,0.885626,0.972479,-0.004994,-0.232933,0.001452
9,4,184320,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235134,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000120
9,4,184320,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.114990,0.075016,0.870461,1.000000,0.000018,-0.000158,-0.000001
9,4,184320,17,gripper,0,"","put 7up can on carpet",-0.170420,-0.041605,0.991985,-0.017442,-0.765715,-0.002832,0.642938
9,4,184320,18,obj,0,"003_bread_1","put 7up can on carpet",-0.081097,-0.060287,0.883544,0.964463,0.005063,-0.011599,0.263914
9,4,184320,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.197868,0.050053,0.888549,0.477505,-0.506651,0.589709,0.409314
9,4,184320,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115009,0.045002,0.869490,1.000000,0.000180,0.000875,0.000046
9,4,184320,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.235283,0.075138,0.870462,1.000000,0.000037,-0.000158,-0.000902
9,4,184320,18,gripper,0,"","put 7up can on carpet",-0.133001,0.087835,1.138397,0.104757,-0.818318,0.006920,0.565097
9,4,184320,19,obj,0,"003_bread_1","put 7up can on carpet",-0.085487,0.074501,0.883544,0.924515,0.006457,-0.010886,0.380935
9,4,184320,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.133047,0.045460,0.895968,0.774425,-0.250592,0.565342,-0.133631
9,4,184320,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204996,0.045002,0.869489,1.000000,0.000179,0.000875,0.000079
9,4,184320,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.083492,-0.072102,0.870352,0.999991,0.000113,-0.001237,0.004124
9,4,184320,19,gripper,0,"","put 7up can on carpet",-0.148565,0.045580,0.937686,0.044454,-0.739340,0.059309,0.669240
9,4,184320,20,obj,0,"003_bread_1","put bread on newspaper",-0.074711,0.027390,0.883544,0.337849,0.012407,-0.002516,0.941115
9,4,184320,20,obj,1,"005_7up can_1","put bread on newspaper",-0.234053,0.075115,0.885633,0.434240,0.098740,-0.044886,0.894243
9,4,184320,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204997,-0.044998,0.869490,1.000000,0.000180,0.000875,-0.000007
9,4,184320,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
9,4,184320,20,gripper,0,"","put bread on newspaper",-0.079371,0.029093,0.977306,0.145709,-0.735873,0.139908,0.646286
9,4,184320,21,obj,0,"003_bread_1","put bread on newspaper",-0.085098,-0.045135,0.883544,0.347411,0.012382,-0.002643,0.937627
9,4,184320,21,obj,1,"005_7up can_1","put bread on newspaper",-0.184067,0.083546,0.886636,0.778680,0.078138,-0.062451,0.619396
9,4,184320,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.236013,0.045044,0.869490,0.999973,0.000173,0.000875,0.007337
9,4,184320,21,recep,1,"003_carpet_1","put bread on newspaper",-0.204950,-0.074589,0.870368,0.999984,0.000185,-0.001147,0.005587
9,4,184320,21,gripper,0,"","put bread on newspaper",-0.084946,-0.036461,0.963212,-0.110920,-0.798993,-0.196921,0.557251
9,4,184320,22,obj,0,"003_bread_1","put bread on newspaper",-0.140408,-0.046780,0.883544,0.815935,0.008725,-0.009167,0.578005
9,4,184320,22,obj,1,"005_7up can_1","put bread on newspaper",-0.229969,-0.160156,0.885972,0.269166,0.643650,-0.669634,0.254663
9,4,184320,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
9,4,184320,22,recep,1,"003_carpet_1","put bread on newspaper",-0.234966,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000117
9,4,184320,22,gripper,0,"","put bread on newspaper",-0.184650,-0.030815,0.999582,0.063790,-0.774630,0.004615,0.629172
9,4,184320,23,obj,0,"003_bread_1","put bread on newspaper",-0.085129,0.074444,0.883544,0.708834,0.010124,-0.007598,0.705261
9,4,184320,23,obj,1,"005_7up can_1","put bread on newspaper",-0.108200,-0.173630,0.885774,-0.604050,-0.391072,0.484581,-0.497360
9,4,184320,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.235134,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000120
9,4,184320,23,recep,1,"003_carpet_1","put bread on newspaper",-0.084919,-0.074928,0.870461,1.000000,0.000019,-0.000158,-0.000052
9,4,184320,23,gripper,0,"","put bread on newspaper",-0.131969,-0.141752,0.976979,0.008861,-0.740878,-0.107850,0.662865
9,4,184320,24,obj,0,"003_bread_1","put bread on carpet",-0.075394,-0.055372,0.886010,0.413329,0.028190,0.003832,0.910137
9,4,184320,24,obj,1,"005_7up can_1","put bread on carpet",-0.172462,-0.035034,0.885671,-0.811190,-0.097119,0.138823,-0.559702
9,4,184320,24,recep,0,"004_newspaper_1","put bread on carpet",-0.085037,-0.074966,0.869490,0.999999,0.000179,0.000875,0.000569
9,4,184320,24,recep,1,"003_carpet_1","put bread on carpet",-0.084900,0.072897,0.870350,0.999998,-0.000098,-0.001455,0.001478
9,4,184320,24,gripper,0,"","put bread on carpet",-0.160999,0.002852,1.002004,0.010249,-0.717967,-0.025487,0.695535
9,4,184320,25,obj,0,"003_bread_1","put bread on carpet",-0.117188,-0.043108,0.886628,0.178172,0.013587,0.001646,0.983904
9,4,184320,25,obj,1,"005_7up can_1","put bread on carpet",-0.075878,0.010176,0.885951,-0.384262,0.603761,-0.569011,-0.405021
9,4,184320,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084507,0.075031,0.869490,0.999999,0.000178,0.000874,0.001453
9,4,184320,25,recep,1,"003_carpet_1","put bread on carpet",-0.114231,-0.044531,0.870447,0.999991,-0.003111,-0.002736,0.000839
9,4,184320,25,gripper,0,"","put bread on carpet",-0.079878,0.018360,1.143982,0.138976,-0.789946,0.123690,0.584271
9,4,184320,26,obj,0,"003_bread_1","put bread on carpet",-0.053093,0.033035,0.886358,0.404539,0.016123,-0.003348,0.914372
9,4,184320,26,obj,1,"005_7up can_1","put bread on carpet",-0.056755,0.289164,0.885849,0.495722,-0.500570,0.523414,0.479298
9,4,184320,26,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000078
9,4,184320,26,recep,1,"003_carpet_1","put bread on carpet",-0.084980,0.045073,0.870460,1.000000,0.000018,-0.000158,0.000010
9,4,184320,26,gripper,0,"","put bread on carpet",-0.197866,0.057803,0.986758,0.097928,-0.762068,0.012352,0.639930
9,4,184320,27,obj,0,"003_bread_1","put bread on carpet",-0.207237,0.085188,0.883544,0.931269,0.006258,-0.011005,0.364113
9,4,184320,27,obj,1,"005_7up can_1","put bread on carpet",-0.199734,-0.017870,0.888725,0.442644,-0.554357,0.545707,0.446048
9,4,184320,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
9,4,184320,27,recep,1,"003_carpet_1","put bread on carpet",-0.235823,-0.045248,0.870447,0.999994,-0.001334,-0.001207,0.003013
9,4,184320,27,gripper,0,"","put bread on carpet",-0.054233,-0.065607,0.937207,-0.014070,-0.782523,0.010093,0.622381
9,4,184320,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.115491,0.074488,0.883544,0.924239,0.006464,-0.010884,0.381605
9,4,184320,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.164213,0.184202,0.885995,0.116889,0.556238,-0.818275,0.085800
9,4,184320,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
9,4,184320,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234983,0.045004,0.870460,1.000000,0.000016,-0.000160,0.000049
9,4,184320,28,gripper,0,"","put 7up can on newspaper",-0.088806,0.113170,0.943185,0.228977,-0.698501,0.321681,0.596814
9,4,184320,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.085127,0.074453,0.883544,0.708768,0.010134,-0.007590,0.705328
9,4,184320,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184772,0.070976,0.888856,0.395026,-0.552128,0.646678,0.347730
9,4,184320,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000038
9,4,184320,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204988,0.074945,0.870460,1.000000,0.000019,-0.000158,-0.000139
9,4,184320,29,gripper,0,"","put 7up can on newspaper",-0.132464,0.059780,1.121979,0.164090,-0.844212,0.098837,0.500612
9,4,184320,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.081711,-0.065786,0.883544,0.352385,0.012365,-0.002711,0.935769
9,4,184320,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.227009,0.039963,0.885675,0.371664,0.333214,-0.141686,0.854845
9,4,184320,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000074
9,4,184320,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
9,4,184320,30,gripper,0,"","put 7up can on newspaper",-0.175898,0.048617,1.009685,-0.056032,-0.807264,-0.035390,0.586458
9,4,184320,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.173096,-0.035345,0.885285,0.964648,0.007404,0.005776,0.263373
9,4,184320,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.121208,0.070040,0.888846,0.801383,0.127471,-0.191124,0.552276
9,4,184320,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205193,-0.045105,0.869490,0.999997,0.000563,0.001447,0.001691
9,4,184320,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114552,0.044664,0.870706,0.999863,-0.003779,-0.000708,-0.016100
9,4,184320,31,gripper,0,"","put 7up can on newspaper",-0.113565,-0.019947,1.196826,0.049589,-0.769830,0.074372,0.631959
9,4,184320,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205505,0.080369,0.887187,0.381169,-0.024392,0.019818,0.923971
9,4,184320,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204674,-0.074676,0.878547,0.382241,0.003188,0.013066,0.923965
9,4,184320,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
9,4,184320,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
9,4,184320,32,gripper,0,"","put banana on flat bowl",-0.122589,-0.048576,1.032342,-0.156367,-0.603232,-0.226715,0.748506
9,4,184320,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118736,-0.069403,0.887492,0.996964,-0.002395,0.032662,0.070642
9,4,184320,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.044560,0.878547,0.999910,0.013295,0.002049,0.000329
9,4,184320,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
9,4,184320,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
9,4,184320,33,gripper,0,"","put banana on flat bowl",-0.112833,0.129484,1.036333,0.253354,-0.762302,0.201995,0.560273
9,4,184320,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.126392,0.084291,0.887428,0.928792,-0.011964,0.037511,0.368504
9,4,184320,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.044693,0.878546,0.923634,0.011476,0.006976,0.383040
9,4,184320,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,4,184320,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
9,4,184320,34,gripper,0,"","put banana on flat bowl",-0.176157,0.057162,0.997142,-0.081145,-0.772783,-0.082632,0.624014
9,4,184320,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.119022,-0.068109,0.887541,0.997085,-0.003982,0.030939,0.069635
9,4,184320,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074562,0.878547,0.999909,0.013314,0.002054,0.000327
9,4,184320,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
9,4,184320,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000000
9,4,184320,35,gripper,0,"","put banana on flat bowl",-0.071913,0.036349,1.050087,0.059271,-0.759512,0.028776,0.647148
9,4,184320,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.119446,-0.066218,0.887232,0.997271,-0.007849,0.021129,0.070303
9,4,184320,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084993,0.074561,0.878547,0.999909,0.013303,0.002051,0.000283
9,4,184320,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.075000,0.871344,0.999999,-0.000157,0.001164,0.000001
9,4,184320,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000007
9,4,184320,36,gripper,0,"","put carrot on sheet metal",-0.086000,-0.034607,0.985779,0.028962,-0.731776,0.066065,0.677718
9,4,184320,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095465,-0.066597,0.887630,0.922495,-0.017425,0.041934,0.383329
9,4,184320,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204697,0.074737,0.878547,0.923942,0.011488,0.006968,0.382296
9,4,184320,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
9,4,184320,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
9,4,184320,37,gripper,0,"","put carrot on sheet metal",-0.096272,-0.021484,1.008885,-0.241119,-0.752105,-0.122773,0.600937
9,4,184320,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.247234,-0.067205,0.887174,0.999509,-0.009064,0.029681,-0.004315
9,4,184320,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,0.074516,0.878547,0.999909,0.013282,0.002053,0.000547
9,4,184320,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
9,4,184320,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
9,4,184320,38,gripper,0,"","put carrot on sheet metal",-0.199375,-0.049204,1.000399,-0.032546,-0.699869,-0.029687,0.712911
9,4,184320,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.247738,0.042238,0.887538,0.766590,-0.017717,0.016978,0.641668
9,4,184320,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007923,0.010826,0.707296
9,4,184320,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
9,4,184320,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
9,4,184320,39,gripper,0,"","put carrot on sheet metal",-0.172640,0.061209,0.982492,0.176394,-0.590369,0.178836,0.767051
9,4,184320,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095879,-0.088678,0.887500,0.401621,-0.023403,0.008751,0.915465
9,4,184320,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.114677,0.045341,0.878546,0.383984,0.003204,0.013037,0.923242
9,4,184320,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000006
9,4,184320,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
9,4,184320,40,gripper,0,"","put carrot on flat bowl",-0.047974,-0.026283,0.975834,0.057870,-0.733480,0.082330,0.672221
9,4,184320,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095306,-0.077477,0.887476,0.767668,-0.025237,0.032528,0.639523
9,4,184320,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
9,4,184320,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
9,4,184320,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
9,4,184320,41,gripper,0,"","put carrot on flat bowl",-0.098501,-0.023566,1.044018,-0.122878,-0.690343,-0.093429,0.706823
9,4,184320,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.126637,-0.067024,0.887511,0.925938,-0.009438,0.015771,0.377228
9,4,184320,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234661,-0.045305,0.878547,0.924294,0.011512,0.006968,0.381443
9,4,184320,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
9,4,184320,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000609
9,4,184320,42,gripper,0,"","put carrot on flat bowl",-0.018974,0.041113,1.007104,0.242000,-0.693764,0.234391,0.636544
9,4,184320,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092457,-0.086380,0.887507,0.390356,-0.013799,0.009067,0.920516
9,4,184320,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,0.075340,0.878547,0.383337,0.003224,0.013130,0.923509
9,4,184320,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.044935,0.871344,0.999999,-0.000158,0.001164,0.000145
9,4,184320,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000365
9,4,184320,43,gripper,0,"","put carrot on flat bowl",-0.052060,-0.043172,1.006069,-0.010205,-0.791921,0.026576,0.609960
9,4,184320,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118821,-0.040186,0.887259,0.996964,0.004868,0.033194,0.070261
9,4,184320,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084981,0.074558,0.878547,0.999910,0.013275,0.002048,-0.000019
9,4,184320,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204991,0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000005
9,4,184320,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000009
9,4,184320,44,gripper,0,"","put banana on sheet metal",-0.088265,0.011297,1.030635,0.042260,-0.761170,-0.059088,0.644471
9,4,184320,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095734,0.061724,0.887190,0.400563,-0.031210,0.004041,0.915728
9,4,184320,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,-0.074659,0.878546,0.385118,0.003215,0.013009,0.922770
9,4,184320,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.045025,0.871344,0.999999,-0.000157,0.001164,0.000035
9,4,184320,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
9,4,184320,45,gripper,0,"","put banana on sheet metal",-0.178211,-0.057650,0.986599,-0.044561,-0.670594,-0.051016,0.738726
9,4,184320,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089348,-0.067015,0.887525,0.996988,-0.001388,0.033704,0.069830
9,4,184320,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
9,4,184320,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
9,4,184320,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
9,4,184320,46,gripper,0,"","put banana on sheet metal",-0.012243,0.075898,1.028243,0.253084,-0.815838,0.154931,0.496339
9,4,184320,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.126011,-0.036644,0.887425,0.924178,-0.012306,0.037282,0.379939
9,4,184320,47,obj,1,"013_banana_1","put banana on sheet metal",-0.204655,0.044697,0.878547,0.924581,0.011497,0.006948,0.380748
9,4,184320,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
9,4,184320,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
9,4,184320,47,gripper,0,"","put banana on sheet metal",-0.065691,0.043927,0.990503,0.176780,-0.766998,0.191593,0.586306
9,4,184320,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.175957,-0.049759,0.888112,0.439592,-0.023365,-0.014585,0.897775
9,4,184320,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256485,0.094959,0.887026,0.267088,-0.662568,0.254327,0.651910
9,4,184320,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114998,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000007
9,4,184320,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000028
9,4,184320,48,gripper,0,"","put plastic bottle on cutting board",-0.165260,0.055086,1.003793,0.133226,-0.701886,0.011594,0.699624
9,4,184320,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.120804,-0.022873,0.924243,-0.247324,0.941087,-0.204561,-0.106494
9,4,184320,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.243000,-0.040123,0.887026,0.461253,-0.546687,0.452569,0.532504
9,4,184320,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
9,4,184320,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
9,4,184320,49,gripper,0,"","put plastic bottle on cutting board",-0.121298,-0.026936,0.965315,-0.004837,-0.733831,-0.050175,0.677459
9,4,184320,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.194870,-0.074387,0.888112,0.999433,-0.023647,0.014113,0.019392
9,4,184320,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055584,0.075836,0.887026,0.704495,-0.016560,0.709515,0.000704
9,4,184320,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
9,4,184320,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085209,-0.074230,0.870870,0.999996,0.000000,-0.000001,0.002992
9,4,184320,50,gripper,0,"","put plastic bottle on cutting board",-0.046968,0.089245,0.961046,0.094975,-0.767908,0.059512,0.630678
9,4,184320,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.210783,0.063515,0.891802,-0.166344,-0.821959,0.542818,-0.045403
9,4,184320,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.020481,0.065487,0.887026,0.476814,-0.533051,0.468555,0.518614
9,4,184320,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114988,-0.045002,0.872199,1.000000,0.000000,-0.000001,0.000153
9,4,184320,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
9,4,184320,51,gripper,0,"","put plastic bottle on cutting board",0.014305,0.029501,0.979706,-0.013826,-0.790200,-0.010510,0.612603
9,4,184320,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.179658,0.112095,0.889159,0.970709,-0.093331,0.022852,0.220207
9,4,184320,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.021672,0.020996,0.888993,0.590065,-0.103333,0.797484,0.071870
9,4,184320,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.090325,0.086437,0.872199,0.984387,-0.000001,-0.000001,0.176016
9,4,184320,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236015,0.047176,0.870870,0.999986,-0.000003,-0.000002,0.005197
9,4,184320,52,gripper,0,"","put hamburger on frying pan",-0.165252,0.061508,1.008177,-0.046320,-0.754094,-0.052927,0.652990
9,4,184320,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083328,-0.021126,0.991752,0.709187,-0.010136,-0.095511,0.698448
9,4,184320,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.071119,0.106739,0.889581,0.538313,-0.467511,0.536669,0.451264
9,4,184320,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
9,4,184320,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082903,0.083748,0.870871,0.998358,0.000000,-0.000004,0.057288
9,4,184320,53,gripper,0,"","put hamburger on frying pan",-0.093660,-0.029781,1.035833,-0.044862,-0.792749,-0.146801,0.589904
9,4,184320,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.161133,0.024570,0.888729,0.501391,0.024714,-0.000078,0.864868
9,4,184320,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.151249,-0.025883,0.892519,0.330564,-0.663197,0.608587,0.283758
9,4,184320,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085510,-0.072971,0.872199,0.999856,0.000000,-0.000001,-0.016971
9,4,184320,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235901,0.074554,0.870883,0.999946,0.000708,0.000707,-0.010310
9,4,184320,54,gripper,0,"","put hamburger on frying pan",-0.048382,-0.017521,1.009048,-0.181818,-0.787241,-0.093312,0.581796
9,4,184320,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.156811,-0.036015,0.890421,0.999516,-0.025632,0.016942,-0.004950
9,4,184320,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055870,0.076244,0.887026,0.704497,-0.016743,0.709509,0.000886
9,4,184320,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
9,4,184320,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204948,-0.074921,0.870870,1.000000,0.000001,0.000001,-0.000462
9,4,184320,55,gripper,0,"","put hamburger on frying pan",-0.131588,-0.073362,0.997206,-0.064948,-0.777706,-0.119147,0.613807
9,4,184320,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206184,0.046257,0.888112,0.726912,-0.026997,-0.005445,0.686178
9,4,184320,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.168037,-0.001659,0.889793,-0.067406,-0.769552,0.632810,-0.052886
9,4,184320,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084740,-0.075008,0.872199,0.999997,0.000000,-0.000001,-0.002520
9,4,184320,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.236748,-0.079029,0.870870,0.999924,0.000001,-0.000000,0.012333
9,4,184320,56,gripper,0,"","put hamburger on cutting board",-0.168545,0.071180,0.967492,0.061458,-0.690147,0.005465,0.721035
9,4,184320,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.194798,0.032528,0.890757,0.992281,-0.023335,0.018581,-0.120367
9,4,184320,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.723873,-0.504929,0.016920,0.722379,0.010579,-0.691404,0.004140
9,4,184320,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
9,4,184320,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204975,0.074986,0.870883,0.999999,0.000701,0.000717,0.000086
9,4,184320,57,gripper,0,"","put hamburger on cutting board",-0.119564,0.023813,1.153372,0.077081,-0.806618,0.122768,0.573022
9,4,184320,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.191769,0.045547,0.895806,0.693820,-0.412732,0.456346,0.374186
9,4,184320,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.214642,0.124149,0.888119,-0.457615,-0.541099,0.428307,-0.560672
9,4,184320,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084427,-0.074860,0.872199,0.999982,-0.000000,-0.000000,-0.005989
9,4,184320,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.240692,0.081917,0.870871,0.999583,0.000009,0.000005,0.028861
9,4,184320,58,gripper,0,"","put hamburger on cutting board",-0.072847,-0.008434,1.037194,0.153062,-0.752150,0.075930,0.636456
9,4,184320,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.080015,0.086563,0.888112,0.993460,-0.021613,0.017074,-0.110808
9,4,184320,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175928,-0.073967,0.887027,0.704492,-0.017964,0.709482,0.002098
9,4,184320,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
9,4,184320,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.074993,0.870870,1.000000,-0.000000,-0.000000,0.000019
9,4,184320,59,gripper,0,"","put hamburger on cutting board",-0.158438,-0.059380,1.021818,-0.065983,-0.724576,-0.080102,0.681337
9,4,184320,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.071784,-0.044827,0.890398,0.996242,-0.024603,0.017126,-0.081268
9,4,184320,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.066376,0.078457,0.887380,0.703484,-0.056894,0.707648,0.033273
9,4,184320,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
9,4,184320,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115803,-0.077011,0.870870,0.999885,-0.000000,-0.000002,-0.015136
9,4,184320,60,gripper,0,"","put plastic bottle on frying pan",-0.037302,0.026546,0.932945,0.216773,-0.742052,0.156599,0.614690
9,4,184320,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.071884,0.012043,0.888318,0.787132,-0.012477,-0.021236,0.616293
9,4,184320,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.153442,0.064163,0.887026,0.698182,-0.110478,0.701058,0.094096
9,4,184320,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
9,4,184320,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.070765,0.084251,0.870870,0.998248,0.000001,0.000001,-0.059172
9,4,184320,61,gripper,0,"","put plastic bottle on frying pan",-0.121153,0.078838,0.993074,-0.037917,-0.779896,-0.173432,0.600204
9,4,184320,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.213715,-0.044102,0.896415,0.640188,-0.026511,-0.017745,0.767555
9,4,184320,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.107540,-0.052452,0.888389,0.569603,0.431300,-0.540953,0.443738
9,4,184320,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000515
9,4,184320,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115582,-0.045315,0.870884,0.999991,0.000689,0.000706,0.004169
9,4,184320,62,gripper,0,"","put plastic bottle on frying pan",-0.113632,0.033621,1.125211,0.067318,-0.812399,0.037338,0.577998
9,4,184320,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.224739,-0.069149,0.888112,0.219683,-0.019352,-0.019598,0.975182
9,4,184320,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.171818,0.033085,0.897841,0.086742,-0.787965,0.608738,-0.032011
9,4,184320,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115829,0.044994,0.872199,0.999949,-0.000000,-0.000001,0.010096
9,4,184320,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235092,0.074940,0.870883,0.999999,0.000704,0.000719,-0.001338
9,4,184320,63,gripper,0,"","put plastic bottle on frying pan",-0.082199,0.066706,1.024817,0.086940,-0.767959,0.177712,0.609178
10,1,189440,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.058014,0.065895,0.884978,-0.613304,0.377379,-0.530734,-0.446950
10,1,189440,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115112,-0.045975,0.881638,0.706709,0.024488,-0.030792,0.706409
10,1,189440,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085014,0.074997,0.869533,1.000000,0.000000,-0.000001,0.000473
10,1,189440,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205284,0.045128,0.871288,0.999997,-0.000157,-0.001020,-0.002176
10,1,189440,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.068790,0.098583,1.145829,0.129329,-0.747307,0.099923,0.644066
10,1,189440,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091022,-0.020638,0.885122,0.461907,0.529119,-0.564080,0.434153
10,1,189440,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084381,0.074272,0.881638,0.382425,0.034434,-0.019074,0.923148
10,1,189440,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115009,-0.044991,0.869532,1.000000,-0.000000,0.000000,0.000323
10,1,189440,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074974,0.871288,1.000000,-0.000154,-0.001019,0.000119
10,1,189440,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.210342,-0.062828,0.984184,-0.055704,-0.825911,-0.096810,0.552626
10,1,189440,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.222874,-0.085266,0.885122,0.378674,0.619780,-0.462601,0.508408
10,1,189440,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084381,0.074272,0.881638,0.382425,0.034434,-0.019074,0.923148
10,1,189440,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000021
10,1,189440,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
10,1,189440,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.219872,-0.068501,1.087582,0.042605,-0.791768,-0.103346,0.600506
10,1,189440,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.172018,-0.076920,0.879373,0.937857,-0.054470,0.272866,0.207370
10,1,189440,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235947,0.075111,0.881638,0.999225,-0.004447,-0.039114,-0.000116
10,1,189440,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
10,1,189440,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
10,1,189440,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.170894,-0.079620,0.960947,-0.049403,-0.770538,-0.202275,0.602424
10,1,189440,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.216926,-0.022018,0.888197,0.571155,0.351673,-0.308622,0.674434
10,1,189440,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084215,-0.075653,0.884080,0.707050,0.053852,-0.002983,0.705104
10,1,189440,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000000
10,1,189440,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205001,-0.045013,0.871288,1.000000,-0.000155,-0.001020,-0.000045
10,1,189440,4,gripper,0,"","put ketchup bottle on cloth",-0.226976,-0.016632,1.103947,-0.009497,-0.795494,-0.078381,0.600796
10,1,189440,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.104416,-0.040619,0.879373,0.531923,-0.228466,0.158827,0.799772
10,1,189440,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084406,0.074249,0.881638,0.382434,0.034428,-0.019071,0.923144
10,1,189440,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000011
10,1,189440,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000148
10,1,189440,5,gripper,0,"","put ketchup bottle on cloth",-0.158748,-0.022129,0.973443,0.074586,-0.780169,0.082421,0.615613
10,1,189440,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.212456,-0.033096,0.878982,0.757628,-0.031643,0.650313,0.045723
10,1,189440,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085960,0.075119,0.881638,0.999225,-0.004454,-0.039113,-0.000267
10,1,189440,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000007
10,1,189440,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
10,1,189440,6,gripper,0,"","put ketchup bottle on cloth",-0.237356,-0.037277,0.956897,0.005465,-0.736271,-0.036215,0.675695
10,1,189440,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.121365,0.155884,0.935411,-0.818367,0.160019,-0.370508,-0.409136
10,1,189440,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205109,-0.075974,0.881638,0.706780,0.024487,-0.030793,0.706338
10,1,189440,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114994,0.044998,0.869532,1.000000,0.000000,0.000000,-0.000100
10,1,189440,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000169
10,1,189440,7,gripper,0,"","put ketchup bottle on cloth",-0.136463,0.160637,0.972223,0.274314,-0.707907,0.189458,0.622676
10,1,189440,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204971,0.066765,0.972010,0.757515,0.253947,-0.364857,0.478081
10,1,189440,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085724,-0.075600,0.881638,0.923205,0.010857,-0.037840,0.382287
10,1,189440,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000034
10,1,189440,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001020,-0.000027
10,1,189440,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.208935,0.068161,1.008946,0.148127,-0.726007,0.153692,0.653721
10,1,189440,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244740,0.075008,0.879088,0.886321,-0.001239,-0.463068,0.000734
10,1,189440,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.090141,-0.074799,0.883211,0.998729,0.023496,0.043550,-0.009618
10,1,189440,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.116405,0.047802,0.869532,0.999615,-0.000000,-0.000000,-0.027739
10,1,189440,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
10,1,189440,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.099001,0.009073,0.964302,0.104476,-0.835455,-0.009245,0.539456
10,1,189440,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.230553,0.049149,0.879373,0.960497,0.007242,0.278147,-0.005234
10,1,189440,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085964,-0.074886,0.881638,0.999225,-0.004456,-0.039112,-0.000281
10,1,189440,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
10,1,189440,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
10,1,189440,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.190254,0.053822,0.953638,0.034798,-0.771282,-0.098415,0.627876
10,1,189440,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.022533,0.137085,0.879212,-0.238427,-0.492686,0.824499,-0.143575
10,1,189440,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085114,-0.075958,0.881638,0.706676,0.024517,-0.030811,0.706440
10,1,189440,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085018,0.075001,0.869532,1.000000,0.000001,-0.000000,0.000016
10,1,189440,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235312,0.075073,0.871288,0.999996,-0.000156,-0.001019,-0.002689
10,1,189440,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.199080,0.002216,0.933674,-0.056556,-0.740271,-0.059315,0.667295
10,1,189440,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094742,0.075005,0.879089,0.886319,-0.001259,-0.463073,0.000692
10,1,189440,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214790,-0.098354,0.881666,0.961549,-0.003573,0.003547,-0.274587
10,1,189440,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
10,1,189440,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
10,1,189440,12,gripper,0,"","put kitchen shovel on cloth",-0.223736,-0.087200,0.923217,-0.058823,-0.730880,-0.005283,0.679946
10,1,189440,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124537,0.041454,0.879593,-0.336598,0.145374,0.928976,0.050715
10,1,189440,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085951,0.075108,0.881638,0.999226,-0.004450,-0.039092,-0.000140
10,1,189440,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000003
10,1,189440,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114979,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000022
10,1,189440,13,gripper,0,"","put kitchen shovel on cloth",-0.152802,0.060316,0.917618,0.142070,-0.784580,0.050080,0.601451
10,1,189440,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.016384,0.188866,0.879116,-0.078312,0.612386,-0.784346,-0.060428
10,1,189440,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204411,0.074245,0.881638,0.382504,0.034412,-0.019073,0.923116
10,1,189440,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
10,1,189440,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001018,0.000018
10,1,189440,14,gripper,0,"","put kitchen shovel on cloth",-0.174038,0.086870,0.956968,0.121344,-0.720588,0.056966,0.680282
10,1,189440,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085014,-0.084736,0.879089,0.626110,0.326608,-0.328260,0.627343
10,1,189440,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.225086,-0.092243,0.881861,0.652633,-0.056514,0.043440,0.754314
10,1,189440,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
10,1,189440,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004129,0.000145
10,1,189440,15,gripper,0,"","put kitchen shovel on cloth",-0.242373,-0.100647,0.918509,0.065164,-0.800203,0.055924,0.593550
10,1,189440,16,obj,0,"003_bread_1","put bread on newspaper",-0.166634,0.059132,0.886349,0.685712,0.014875,-0.005054,0.727703
10,1,189440,16,obj,1,"005_7up can_1","put bread on newspaper",-0.079773,0.069485,0.885627,0.370925,0.213286,-0.093785,0.898959
10,1,189440,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000037
10,1,189440,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205025,0.045002,0.870461,1.000000,0.000019,-0.000159,-0.000024
10,1,189440,16,gripper,0,"","put bread on newspaper",-0.161522,-0.062208,0.970968,-0.068065,-0.740695,-0.078582,0.663749
10,1,189440,17,obj,0,"003_bread_1","put bread on newspaper",-0.230854,0.083920,0.883544,0.597362,0.011134,-0.006024,0.801872
10,1,189440,17,obj,1,"005_7up can_1","put bread on newspaper",-0.085186,0.065666,0.885636,0.677616,0.197510,-0.205036,0.678075
10,1,189440,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
10,1,189440,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
10,1,189440,17,gripper,0,"","put bread on newspaper",-0.200876,0.065912,0.990621,0.051270,-0.728592,0.065361,0.679892
10,1,189440,18,obj,0,"003_bread_1","put bread on newspaper",-0.084480,0.074528,0.883544,0.383856,0.012261,-0.003132,0.923306
10,1,189440,18,obj,1,"005_7up can_1","put bread on newspaper",-0.090748,-0.065514,0.888823,0.537743,0.038787,-0.024089,0.841872
10,1,189440,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
10,1,189440,18,recep,1,"003_carpet_1","put bread on newspaper",-0.083591,-0.074562,0.870422,0.999998,-0.000702,-0.001276,-0.001252
10,1,189440,18,gripper,0,"","put bread on newspaper",-0.089481,-0.054338,1.091205,-0.062044,-0.759904,-0.077607,0.642396
10,1,189440,19,obj,0,"003_bread_1","put bread on newspaper",-0.115131,0.074448,0.883544,0.709157,0.010125,-0.007598,0.704937
10,1,189440,19,obj,1,"005_7up can_1","put bread on newspaper",-0.233320,0.033817,0.885675,0.660776,0.257463,-0.254618,0.657462
10,1,189440,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
10,1,189440,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
10,1,189440,19,gripper,0,"","put bread on newspaper",-0.226099,0.004627,1.005707,-0.014874,-0.773034,0.074639,0.629782
10,1,189440,20,obj,0,"003_bread_1","put bread on carpet",-0.104859,-0.045143,0.886556,0.898638,0.008482,-0.007908,0.438537
10,1,189440,20,obj,1,"005_7up can_1","put bread on carpet",-0.090505,0.069744,0.885626,0.898152,0.084382,-0.217191,0.372867
10,1,189440,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
10,1,189440,20,recep,1,"003_carpet_1","put bread on carpet",-0.115002,-0.044994,0.870447,0.999998,-0.001365,-0.001225,0.000009
10,1,189440,20,gripper,0,"","put bread on carpet",-0.139269,-0.005531,0.955793,0.082461,-0.780435,0.031821,0.618958
10,1,189440,21,obj,0,"003_bread_1","put bread on carpet",-0.085491,-0.045509,0.883545,0.924420,0.006460,-0.010885,0.381167
10,1,189440,21,obj,1,"005_7up can_1","put bread on carpet",-0.248020,0.051384,0.885675,0.823511,0.172232,-0.318580,0.436660
10,1,189440,21,recep,0,"004_newspaper_1","put bread on carpet",-0.114996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
10,1,189440,21,recep,1,"003_carpet_1","put bread on carpet",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
10,1,189440,21,gripper,0,"","put bread on carpet",-0.232614,0.020201,0.985062,0.024016,-0.753757,-0.078736,0.651978
10,1,189440,22,obj,0,"003_bread_1","put bread on carpet",-0.114067,0.043945,0.883544,0.936800,0.006089,-0.011096,0.349637
10,1,189440,22,obj,1,"005_7up can_1","put bread on carpet",-0.159050,0.075817,0.885633,0.905668,-0.044246,0.086642,0.412674
10,1,189440,22,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
10,1,189440,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
10,1,189440,22,gripper,0,"","put bread on carpet",-0.132282,0.062937,0.963898,0.143934,-0.735349,0.047216,0.660541
10,1,189440,23,obj,0,"003_bread_1","put bread on carpet",-0.084480,0.074528,0.883544,0.383856,0.012261,-0.003132,0.923306
10,1,189440,23,obj,1,"005_7up can_1","put bread on carpet",-0.149479,0.080002,1.005095,0.803644,0.143567,-0.280144,0.505040
10,1,189440,23,recep,0,"004_newspaper_1","put bread on carpet",-0.115002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
10,1,189440,23,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000026
10,1,189440,23,gripper,0,"","put bread on carpet",-0.164165,0.088177,1.033052,0.126410,-0.781296,0.196741,0.578696
10,1,189440,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085121,-0.075531,0.883544,0.709102,0.010120,-0.007602,0.704993
10,1,189440,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.176186,0.092390,0.887816,0.735908,-0.162401,0.092833,0.650729
10,1,189440,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000029
10,1,189440,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114990,0.075010,0.870447,0.999999,-0.000923,-0.000845,-0.000058
10,1,189440,24,gripper,0,"","put 7up can on newspaper",-0.199120,0.053568,0.956746,0.038250,-0.752303,0.044195,0.656220
10,1,189440,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.198380,0.088419,0.883544,0.225055,0.012616,-0.001029,0.974264
10,1,189440,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.199772,-0.080505,0.885627,0.371266,0.213250,-0.093864,0.898819
10,1,189440,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
10,1,189440,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
10,1,189440,25,gripper,0,"","put 7up can on newspaper",-0.195240,0.087363,0.932841,0.019543,-0.745993,-0.026219,0.665150
10,1,189440,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.115131,-0.045547,0.883544,0.709155,0.010126,-0.007599,0.704939
10,1,189440,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184296,0.014177,0.885963,-0.226492,-0.731753,0.577551,-0.282265
10,1,189440,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
10,1,189440,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234959,-0.074886,0.870461,1.000000,0.000019,-0.000158,0.000218
10,1,189440,26,gripper,0,"","put 7up can on newspaper",-0.181681,0.014020,0.961823,-0.062267,-0.824848,-0.042933,0.560273
10,1,189440,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.114491,0.074518,0.883544,0.383738,0.012271,-0.003128,0.923355
10,1,189440,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.084038,-0.057856,0.977105,0.405453,0.366755,-0.189911,0.815495
10,1,189440,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235020,0.045000,0.869490,1.000000,0.000179,0.000874,-0.000020
10,1,189440,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
10,1,189440,27,gripper,0,"","put 7up can on newspaper",-0.099777,-0.056232,1.022597,-0.289115,-0.742640,-0.170809,0.579416
10,1,189440,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085492,-0.075512,0.883544,0.924243,0.006464,-0.010884,0.381593
10,1,189440,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.184216,0.015800,0.885733,0.679384,-0.300764,0.372270,0.556232
10,1,189440,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000004
10,1,189440,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
10,1,189440,28,gripper,0,"","put 7up can on carpet",-0.140699,-0.023381,0.985538,0.057226,-0.723588,-0.002964,0.687849
10,1,189440,29,obj,0,"003_bread_1","put 7up can on carpet",-0.193481,0.050657,0.883544,0.435931,0.012067,-0.003829,0.899891
10,1,189440,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.079744,-0.080500,0.885627,0.370855,0.213297,-0.093770,0.898987
10,1,189440,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
10,1,189440,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.205000,-0.045000,0.870404,1.000000,0.000065,-0.000723,-0.000143
10,1,189440,29,gripper,0,"","put 7up can on carpet",-0.155704,0.037844,0.993260,-0.076932,-0.716803,-0.090020,0.687147
10,1,189440,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
10,1,189440,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.186901,-0.039173,0.895167,0.455045,-0.443015,0.337612,0.694759
10,1,189440,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
10,1,189440,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
10,1,189440,30,gripper,0,"","put 7up can on carpet",-0.213030,-0.048386,0.928536,-0.031226,-0.775453,-0.092339,0.623836
10,1,189440,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
10,1,189440,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.089142,0.085810,0.938216,0.613277,0.130482,-0.121406,0.769497
10,1,189440,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
10,1,189440,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.045000,0.870403,1.000000,0.000065,-0.000723,-0.000046
10,1,189440,31,gripper,0,"","put 7up can on carpet",-0.097830,0.082352,0.979452,-0.059819,-0.755385,-0.096002,0.645445
10,1,189440,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205986,0.046188,0.887528,0.382641,-0.039929,0.016554,0.922886
10,1,189440,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,-0.074679,0.878547,0.382258,0.003185,0.013058,0.923958
10,1,189440,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
10,1,189440,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
10,1,189440,32,gripper,0,"","put carrot on sheet metal",-0.151730,0.024622,0.997312,0.052706,-0.729251,0.031522,0.681485
10,1,189440,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118294,0.043310,0.887378,0.350122,-0.036380,0.009367,0.935950
10,1,189440,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075326,0.878547,0.382266,0.003211,0.013141,0.923953
10,1,189440,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
10,1,189440,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,1,189440,33,gripper,0,"","put carrot on sheet metal",-0.060900,0.071709,1.026824,0.039817,-0.714666,0.031581,0.697617
10,1,189440,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238037,-0.067912,0.887536,0.999601,0.002285,0.027466,-0.006142
10,1,189440,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.114994,0.044559,0.878547,0.999910,0.013276,0.002051,0.000285
10,1,189440,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
10,1,189440,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,1,189440,34,gripper,0,"","put carrot on sheet metal",-0.167234,-0.082638,1.002738,-0.087796,-0.662209,-0.109420,0.736069
10,1,189440,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086548,-0.042571,0.887536,0.909040,-0.013407,0.024076,0.415797
10,1,189440,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.114679,0.074692,0.878547,0.923627,0.011534,0.007007,0.383054
10,1,189440,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
10,1,189440,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
10,1,189440,35,gripper,0,"","put carrot on sheet metal",-0.096062,-0.008336,1.025247,-0.294245,-0.713591,-0.160574,0.615161
10,1,189440,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243475,0.070140,0.887516,0.252926,-0.039674,0.010565,0.966614
10,1,189440,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234690,-0.074680,0.878547,0.382227,0.003187,0.013063,0.923971
10,1,189440,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
10,1,189440,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
10,1,189440,36,gripper,0,"","put carrot on flat bowl",-0.204113,0.067084,0.964665,-0.070157,-0.714190,-0.100914,0.689076
10,1,189440,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086876,0.073278,0.887499,0.997426,-0.000736,0.027045,0.066408
10,1,189440,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084990,-0.075438,0.878547,0.999909,0.013298,0.002058,0.000352
10,1,189440,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
10,1,189440,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,0.000004
10,1,189440,37,gripper,0,"","put carrot on flat bowl",-0.042012,0.034742,1.039585,0.088809,-0.745947,0.069536,0.656385
10,1,189440,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236153,-0.073756,0.887215,0.374582,-0.025888,0.002556,0.926829
10,1,189440,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.114697,-0.044685,0.878547,0.382310,0.003192,0.013076,0.923936
10,1,189440,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
10,1,189440,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
10,1,189440,38,gripper,0,"","put carrot on flat bowl",-0.167727,-0.063566,1.014556,0.033475,-0.730482,-0.063848,0.679116
10,1,189440,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207413,-0.075643,0.887469,0.740212,-0.020874,0.023774,0.671629
10,1,189440,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007940,0.010843,0.707246
10,1,189440,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
10,1,189440,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,1,189440,39,gripper,0,"","put carrot on flat bowl",-0.182812,-0.074060,0.987541,-0.036660,-0.685355,-0.079683,0.722908
10,1,189440,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.084557,0.074854,0.887371,0.735044,-0.021971,0.030128,0.676994
10,1,189440,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234566,-0.074989,0.878546,0.707119,0.007941,0.010833,0.706967
10,1,189440,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074923,0.871344,0.999999,-0.000158,0.001164,0.000004
10,1,189440,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000155
10,1,189440,40,gripper,0,"","put banana on sheet metal",-0.176918,-0.041894,0.991141,-0.013469,-0.668867,0.003116,0.743254
10,1,189440,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087059,-0.044989,0.887438,0.738009,-0.028524,0.027695,0.673618
10,1,189440,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234459,0.045012,0.878546,0.706862,0.007944,0.010846,0.707224
10,1,189440,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000046
10,1,189440,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
10,1,189440,41,gripper,0,"","put banana on sheet metal",-0.153988,-0.027595,1.005263,0.115171,-0.709823,0.153128,0.677820
10,1,189440,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207561,-0.077003,0.887539,0.352634,-0.020466,0.004240,0.935528
10,1,189440,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
10,1,189440,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
10,1,189440,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
10,1,189440,42,gripper,0,"","put banana on sheet metal",-0.043634,-0.019871,1.011478,0.027174,-0.711968,-0.011803,0.701586
10,1,189440,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086828,0.077929,0.887528,0.908687,-0.013914,0.026626,0.416396
10,1,189440,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204672,-0.075310,0.878547,0.923831,0.011491,0.006975,0.382564
10,1,189440,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
10,1,189440,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
10,1,189440,43,gripper,0,"","put banana on sheet metal",-0.149686,-0.062781,0.971221,-0.243368,-0.717419,-0.216906,0.615657
10,1,189440,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235976,0.076891,0.887384,0.997283,0.001230,0.034014,0.065330
10,1,189440,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234988,-0.075436,0.878547,0.999909,0.013312,0.002052,0.000251
10,1,189440,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
10,1,189440,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
10,1,189440,44,gripper,0,"","put banana on flat bowl",-0.178154,-0.062722,0.987130,-0.129971,-0.712485,-0.205204,0.658304
10,1,189440,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242693,0.071442,0.887319,0.254078,-0.034802,0.003547,0.966551
10,1,189440,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,-0.074673,0.878547,0.382709,0.003198,0.013078,0.923771
10,1,189440,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
10,1,189440,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
10,1,189440,45,gripper,0,"","put banana on flat bowl",-0.003021,0.075757,0.988851,0.289018,-0.735430,0.155894,0.592713
10,1,189440,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117447,0.043661,0.887394,0.350111,-0.026646,0.007559,0.936298
10,1,189440,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
10,1,189440,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
10,1,189440,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
10,1,189440,46,gripper,0,"","put banana on flat bowl",-0.048559,-0.021684,0.966183,0.337736,-0.659542,0.355518,0.569689
10,1,189440,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
10,1,189440,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114563,0.045002,0.878548,0.706924,0.008003,0.010916,0.707160
10,1,189440,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
10,1,189440,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
10,1,189440,47,gripper,0,"","put banana on flat bowl",-0.075062,0.081179,0.995827,0.261509,-0.743516,0.148714,0.597228
10,1,189440,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.127174,0.067974,0.890586,0.208903,0.025153,0.856630,-0.471076
10,1,189440,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.248184,0.115715,0.889773,0.012207,-0.929633,0.366502,0.036201
10,1,189440,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,-0.074997,0.872199,1.000000,0.000000,-0.000001,0.000002
10,1,189440,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234993,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000022
10,1,189440,48,gripper,0,"","put hamburger on frying pan",-0.084007,-0.068417,1.015880,-0.051818,-0.737380,-0.119054,0.662881
10,1,189440,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206100,0.074764,0.888112,0.386719,-0.022484,-0.015918,0.921786
10,1,189440,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.226364,-0.054985,0.887026,0.266559,-0.662778,0.253792,0.652121
10,1,189440,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
10,1,189440,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
10,1,189440,49,gripper,0,"","put hamburger on frying pan",-0.088274,-0.081873,1.005399,-0.099267,-0.813273,-0.133883,0.557502
10,1,189440,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.153843,0.080524,0.893173,0.789802,-0.151253,0.594380,0.006955
10,1,189440,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.053493,-0.073616,0.887027,0.704496,-0.015289,0.709543,-0.000559
10,1,189440,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000075
10,1,189440,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000002
10,1,189440,50,gripper,0,"","put hamburger on frying pan",-0.068085,-0.047232,1.006968,-0.034144,-0.746833,-0.022514,0.663753
10,1,189440,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085966,0.075611,0.888112,0.712718,-0.026882,-0.006001,0.700910
10,1,189440,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.105299,-0.125656,0.887399,-0.231712,-0.662078,-0.255723,0.665258
10,1,189440,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000006
10,1,189440,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205330,-0.074837,0.870881,0.999999,0.000638,0.000659,-0.001231
10,1,189440,51,gripper,0,"","put hamburger on frying pan",-0.104877,-0.079397,1.028678,-0.053878,-0.813336,-0.212497,0.538913
10,1,189440,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.148192,-0.036896,0.888112,0.947242,-0.026799,0.006350,0.319333
10,1,189440,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175685,0.045841,0.887026,0.704494,-0.017251,0.709499,0.001390
10,1,189440,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
10,1,189440,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000007
10,1,189440,52,gripper,0,"","put hamburger on cutting board",-0.064606,0.049324,0.967721,0.062520,-0.772624,0.002679,0.631772
10,1,189440,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.156151,0.055779,0.888736,-0.127968,-0.061502,0.001699,0.989868
10,1,189440,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.136391,-0.055111,0.887026,0.266286,-0.662882,0.253513,0.652235
10,1,189440,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
10,1,189440,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083111,0.074963,0.870870,0.999987,0.000000,-0.000001,0.005027
10,1,189440,53,gripper,0,"","put hamburger on cutting board",-0.172483,0.053711,0.979594,-0.004733,-0.773160,-0.133361,0.620013
10,1,189440,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.195770,-0.058334,0.932568,0.190555,-0.025643,0.089466,0.977255
10,1,189440,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106380,0.095119,0.887027,0.263425,-0.663990,0.250606,0.653393
10,1,189440,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
10,1,189440,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,0.044987,0.870870,1.000000,-0.000003,-0.000003,0.000008
10,1,189440,54,gripper,0,"","put hamburger on cutting board",-0.214993,-0.070654,0.967777,-0.086392,-0.740980,-0.147616,0.649380
10,1,189440,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.087715,-0.071125,0.888113,0.483348,-0.024056,-0.013414,0.874995
10,1,189440,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
10,1,189440,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
10,1,189440,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
10,1,189440,55,gripper,0,"","put hamburger on cutting board",-0.074135,-0.057360,0.973205,0.064511,-0.759262,-0.007195,0.647540
10,1,189440,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206085,-0.075207,0.888111,0.399310,-0.022692,-0.015605,0.916402
10,1,189440,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.138145,0.099632,0.887048,0.301784,-0.641549,0.286121,0.644574
10,1,189440,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000011
10,1,189440,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236748,0.045914,0.870884,0.999818,0.000690,0.000735,0.019061
10,1,189440,56,gripper,0,"","put plastic bottle on frying pan",-0.132572,0.050976,0.999120,0.023677,-0.777642,-0.031778,0.627458
10,1,189440,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205719,0.106472,0.888112,0.989125,-0.025231,0.011039,0.144475
10,1,189440,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055653,0.075813,0.887027,0.704494,-0.017074,0.709503,0.001215
10,1,189440,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
10,1,189440,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
10,1,189440,57,gripper,0,"","put plastic bottle on frying pan",-0.169691,0.107641,0.983120,0.049052,-0.718549,0.024065,0.693327
10,1,189440,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235237,-0.043919,0.888112,0.925543,-0.027126,0.004685,0.377641
10,1,189440,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.199150,0.093128,0.887026,0.450300,-0.555800,0.441325,0.541801
10,1,189440,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
10,1,189440,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082584,0.079742,0.870870,0.999902,0.000000,-0.000001,-0.014010
10,1,189440,58,gripper,0,"","put plastic bottle on frying pan",-0.180300,0.093920,0.944556,-0.079605,-0.735202,-0.223372,0.635016
10,1,189440,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.105944,0.073696,0.894914,0.973738,-0.042745,0.019444,-0.222776
10,1,189440,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175587,-0.074223,0.887026,0.704494,-0.017061,0.709504,0.001202
10,1,189440,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
10,1,189440,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
10,1,189440,59,gripper,0,"","put plastic bottle on frying pan",-0.110142,0.068819,0.945757,0.120642,-0.785713,0.053857,0.604318
10,1,189440,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235966,0.075600,0.888112,0.712071,-0.026876,-0.006025,0.701567
10,1,189440,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085776,0.104393,0.887026,0.497379,-0.513685,0.489708,0.498927
10,1,189440,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
10,1,189440,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
10,1,189440,60,gripper,0,"","put plastic bottle on cutting board",-0.049488,0.083269,0.989124,0.005783,-0.746522,0.005438,0.665313
10,1,189440,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234379,0.075924,0.888112,0.999508,-0.023151,0.014917,-0.015015
10,1,189440,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.056932,-0.079548,0.887027,0.704494,-0.014309,0.709564,-0.001530
10,1,189440,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
10,1,189440,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000001
10,1,189440,61,gripper,0,"","put plastic bottle on cutting board",-0.056825,-0.045366,1.008730,0.027880,-0.716871,0.069200,0.693203
10,1,189440,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235962,0.075596,0.888112,0.711868,-0.026876,-0.006030,0.701773
10,1,189440,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.109684,-0.038071,0.888772,0.831764,-0.020493,0.013380,0.554590
10,1,189440,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205006,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000193
10,1,189440,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083454,-0.074047,0.870870,0.999960,0.000000,-0.000004,-0.008890
10,1,189440,62,gripper,0,"","put plastic bottle on cutting board",-0.083838,-0.033508,1.126648,0.107829,-0.736571,0.083474,0.662471
10,1,189440,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205936,-0.074409,0.888112,0.712919,-0.026881,-0.005984,0.700706
10,1,189440,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.202068,0.108196,0.887026,0.488452,-0.522288,0.480516,0.507675
10,1,189440,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
10,1,189440,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
10,1,189440,63,gripper,0,"","put plastic bottle on cutting board",-0.161964,0.098545,0.975590,0.069335,-0.802537,-0.017837,0.592291
10,2,194560,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.058006,0.065994,0.884978,-0.612434,0.378443,-0.529833,-0.448311
10,2,194560,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.232811,0.040733,0.888767,0.771708,-0.001170,-0.070774,0.632026
10,2,194560,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085014,0.074997,0.869533,1.000000,-0.000000,-0.000001,0.000494
10,2,194560,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205284,0.045135,0.871288,0.999997,-0.000156,-0.001018,-0.002234
10,2,194560,0,gripper,0,"","put ketchup bottle on cloth",-0.210102,-0.003227,0.975616,0.101441,-0.781525,0.013076,0.615432
10,2,194560,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091022,-0.020622,0.885122,0.461791,0.529268,-0.563952,0.434260
10,2,194560,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084385,0.074272,0.881638,0.382332,0.034409,-0.019061,0.923187
10,2,194560,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115009,-0.044991,0.869532,1.000000,0.000000,-0.000000,0.000477
10,2,194560,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000178
10,2,194560,1,gripper,0,"","put ketchup bottle on cloth",-0.105541,-0.004993,1.017911,0.227231,-0.727911,0.182594,0.620622
10,2,194560,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.224911,-0.091690,0.885122,0.363514,0.633155,-0.444129,0.519347
10,2,194560,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084385,0.074272,0.881638,0.382332,0.034409,-0.019061,0.923187
10,2,194560,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.237766,-0.080933,0.869532,0.999750,-0.000002,-0.000001,0.022339
10,2,194560,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000040
10,2,194560,2,gripper,0,"","put ketchup bottle on cloth",-0.215528,-0.008789,0.975736,0.089891,-0.809159,0.032333,0.579773
10,2,194560,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.160875,-0.118813,0.879137,0.530758,0.424339,-0.644211,0.351035
10,2,194560,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235945,0.075111,0.881638,0.999225,-0.004444,-0.039118,-0.000046
10,2,194560,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000003
10,2,194560,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
10,2,194560,3,gripper,0,"","put ketchup bottle on cloth",-0.199401,-0.108395,0.914248,0.004815,-0.738099,-0.031344,0.673947
10,2,194560,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.072523,0.106277,0.885085,0.705404,0.279063,-0.369491,0.536662
10,2,194560,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084215,-0.075653,0.884080,0.707050,0.053853,-0.002983,0.705104
10,2,194560,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084969,0.074966,0.869532,0.999999,0.000000,-0.000001,0.000899
10,2,194560,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205001,-0.045013,0.871288,1.000000,-0.000156,-0.001021,-0.000045
10,2,194560,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.184331,-0.060825,0.964980,0.030878,-0.766137,-0.035339,0.640962
10,2,194560,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.218485,0.062035,0.885369,0.666632,-0.196187,0.197065,0.691577
10,2,194560,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084408,0.074249,0.881638,0.382357,0.034407,-0.019060,0.923177
10,2,194560,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000017
10,2,194560,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,-0.074982,0.871287,0.999999,-0.000153,-0.001019,0.000253
10,2,194560,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.177970,0.054573,1.128408,0.015459,-0.759541,0.034568,0.649357
10,2,194560,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.212452,-0.033096,0.878982,0.757621,-0.031651,0.650321,0.045732
10,2,194560,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085960,0.075119,0.881638,0.999226,-0.004457,-0.039084,-0.000304
10,2,194560,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000011
10,2,194560,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.082146,-0.073120,0.871282,0.999774,-0.000477,-0.001255,-0.021230
10,2,194560,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.042765,0.076504,0.963454,0.150919,-0.778876,0.090397,0.602000
10,2,194560,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.135563,0.144356,0.879600,-0.899316,-0.060941,0.134353,-0.411662
10,2,194560,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.200123,-0.102509,0.881638,0.534661,0.030654,-0.024679,0.844150
10,2,194560,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114994,0.044998,0.869532,1.000000,0.000000,-0.000001,-0.000145
10,2,194560,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000241
10,2,194560,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.226913,-0.048447,0.986128,0.027155,-0.781979,-0.005312,0.622691
10,2,194560,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.051353,0.087116,0.887753,-0.074264,0.546547,-0.832440,-0.053058
10,2,194560,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085724,-0.075596,0.881638,0.923159,0.010850,-0.037813,0.382401
10,2,194560,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000043
10,2,194560,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001019,-0.000014
10,2,194560,8,gripper,0,"","put kitchen shovel on cloth",-0.141518,0.001621,0.995990,0.143081,-0.668134,0.152334,0.714086
10,2,194560,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.245350,0.077946,0.879090,0.886125,-0.000323,-0.463440,0.002423
10,2,194560,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.090153,-0.074799,0.883211,0.998726,0.023506,0.043535,-0.009911
10,2,194560,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.116405,0.047802,0.869532,0.999618,-0.000000,-0.000001,-0.027636
10,2,194560,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000096
10,2,194560,9,gripper,0,"","put kitchen shovel on cloth",-0.233183,0.073290,0.933470,0.259496,-0.747645,0.100133,0.603044
10,2,194560,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.223568,0.061062,0.878982,0.758927,-0.001407,0.651090,0.010488
10,2,194560,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085964,-0.074886,0.881638,0.999225,-0.004456,-0.039107,-0.000308
10,2,194560,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
10,2,194560,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
10,2,194560,10,gripper,0,"","put kitchen shovel on cloth",-0.221079,0.074766,0.941259,0.131746,-0.761690,0.090391,0.627934
10,2,194560,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.022532,0.137085,0.879212,-0.238429,-0.492663,0.824514,-0.143566
10,2,194560,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.087149,-0.080788,0.881641,0.713096,0.032199,-0.038368,0.699275
10,2,194560,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085018,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000015
10,2,194560,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235313,0.075077,0.871288,0.999996,-0.000156,-0.001018,-0.002796
10,2,194560,11,gripper,0,"","put kitchen shovel on cloth",-0.067572,-0.077002,0.923600,-0.088039,-0.772074,-0.092961,0.622502
10,2,194560,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.092860,0.080662,0.879039,0.883411,0.000811,-0.468573,0.004809
10,2,194560,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.214147,-0.098957,0.881641,0.961063,0.006644,0.039611,-0.273396
10,2,194560,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000000
10,2,194560,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.074993,0.871289,0.999999,-0.000158,-0.001020,-0.000014
10,2,194560,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.104466,0.072014,0.927941,0.044855,-0.690752,-0.043709,0.720374
10,2,194560,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.177448,0.080444,0.879873,0.790520,-0.060435,-0.604559,-0.077031
10,2,194560,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085949,0.075108,0.881638,0.999225,-0.004447,-0.039112,-0.000073
10,2,194560,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000007
10,2,194560,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114973,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000041
10,2,194560,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.180279,0.113956,0.933672,0.264064,-0.695766,0.186911,0.641283
10,2,194560,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.016384,0.188850,0.879116,-0.078313,0.612417,-0.784321,-0.060435
10,2,194560,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.183376,0.070648,0.881638,0.213372,0.037264,-0.012695,0.976178
10,2,194560,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
10,2,194560,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
10,2,194560,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.199507,0.017599,0.955058,0.035270,-0.854452,0.017573,0.518033
10,2,194560,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.137432,0.028091,0.944466,0.724277,0.356947,-0.334338,0.486034
10,2,194560,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.206451,-0.045616,0.873650,-0.070375,-0.747954,0.657051,0.062419
10,2,194560,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
10,2,194560,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000194
10,2,194560,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.142214,0.026928,0.989234,0.120063,-0.719788,0.080732,0.678950
10,2,194560,16,obj,0,"003_bread_1","put bread on carpet",-0.166634,0.059132,0.886349,0.685662,0.014867,-0.005018,0.727751
10,2,194560,16,obj,1,"005_7up can_1","put bread on carpet",-0.079773,0.069485,0.885627,0.370891,0.213291,-0.093778,0.898973
10,2,194560,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000062
10,2,194560,16,recep,1,"003_carpet_1","put bread on carpet",-0.205025,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000026
10,2,194560,16,gripper,0,"","put bread on carpet",-0.058029,-0.001705,0.982065,0.036621,-0.753677,0.028994,0.655583
10,2,194560,17,obj,0,"003_bread_1","put bread on carpet",-0.230850,0.083920,0.883544,0.597216,0.011137,-0.006025,0.801980
10,2,194560,17,obj,1,"005_7up can_1","put bread on carpet",-0.085186,0.065666,0.885636,0.677954,0.197433,-0.205163,0.677722
10,2,194560,17,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000018
10,2,194560,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
10,2,194560,17,gripper,0,"","put bread on carpet",-0.088413,-0.049856,0.988290,-0.055963,-0.760102,-0.028448,0.646765
10,2,194560,18,obj,0,"003_bread_1","put bread on carpet",-0.093166,-0.046001,0.886675,0.133486,0.015363,0.000741,0.990931
10,2,194560,18,obj,1,"005_7up can_1","put bread on carpet",-0.080948,-0.082626,0.888786,0.427979,0.518134,-0.341856,0.656891
10,2,194560,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
10,2,194560,18,recep,1,"003_carpet_1","put bread on carpet",-0.083221,-0.074543,0.870447,0.999998,-0.000924,-0.000842,-0.001357
10,2,194560,18,gripper,0,"","put bread on carpet",-0.078037,-0.060814,1.095379,0.059913,-0.745475,0.056667,0.661412
10,2,194560,19,obj,0,"003_bread_1","put bread on carpet",-0.115131,0.074448,0.883544,0.709032,0.010126,-0.007596,0.705062
10,2,194560,19,obj,1,"005_7up can_1","put bread on carpet",-0.182226,-0.005135,0.885675,0.582508,0.284485,-0.223973,0.727728
10,2,194560,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
10,2,194560,19,recep,1,"003_carpet_1","put bread on carpet",-0.204971,-0.074783,0.870447,0.999996,-0.000540,-0.000512,0.002701
10,2,194560,19,gripper,0,"","put bread on carpet",-0.136560,-0.003561,0.990700,0.126980,-0.749410,0.054173,0.647554
10,2,194560,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.098731,-0.040874,0.886533,0.907758,0.010028,-0.007731,0.419302
10,2,194560,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090504,0.069744,0.885626,0.898155,0.084378,-0.217182,0.372868
10,2,194560,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000875,0.000010
10,2,194560,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.110730,-0.040241,0.870461,0.999925,0.000016,-0.000159,-0.012202
10,2,194560,20,gripper,0,"","put 7up can on newspaper",-0.126832,-0.055281,0.958453,0.089770,-0.756695,0.058600,0.644919
10,2,194560,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.085493,-0.045509,0.883545,0.924536,0.006457,-0.010885,0.380885
10,2,194560,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.174522,-0.056324,0.888542,0.669622,0.184779,-0.179004,0.696722
10,2,194560,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114988,0.075001,0.869490,1.000000,0.000180,0.000874,0.000034
10,2,194560,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204939,-0.074753,0.870448,0.999993,-0.000126,-0.000158,0.003742
10,2,194560,21,gripper,0,"","put 7up can on newspaper",-0.120016,-0.041355,1.006193,-0.042721,-0.761972,-0.048699,0.644362
10,2,194560,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.074795,-0.060368,0.886484,0.884999,0.009370,-0.008636,0.465418
10,2,194560,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.156677,0.093407,0.885733,0.739924,-0.255035,0.404979,0.472717
10,2,194560,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
10,2,194560,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085037,-0.074963,0.870337,0.999999,-0.000124,-0.001623,0.000017
10,2,194560,22,gripper,0,"","put 7up can on newspaper",-0.079548,-0.045082,0.988159,-0.325550,-0.731853,-0.213652,0.559250
10,2,194560,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.081760,0.084412,0.883544,0.381901,0.012270,-0.003101,0.924116
10,2,194560,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.113865,0.170189,0.885757,-0.648321,-0.343788,0.515560,-0.442365
10,2,194560,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115009,-0.075001,0.869490,1.000000,0.000179,0.000874,0.000024
10,2,194560,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205017,0.075016,0.870452,0.999998,0.001567,0.001266,0.000257
10,2,194560,23,gripper,0,"","put 7up can on newspaper",-0.080328,0.164186,0.960805,0.162092,-0.714995,0.045808,0.678535
10,2,194560,24,obj,0,"003_bread_1","put 7up can on carpet",-0.147133,-0.032976,0.883544,0.882722,0.007495,-0.010208,0.469724
10,2,194560,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.176186,0.092396,0.887817,0.735881,-0.162425,0.092828,0.650753
10,2,194560,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
10,2,194560,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.114990,0.075029,0.870447,0.999999,-0.000923,-0.000844,-0.000086
10,2,194560,24,gripper,0,"","put 7up can on carpet",-0.164139,-0.029782,0.998545,0.009533,-0.782543,0.018293,0.622255
10,2,194560,25,obj,0,"003_bread_1","put 7up can on carpet",-0.198380,0.088419,0.883544,0.224837,0.012625,-0.001029,0.974314
10,2,194560,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.183628,-0.058367,0.885643,0.650787,0.089827,-0.074264,0.750262
10,2,194560,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
10,2,194560,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
10,2,194560,25,gripper,0,"","put 7up can on carpet",-0.175165,-0.045337,0.974586,-0.207850,-0.726100,-0.109659,0.646182
10,2,194560,26,obj,0,"003_bread_1","put 7up can on carpet",-0.115131,-0.045547,0.883544,0.709024,0.010126,-0.007596,0.705071
10,2,194560,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.185638,0.002529,0.885757,-0.520252,-0.459569,0.415657,-0.587677
10,2,194560,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
10,2,194560,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.234959,-0.074881,0.870461,1.000000,0.000019,-0.000158,0.000190
10,2,194560,26,gripper,0,"","put 7up can on carpet",-0.150402,-0.015854,0.995638,-0.249797,-0.714000,-0.152694,0.635995
10,2,194560,27,obj,0,"003_bread_1","put 7up can on carpet",-0.119461,0.005371,0.883544,0.335130,0.012407,-0.002486,0.942087
10,2,194560,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.071701,-0.049028,0.888697,0.417776,0.362208,-0.180937,0.813345
10,2,194560,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235031,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000038
10,2,194560,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.078449,-0.069063,0.870416,0.999861,-0.000675,-0.001283,-0.016624
10,2,194560,27,gripper,0,"","put 7up can on carpet",-0.144583,-0.009994,1.096655,-0.022502,-0.779406,-0.010698,0.626023
10,2,194560,28,obj,0,"003_bread_1","put bread on newspaper",-0.066830,-0.072309,0.883544,0.984392,0.004006,-0.012010,0.175534
10,2,194560,28,obj,1,"005_7up can_1","put bread on newspaper",-0.184216,0.015799,0.885733,0.679368,-0.300770,0.372250,0.556261
10,2,194560,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000004
10,2,194560,28,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001266,0.000004
10,2,194560,28,gripper,0,"","put bread on newspaper",-0.061799,-0.063617,0.950166,-0.074136,-0.782997,-0.021442,0.617220
10,2,194560,29,obj,0,"003_bread_1","put bread on newspaper",-0.182938,-0.043728,0.886467,0.502089,0.015826,-0.004040,0.864662
10,2,194560,29,obj,1,"005_7up can_1","put bread on newspaper",-0.079744,-0.080500,0.885627,0.370875,0.213293,-0.093774,0.898980
10,2,194560,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
10,2,194560,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,-0.044994,0.870448,1.000000,-0.000293,-0.000303,-0.000268
10,2,194560,29,gripper,0,"","put bread on newspaper",-0.204204,-0.047279,0.973475,-0.020824,-0.753206,-0.012497,0.657336
10,2,194560,30,obj,0,"003_bread_1","put bread on newspaper",-0.084488,0.074516,0.883544,0.383569,0.012270,-0.003125,0.923425
10,2,194560,30,obj,1,"005_7up can_1","put bread on newspaper",-0.042274,-0.063375,0.886985,0.155653,-0.498779,0.847624,0.092335
10,2,194560,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084740,-0.074501,0.869474,0.999989,0.000174,0.001079,-0.004535
10,2,194560,30,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.075006,0.870452,0.999998,0.001568,0.001266,0.000051
10,2,194560,30,gripper,0,"","put bread on newspaper",-0.059542,-0.082842,0.948126,-0.015314,-0.782516,0.008925,0.622379
10,2,194560,31,obj,0,"003_bread_1","put bread on newspaper",-0.085476,-0.075518,0.883544,0.924574,0.006456,-0.010890,0.380791
10,2,194560,31,obj,1,"005_7up can_1","put bread on newspaper",-0.173336,0.069048,0.886044,-0.108951,-0.701891,0.694359,-0.115517
10,2,194560,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075005,0.869490,0.999999,0.000551,0.001431,0.000175
10,2,194560,31,recep,1,"003_carpet_1","put bread on newspaper",-0.205597,-0.044954,0.870405,0.999992,0.000067,-0.000706,0.004054
10,2,194560,31,gripper,0,"","put bread on newspaper",-0.156855,0.087152,0.962484,0.192300,-0.685748,0.142793,0.687300
10,2,194560,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205986,0.046188,0.887528,0.382641,-0.039931,0.016555,0.922885
10,2,194560,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234673,-0.074680,0.878547,0.382258,0.003176,0.013020,0.923958
10,2,194560,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
10,2,194560,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
10,2,194560,32,gripper,0,"","put carrot on flat bowl",-0.161655,0.033001,0.995940,0.158917,-0.691485,-0.002153,0.704691
10,2,194560,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.120453,0.040104,0.887612,0.362584,-0.041943,0.016337,0.930863
10,2,194560,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075325,0.878547,0.382267,0.003200,0.013107,0.923953
10,2,194560,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
10,2,194560,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
10,2,194560,33,gripper,0,"","put carrot on flat bowl",-0.051939,0.064424,0.976070,0.101706,-0.727064,0.099430,0.671675
10,2,194560,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243610,-0.066832,0.887325,0.999323,-0.005676,0.035248,0.008826
10,2,194560,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.114994,0.044559,0.878547,0.999909,0.013304,0.002053,0.000285
10,2,194560,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
10,2,194560,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
10,2,194560,34,gripper,0,"","put carrot on flat bowl",-0.160776,-0.036713,1.001780,-0.127397,-0.679530,-0.114450,0.713379
10,2,194560,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089243,-0.041835,0.887467,0.913985,-0.005506,0.016265,0.405384
10,2,194560,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.114679,0.074692,0.878547,0.923627,0.011552,0.007016,0.383054
10,2,194560,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
10,2,194560,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
10,2,194560,35,gripper,0,"","put carrot on flat bowl",-0.120204,0.034134,1.029316,0.016117,-0.754158,0.066749,0.653093
10,2,194560,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242325,0.068769,0.887404,0.247410,-0.012888,0.003016,0.968820
10,2,194560,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234691,-0.074681,0.878547,0.382227,0.003185,0.013055,0.923971
10,2,194560,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
10,2,194560,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
10,2,194560,36,gripper,0,"","put banana on sheet metal",-0.194656,-0.049952,0.996532,-0.013678,-0.699412,-0.007970,0.714543
10,2,194560,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086903,0.074222,0.887538,0.997014,-0.003735,0.033122,0.069652
10,2,194560,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084990,-0.075437,0.878547,0.999910,0.013277,0.002056,0.000352
10,2,194560,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
10,2,194560,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000000,0.000003
10,2,194560,37,gripper,0,"","put banana on sheet metal",-0.088954,-0.012797,1.021805,-0.028831,-0.718749,-0.037305,0.693670
10,2,194560,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236229,-0.070975,0.887424,0.364506,-0.017371,0.006800,0.931014
10,2,194560,38,obj,1,"013_banana_1","put banana on sheet metal",-0.114697,-0.044686,0.878547,0.382310,0.003184,0.013051,0.923936
10,2,194560,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
10,2,194560,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
10,2,194560,38,gripper,0,"","put banana on sheet metal",-0.062073,-0.016385,1.003888,0.046059,-0.776136,0.161434,0.607809
10,2,194560,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210087,-0.076205,0.887331,0.747517,-0.019647,0.030095,0.663270
10,2,194560,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007938,0.010841,0.707246
10,2,194560,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
10,2,194560,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
10,2,194560,39,gripper,0,"","put banana on sheet metal",-0.028078,0.083364,1.019469,0.243460,-0.736044,0.210890,0.595393
10,2,194560,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086487,0.073854,0.887541,0.743212,-0.019480,0.024342,0.668329
10,2,194560,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.074986,0.878547,0.707496,0.007950,0.010832,0.706590
10,2,194560,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074940,0.871344,0.999999,-0.000158,0.001164,0.000033
10,2,194560,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,-0.045000,0.874362,1.000000,-0.000000,-0.000000,0.000306
10,2,194560,40,gripper,0,"","put banana on flat bowl",-0.172894,-0.034188,1.022466,0.039472,-0.744061,-0.018993,0.666675
10,2,194560,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090561,-0.045782,0.887383,0.748843,-0.025197,0.023280,0.661858
10,2,194560,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234455,0.045013,0.878547,0.707155,0.007960,0.010856,0.706931
10,2,194560,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000049
10,2,194560,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
10,2,194560,41,gripper,0,"","put banana on flat bowl",-0.164850,0.041787,1.018539,0.028473,-0.716543,-0.103200,0.689278
10,2,194560,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.209572,-0.080460,0.887443,0.364295,-0.021824,0.008394,0.930990
10,2,194560,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
10,2,194560,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
10,2,194560,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
10,2,194560,42,gripper,0,"","put banana on flat bowl",-0.042343,-0.010254,0.999794,0.145872,-0.785253,0.249477,0.547595
10,2,194560,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089468,0.079565,0.887514,0.912594,-0.014981,0.032677,0.407284
10,2,194560,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204666,-0.075310,0.878547,0.924020,0.011516,0.006980,0.382106
10,2,194560,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
10,2,194560,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
10,2,194560,43,gripper,0,"","put banana on flat bowl",-0.152946,-0.034643,0.977083,-0.057681,-0.648454,-0.018306,0.758845
10,2,194560,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236233,0.077143,0.887269,0.996971,0.004577,0.033569,0.070004
10,2,194560,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,-0.075436,0.878547,0.999909,0.013303,0.002049,0.000126
10,2,194560,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
10,2,194560,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
10,2,194560,44,gripper,0,"","put carrot on sheet metal",-0.193453,0.081423,0.978740,0.093195,-0.681408,0.044505,0.724581
10,2,194560,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.242550,0.069368,0.887176,0.254324,-0.021199,-0.002463,0.966884
10,2,194560,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,-0.074667,0.878547,0.383193,0.003198,0.013055,0.923571
10,2,194560,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
10,2,194560,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
10,2,194560,45,gripper,0,"","put carrot on sheet metal",-0.197336,0.077893,0.965861,0.019590,-0.720619,0.048331,0.691368
10,2,194560,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.119576,0.040760,0.887461,0.360179,-0.037147,0.016337,0.932000
10,2,194560,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
10,2,194560,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
10,2,194560,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
10,2,194560,46,gripper,0,"","put carrot on sheet metal",-0.032967,0.003156,1.003191,-0.079002,-0.707289,-0.004720,0.702481
10,2,194560,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
10,2,194560,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114563,0.045004,0.878548,0.707074,0.008014,0.010925,0.707009
10,2,194560,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
10,2,194560,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
10,2,194560,47,gripper,0,"","put carrot on sheet metal",-0.047165,-0.035538,1.036690,-0.112257,-0.737477,-0.027610,0.665405
10,2,194560,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.162186,-0.015739,0.891189,-0.036531,0.016882,0.832970,-0.551853
10,2,194560,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.248184,0.115715,0.889773,0.012217,-0.929530,0.366763,0.036195
10,2,194560,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114998,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000006
10,2,194560,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234985,-0.044998,0.870870,1.000000,0.000001,-0.000000,-0.000026
10,2,194560,48,gripper,0,"","put hamburger on cutting board",-0.101265,-0.030245,1.039385,-0.141867,-0.778521,-0.142060,0.594640
10,2,194560,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206100,0.074760,0.888112,0.383571,-0.022430,-0.015995,0.923100
10,2,194560,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.228096,-0.059624,0.887026,0.284707,-0.655416,0.272243,0.644404
10,2,194560,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
10,2,194560,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
10,2,194560,49,gripper,0,"","put hamburger on cutting board",-0.071680,-0.021088,1.027290,-0.052746,-0.708307,-0.042763,0.702631
10,2,194560,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.153843,0.080524,0.893173,0.789798,-0.151238,0.594388,0.006932
10,2,194560,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.053493,-0.073616,0.887027,0.704495,-0.015258,0.709545,-0.000589
10,2,194560,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000185
10,2,194560,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
10,2,194560,50,gripper,0,"","put hamburger on cutting board",-0.140879,0.030771,1.114074,0.034575,-0.820939,0.056388,0.567172
10,2,194560,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.087782,0.062454,0.888112,0.677625,-0.026554,-0.007305,0.734892
10,2,194560,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.110130,-0.121460,0.887430,-0.195888,-0.674527,-0.220593,0.676742
10,2,194560,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000020
10,2,194560,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.206738,-0.072998,0.870822,0.999988,0.000707,0.000232,0.004919
10,2,194560,51,gripper,0,"","put hamburger on cutting board",-0.149021,0.014746,1.017051,-0.121529,-0.771165,-0.171015,0.601073
10,2,194560,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.152041,-0.034046,0.888112,0.966268,-0.026326,0.008095,0.256062
10,2,194560,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175685,0.045841,0.887026,0.704494,-0.017251,0.709499,0.001390
10,2,194560,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
10,2,194560,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000007
10,2,194560,52,gripper,0,"","put plastic bottle on frying pan",-0.101963,-0.076138,0.988513,-0.063702,-0.769375,-0.005623,0.635589
10,2,194560,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.156185,0.055790,0.888729,-0.128876,-0.061254,0.001821,0.989765
10,2,194560,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.126554,-0.058517,0.891809,-0.054018,-0.724449,0.682586,-0.079574
10,2,194560,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.239941,-0.052052,0.887249,0.976832,-0.060135,0.171651,-0.112779
10,2,194560,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083111,0.074963,0.870870,0.999987,0.000000,-0.000001,0.004979
10,2,194560,53,gripper,0,"","put plastic bottle on frying pan",-0.109632,-0.059700,0.941417,-0.002866,-0.778818,-0.024054,0.626782
10,2,194560,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.200592,-0.061409,0.888112,0.196490,-0.018879,-0.020051,0.980119
10,2,194560,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.104912,0.095436,0.887027,0.296290,-0.650395,0.284026,0.639162
10,2,194560,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
10,2,194560,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.206352,0.045601,0.870870,0.999935,0.000000,-0.000001,0.011356
10,2,194560,54,gripper,0,"","put plastic bottle on frying pan",-0.123173,0.104298,0.957363,-0.035357,-0.749733,-0.115008,0.650710
10,2,194560,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.087715,-0.071125,0.888113,0.483388,-0.024057,-0.013414,0.874973
10,2,194560,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926623,0.366099,-0.071020
10,2,194560,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
10,2,194560,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
10,2,194560,55,gripper,0,"","put plastic bottle on frying pan",-0.024925,0.109283,0.982834,0.173398,-0.765422,-0.016942,0.619497
10,2,194560,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206085,-0.075180,0.888112,0.417238,-0.022998,-0.015158,0.908380
10,2,194560,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.138405,0.100063,0.887036,0.300424,-0.645952,0.286811,0.640492
10,2,194560,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000015
10,2,194560,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.237213,0.045681,0.870884,0.999750,0.000689,0.000739,0.022350
10,2,194560,56,gripper,0,"","put plastic bottle on cutting board",-0.124615,0.072685,0.988942,0.036025,-0.763224,-0.089238,0.638927
10,2,194560,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.191666,-0.057140,0.890448,0.969380,-0.027490,0.010292,0.243804
10,2,194560,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055653,0.075813,0.887027,0.704495,-0.017046,0.709503,0.001187
10,2,194560,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
10,2,194560,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075008,0.870875,1.000000,0.000703,0.000651,-0.000018
10,2,194560,57,gripper,0,"","put plastic bottle on cutting board",-0.056330,0.031609,0.983442,0.108885,-0.751088,-0.021820,0.650796
10,2,194560,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235241,-0.043919,0.888112,0.924684,-0.027133,0.004628,0.379740
10,2,194560,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.081936,0.052773,0.891613,0.332953,0.648633,-0.600755,0.327887
10,2,194560,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000004
10,2,194560,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.080463,0.080070,0.870884,0.999729,0.000726,0.000701,-0.023278
10,2,194560,58,gripper,0,"","put plastic bottle on cutting board",-0.088125,0.116688,1.020892,0.041230,-0.789141,-0.069477,0.608876
10,2,194560,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.106096,0.073425,0.888112,0.972520,-0.019370,0.019579,-0.231183
10,2,194560,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175617,-0.074112,0.887026,0.704494,-0.016402,0.709520,0.000547
10,2,194560,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
10,2,194560,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
10,2,194560,59,gripper,0,"","put plastic bottle on cutting board",-0.163235,-0.054459,1.000963,-0.035968,-0.780921,-0.088875,0.617228
10,2,194560,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235966,0.075600,0.888112,0.712071,-0.026877,-0.006023,0.701567
10,2,194560,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.228620,-0.047451,0.895368,0.490667,-0.519729,0.477646,0.510863
10,2,194560,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235034,-0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000160
10,2,194560,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
10,2,194560,60,gripper,0,"","put hamburger on frying pan",-0.141493,-0.044073,1.024806,0.062130,-0.753004,-0.036679,0.654049
10,2,194560,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234375,0.075916,0.888112,0.999394,-0.023058,0.015062,-0.021275
10,2,194560,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055412,-0.078766,0.887026,0.704450,-0.007660,0.709666,-0.008131
10,2,194560,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
10,2,194560,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000006
10,2,194560,61,gripper,0,"","put hamburger on frying pan",-0.040349,-0.064487,0.975762,0.004751,-0.753672,0.026725,0.656690
10,2,194560,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235962,0.075596,0.888112,0.711885,-0.026874,-0.006032,0.701756
10,2,194560,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.169186,-0.044724,0.885720,0.051583,0.690160,-0.042774,0.720547
10,2,194560,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.398762,-0.172916,0.003399,0.868031,0.000000,0.000000,-0.496510
10,2,194560,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084698,-0.071121,0.870870,0.999992,0.000000,-0.000001,-0.004089
10,2,194560,62,gripper,0,"","put hamburger on frying pan",-0.080111,-0.050682,0.957625,-0.021936,-0.801195,-0.026038,0.597434
10,2,194560,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.216438,-0.056103,1.005284,0.778287,0.029927,-0.046716,0.625453
10,2,194560,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.202068,0.108196,0.887026,0.488591,-0.522158,0.480663,0.507537
10,2,194560,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
10,2,194560,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
10,2,194560,63,gripper,0,"","put hamburger on frying pan",-0.206934,-0.058121,1.057829,0.042839,-0.719535,0.053299,0.691081
10,3,199680,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.058014,0.066032,0.884978,-0.613115,0.377624,-0.530462,-0.447326
10,3,199680,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.232819,0.040726,0.888767,0.771873,-0.001199,-0.070761,0.631825
10,3,199680,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085014,0.074997,0.869533,1.000000,-0.000001,0.000000,0.000473
10,3,199680,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205284,0.045135,0.871288,0.999997,-0.000157,-0.001019,-0.002280
10,3,199680,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.140602,0.051270,1.137121,0.100317,-0.830413,0.115282,0.535781
10,3,199680,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.089573,-0.019852,0.885119,0.450190,0.544517,-0.549012,0.446560
10,3,199680,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074280,0.881638,0.382238,0.034404,-0.019055,0.923226
10,3,199680,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.112335,-0.045494,0.869563,0.999636,-0.000253,0.000470,0.026961
10,3,199680,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.220982,-0.097458,0.871288,0.999154,-0.000194,-0.001012,-0.041104
10,3,199680,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.236275,-0.065823,0.959770,-0.041060,-0.783443,-0.036580,0.619026
10,3,199680,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.224915,-0.091675,0.885122,0.363508,0.633158,-0.444120,0.519355
10,3,199680,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074280,0.881638,0.382238,0.034404,-0.019055,0.923226
10,3,199680,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.237766,-0.080925,0.869532,0.999750,-0.000002,-0.000001,0.022356
10,3,199680,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000154,-0.001019,-0.000040
10,3,199680,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.173222,-0.050911,1.100402,-0.001957,-0.724448,-0.007942,0.689281
10,3,199680,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.160360,-0.117935,0.879125,0.525113,0.432618,-0.641074,0.355137
10,3,199680,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231367,0.071251,0.881638,0.998052,-0.006333,-0.038852,-0.048396
10,3,199680,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000004
10,3,199680,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000010
10,3,199680,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.235856,0.045563,0.935566,0.160414,-0.700485,0.083634,0.690358
10,3,199680,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.072523,0.106277,0.885085,0.705402,0.279067,-0.369494,0.536660
10,3,199680,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.222222,-0.031693,0.889119,0.634210,0.012445,-0.065731,0.770261
10,3,199680,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084969,0.074966,0.869532,0.999999,0.000000,-0.000001,0.000899
10,3,199680,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205001,-0.045013,0.871288,1.000000,-0.000155,-0.001020,-0.000045
10,3,199680,4,gripper,0,"","put kitchen shovel on cloth",-0.070054,0.093376,1.009064,0.091786,-0.734848,-0.021331,0.671654
10,3,199680,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.218485,0.062042,0.885369,0.666282,-0.196134,0.196803,0.692003
10,3,199680,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085732,0.075623,0.881641,0.382020,-0.038586,0.011155,0.923281
10,3,199680,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000003
10,3,199680,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,-0.074982,0.871287,0.999999,-0.000153,-0.001018,0.000362
10,3,199680,5,gripper,0,"","put kitchen shovel on cloth",-0.214457,-0.051079,1.005062,-0.080990,-0.751162,-0.184623,0.628578
10,3,199680,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.159130,-0.022614,0.879212,-0.276973,-0.091086,0.956160,-0.027335
10,3,199680,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085960,0.075119,0.881638,0.999226,-0.004459,-0.039089,-0.000338
10,3,199680,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000016
10,3,199680,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.082184,-0.073128,0.871282,0.999777,-0.000476,-0.001254,-0.021079
10,3,199680,6,gripper,0,"","put kitchen shovel on cloth",-0.173750,-0.038677,0.935364,-0.010557,-0.740351,-0.079149,0.667461
10,3,199680,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.135315,0.144524,0.879552,-0.902499,-0.055192,0.119045,-0.410216
10,3,199680,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.211746,-0.066147,0.938747,0.716328,0.080683,0.013508,0.692952
10,3,199680,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114994,0.044991,0.869532,1.000000,0.000000,-0.000000,-0.000056
10,3,199680,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000305
10,3,199680,7,gripper,0,"","put kitchen shovel on cloth",-0.228891,-0.069759,0.974486,0.062277,-0.760044,-0.019752,0.646579
10,3,199680,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.051353,0.087112,0.887753,-0.074254,0.546382,-0.832552,-0.053021
10,3,199680,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085716,-0.075596,0.881638,0.923106,0.010866,-0.037836,0.382525
10,3,199680,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000037
10,3,199680,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001020,0.000004
10,3,199680,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.065022,0.093948,0.964161,0.207302,-0.792161,0.048033,0.572014
10,3,199680,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.242622,0.085995,0.879335,0.905122,0.028776,-0.419364,0.063722
10,3,199680,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.090168,-0.074799,0.883210,0.998721,0.023517,0.043569,-0.010213
10,3,199680,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.116405,0.047802,0.869532,0.999621,-0.000000,-0.000000,-0.027524
10,3,199680,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074963,0.871288,0.999999,-0.000155,-0.001020,0.000111
10,3,199680,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.257639,0.094591,0.930653,0.045219,-0.747494,0.013786,0.662584
10,3,199680,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205833,0.053040,0.879496,0.173579,0.033248,0.984245,-0.005172
10,3,199680,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085964,-0.074886,0.881638,0.999226,-0.004459,-0.039087,-0.000342
10,3,199680,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000028
10,3,199680,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000009
10,3,199680,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.199900,0.048008,0.932789,-0.002636,-0.787811,-0.025972,0.615364
10,3,199680,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.022530,0.137081,0.879212,-0.238430,-0.492643,0.824527,-0.143558
10,3,199680,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.086718,-0.081806,0.881641,0.797871,-0.027579,0.029194,0.601489
10,3,199680,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085018,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000014
10,3,199680,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235313,0.075077,0.871288,0.999995,-0.000157,-0.001019,-0.002932
10,3,199680,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.129595,-0.064758,0.974062,0.088178,-0.732145,0.022548,0.675041
10,3,199680,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.083799,0.080795,0.879375,0.996102,0.004728,-0.088065,-0.001815
10,3,199680,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.214146,-0.098957,0.881641,0.961062,0.006654,0.039638,-0.273395
10,3,199680,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000000
10,3,199680,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000014
10,3,199680,12,gripper,0,"","put ketchup bottle on cloth",-0.090925,0.091354,0.962525,0.056569,-0.768669,-0.003788,0.637129
10,3,199680,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.119143,0.076237,0.879704,0.471467,-0.022177,0.881599,0.003259
10,3,199680,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085947,0.075108,0.881638,0.999226,-0.004445,-0.039095,-0.000005
10,3,199680,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000007
10,3,199680,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114967,-0.044994,0.871288,1.000000,-0.000154,-0.001019,-0.000059
10,3,199680,13,gripper,0,"","put ketchup bottle on cloth",-0.127815,0.059813,0.978196,0.041932,-0.782381,-0.049839,0.619385
10,3,199680,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.016384,0.188854,0.879116,-0.078320,0.612451,-0.784293,-0.060448
10,3,199680,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.089523,0.082382,0.889425,0.742938,-0.035822,-0.007603,0.668358
10,3,199680,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
10,3,199680,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.080772,0.072235,0.871288,0.999843,-0.000171,-0.001016,-0.017695
10,3,199680,14,gripper,0,"","put ketchup bottle on cloth",-0.149191,0.091619,0.915551,0.043765,-0.834519,-0.033982,0.548187
10,3,199680,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.139420,0.041039,0.879088,0.848477,0.132317,-0.443760,0.256233
10,3,199680,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.206379,-0.038944,0.873650,-0.088706,-0.940375,0.326874,0.031309
10,3,199680,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083870,0.075966,0.869532,0.999969,0.000000,-0.000000,0.007835
10,3,199680,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235168,0.075752,0.871282,0.999982,-0.000444,-0.001268,0.005817
10,3,199680,15,gripper,0,"","put ketchup bottle on cloth",-0.181957,-0.018496,0.985302,0.035994,-0.763741,-0.021054,0.644175
10,3,199680,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.174583,0.058674,0.886417,0.703892,0.013946,-0.005135,0.710151
10,3,199680,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.058197,0.086369,0.885633,-0.615997,0.083415,0.069366,0.780242
10,3,199680,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000088
10,3,199680,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.206619,0.044483,0.870461,0.999998,0.000019,-0.000158,0.001854
10,3,199680,16,gripper,0,"","put 7up can on newspaper",-0.057983,0.075161,0.990125,0.075013,-0.751504,0.022035,0.655079
10,3,199680,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.230850,0.083920,0.883544,0.597013,0.011137,-0.006020,0.802131
10,3,199680,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.166206,-0.008949,0.887257,-0.408590,0.555202,-0.583574,-0.429240
10,3,199680,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205017,-0.045013,0.869490,0.999999,0.000183,0.000879,0.000890
10,3,199680,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000102
10,3,199680,17,gripper,0,"","put 7up can on newspaper",-0.171993,0.010645,1.020578,-0.046348,-0.725095,-0.082577,0.682107
10,3,199680,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.093166,-0.045998,0.886675,0.131983,0.015355,0.000759,0.991133
10,3,199680,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.080944,-0.082588,0.888786,0.434185,0.514834,-0.346644,0.652892
10,3,199680,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000101
10,3,199680,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083221,-0.074543,0.870447,0.999998,-0.000924,-0.000843,-0.001198
10,3,199680,18,gripper,0,"","put 7up can on newspaper",-0.099854,-0.052578,1.056704,0.145593,-0.778402,0.100249,0.602365
10,3,199680,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.100182,0.093670,0.883544,0.624218,0.010921,-0.006395,0.781147
10,3,199680,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.182226,-0.005135,0.885675,0.582756,0.284402,-0.224063,0.727535
10,3,199680,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
10,3,199680,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204964,-0.074688,0.870420,0.999991,-0.000190,-0.000803,0.004131
10,3,199680,19,gripper,0,"","put 7up can on newspaper",-0.099765,0.072067,1.006568,-0.000659,-0.763306,-0.042111,0.644663
10,3,199680,20,obj,0,"003_bread_1","put 7up can on carpet",-0.098731,-0.040874,0.886533,0.907758,0.010028,-0.007731,0.419302
10,3,199680,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.090505,0.069744,0.885627,0.898153,0.084381,-0.217189,0.372867
10,3,199680,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204995,0.074982,0.869490,1.000000,0.000180,0.000875,0.000134
10,3,199680,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.110730,-0.040241,0.870461,0.999925,0.000016,-0.000159,-0.012202
10,3,199680,20,gripper,0,"","put 7up can on carpet",-0.175691,-0.001329,0.935130,0.102933,-0.794990,0.046846,0.595987
10,3,199680,21,obj,0,"003_bread_1","put 7up can on carpet",-0.085493,-0.045509,0.883545,0.924652,0.006454,-0.010890,0.380602
10,3,199680,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.174362,-0.057220,0.888521,0.664850,0.205575,-0.199522,0.689858
10,3,199680,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114985,0.075005,0.869490,1.000000,0.000180,0.000874,0.000055
10,3,199680,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.204908,-0.074753,0.870447,0.999993,-0.000126,-0.000158,0.003642
10,3,199680,21,gripper,0,"","put 7up can on carpet",-0.148712,-0.047926,1.118606,-0.053314,-0.752649,-0.071279,0.652377
10,3,199680,22,obj,0,"003_bread_1","put 7up can on carpet",-0.084042,-0.056622,0.886599,0.834034,0.010398,-0.007028,0.551570
10,3,199680,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.188789,-0.047253,0.886757,0.611322,-0.209695,0.206863,0.734521
10,3,199680,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234985,-0.074989,0.869489,0.999998,0.000550,0.001429,0.000945
10,3,199680,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.086353,-0.074944,0.870448,0.999995,-0.000863,-0.000797,0.002734
10,3,199680,22,gripper,0,"","put 7up can on carpet",-0.171064,-0.058968,1.040535,-0.154243,-0.741056,-0.125996,0.641226
10,3,199680,23,obj,0,"003_bread_1","put 7up can on carpet",-0.081741,0.084427,0.883544,0.381658,0.012269,-0.003096,0.924217
10,3,199680,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.113865,0.170177,0.885757,-0.648304,-0.343809,0.515543,-0.442395
10,3,199680,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115005,-0.075001,0.869490,1.000000,0.000179,0.000874,0.000040
10,3,199680,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.205017,0.075016,0.870452,0.999998,0.001568,0.001266,0.000276
10,3,199680,23,gripper,0,"","put 7up can on carpet",-0.062283,0.034992,0.965787,0.018995,-0.771824,-0.065920,0.632124
10,3,199680,24,obj,0,"003_bread_1","put bread on newspaper",-0.147133,-0.032978,0.883544,0.882810,0.007492,-0.010208,0.469560
10,3,199680,24,obj,1,"005_7up can_1","put bread on newspaper",-0.136627,0.102665,0.888857,0.626023,-0.268733,0.239621,0.691708
10,3,199680,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000082
10,3,199680,24,recep,1,"003_carpet_1","put bread on newspaper",-0.114845,0.074900,0.870448,0.999998,-0.000924,-0.000843,-0.001494
10,3,199680,24,gripper,0,"","put bread on newspaper",-0.106232,0.123231,1.097890,-0.128189,-0.776835,-0.080131,0.611289
10,3,199680,25,obj,0,"003_bread_1","put bread on newspaper",-0.186302,0.104141,0.883526,0.317011,0.010103,-0.001157,0.948367
10,3,199680,25,obj,1,"005_7up can_1","put bread on newspaper",-0.183670,-0.058083,0.885633,0.653256,0.083544,-0.069177,0.749328
10,3,199680,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
10,3,199680,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
10,3,199680,25,gripper,0,"","put bread on newspaper",-0.180378,0.105872,0.946478,0.088402,-0.803910,0.049222,0.586080
10,3,199680,26,obj,0,"003_bread_1","put bread on newspaper",-0.095734,-0.040800,0.883544,0.719094,0.010015,-0.007742,0.694798
10,3,199680,26,obj,1,"005_7up can_1","put bread on newspaper",-0.185638,0.002531,0.885757,-0.520262,-0.459559,0.415660,-0.587674
10,3,199680,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
10,3,199680,26,recep,1,"003_carpet_1","put bread on newspaper",-0.234959,-0.074873,0.870461,1.000000,0.000018,-0.000158,0.000177
10,3,199680,26,gripper,0,"","put bread on newspaper",-0.100874,-0.050232,0.942835,-0.010140,-0.782678,-0.004690,0.622326
10,3,199680,27,obj,0,"003_bread_1","put bread on newspaper",-0.119059,0.009607,0.883544,0.356220,0.012358,-0.002764,0.934316
10,3,199680,27,obj,1,"005_7up can_1","put bread on newspaper",-0.064268,-0.046337,0.888646,0.426401,0.359985,-0.185145,0.808897
10,3,199680,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.235039,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000048
10,3,199680,27,recep,1,"003_carpet_1","put bread on newspaper",-0.072491,-0.065573,0.870346,0.999533,-0.000403,-0.001734,-0.030494
10,3,199680,27,gripper,0,"","put bread on newspaper",-0.121231,0.001310,1.001612,0.034455,-0.736135,0.078420,0.671393
10,3,199680,28,obj,0,"003_bread_1","put bread on carpet",-0.075318,-0.011442,0.889174,0.995693,0.041557,-0.021054,0.080160
10,3,199680,28,obj,1,"005_7up can_1","put bread on carpet",-0.184217,0.015797,0.885733,0.679440,-0.300722,0.372288,0.556173
10,3,199680,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000004
10,3,199680,28,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
10,3,199680,28,gripper,0,"","put bread on carpet",-0.075913,-0.016209,0.931685,0.088723,-0.787324,0.029688,0.609399
10,3,199680,29,obj,0,"003_bread_1","put bread on carpet",-0.182726,-0.040470,0.886434,0.513053,0.017728,-0.006965,0.858145
10,3,199680,29,obj,1,"005_7up can_1","put bread on carpet",-0.417482,-0.098024,0.017055,-0.245655,-0.717935,0.300457,-0.577883
10,3,199680,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000875,0.000012
10,3,199680,29,recep,1,"003_carpet_1","put bread on carpet",-0.204971,-0.044899,0.870404,1.000000,0.000065,-0.000724,-0.000025
10,3,199680,29,gripper,0,"","put bread on carpet",-0.153506,-0.056489,1.097921,0.004030,-0.728224,-0.014958,0.685165
10,3,199680,30,obj,0,"003_bread_1","put bread on carpet",-0.074097,0.112589,0.886680,0.289077,0.022465,-0.001112,0.957042
10,3,199680,30,obj,1,"005_7up can_1","put bread on carpet",-0.041603,-0.061357,0.887187,0.060844,-0.509064,0.856446,0.060424
10,3,199680,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084717,-0.074526,0.869491,0.999990,0.000187,0.000877,-0.004424
10,3,199680,30,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.075006,0.870452,0.999998,0.001568,0.001265,0.000071
10,3,199680,30,gripper,0,"","put bread on carpet",-0.064129,0.100648,0.928436,0.149185,-0.744011,0.015009,0.651127
10,3,199680,31,obj,0,"003_bread_1","put bread on carpet",-0.085476,-0.075518,0.883544,0.924685,0.006453,-0.010892,0.380521
10,3,199680,31,obj,1,"005_7up can_1","put bread on carpet",-0.165173,0.089851,0.885963,-0.265737,-0.638351,0.679355,-0.245700
10,3,199680,31,recep,0,"004_newspaper_1","put bread on carpet",-0.235027,0.075003,0.869490,1.000000,0.000179,0.000874,0.000154
10,3,199680,31,recep,1,"003_carpet_1","put bread on carpet",-0.205597,-0.044954,0.870405,0.999991,0.000067,-0.000705,0.004055
10,3,199680,31,gripper,0,"","put bread on carpet",-0.086159,-0.076846,0.972902,-0.054239,-0.735526,-0.055995,0.672996
10,3,199680,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205986,0.046188,0.887528,0.382641,-0.039930,0.016555,0.922885
10,3,199680,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234673,-0.074679,0.878547,0.382258,0.003184,0.013055,0.923958
10,3,199680,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
10,3,199680,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
10,3,199680,32,gripper,0,"","put banana on sheet metal",-0.162849,-0.045288,1.020581,-0.312111,-0.546890,-0.337994,0.699470
10,3,199680,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120800,0.037695,0.887544,0.370647,-0.028046,0.008844,0.928308
10,3,199680,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923954
10,3,199680,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
10,3,199680,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
10,3,199680,33,gripper,0,"","put banana on sheet metal",-0.168102,0.043018,1.005443,0.020580,-0.755785,-0.076307,0.650033
10,3,199680,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.247234,-0.067205,0.887174,0.999509,-0.009063,0.029682,-0.004315
10,3,199680,34,obj,1,"013_banana_1","put banana on sheet metal",-0.114994,0.044559,0.878547,0.999910,0.013282,0.002051,0.000285
10,3,199680,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
10,3,199680,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
10,3,199680,34,gripper,0,"","put banana on sheet metal",-0.072290,0.048003,1.024349,-0.141734,-0.769018,-0.202039,0.589664
10,3,199680,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093042,-0.039105,0.887096,0.921272,-0.018079,0.016035,0.388167
10,3,199680,35,obj,1,"013_banana_1","put banana on sheet metal",-0.114679,0.074691,0.878548,0.923627,0.011573,0.007027,0.383054
10,3,199680,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
10,3,199680,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
10,3,199680,35,gripper,0,"","put banana on sheet metal",-0.039025,0.114225,0.953270,0.134042,-0.900390,0.135589,0.391084
10,3,199680,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242774,0.067130,0.887296,0.247665,-0.025480,0.001459,0.968509
10,3,199680,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234691,-0.074681,0.878547,0.382227,0.003183,0.013049,0.923971
10,3,199680,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000016
10,3,199680,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000000
10,3,199680,36,gripper,0,"","put banana on flat bowl",-0.178785,-0.049265,0.974785,-0.224600,-0.615658,-0.265367,0.707178
10,3,199680,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087814,0.074737,0.887433,0.997408,-0.001725,0.021781,0.068560
10,3,199680,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084990,-0.075437,0.878546,0.999910,0.013257,0.002054,0.000352
10,3,199680,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
10,3,199680,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000001,0.000003
10,3,199680,37,gripper,0,"","put banana on flat bowl",-0.056049,-0.011900,1.018426,-0.087240,-0.725560,-0.101794,0.674974
10,3,199680,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237118,-0.069157,0.887529,0.364178,-0.040246,0.015753,0.930326
10,3,199680,38,obj,1,"013_banana_1","put banana on flat bowl",-0.114697,-0.044686,0.878547,0.382310,0.003183,0.013047,0.923936
10,3,199680,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
10,3,199680,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
10,3,199680,38,gripper,0,"","put banana on flat bowl",-0.035542,0.054221,0.979981,0.167749,-0.724672,0.123833,0.656792
10,3,199680,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.212925,-0.077220,0.887539,0.755719,-0.017553,0.023324,0.654245
10,3,199680,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007932,0.010834,0.707246
10,3,199680,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
10,3,199680,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
10,3,199680,39,gripper,0,"","put banana on flat bowl",-0.037523,-0.026562,1.031555,0.042294,-0.704409,-0.049450,0.706805
10,3,199680,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088020,0.072906,0.887494,0.748906,-0.015384,0.014720,0.662334
10,3,199680,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.074980,0.878547,0.707892,0.007970,0.010844,0.706192
10,3,199680,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074957,0.871344,0.999999,-0.000158,0.001164,0.000062
10,3,199680,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000457
10,3,199680,40,gripper,0,"","put carrot on sheet metal",-0.057373,0.065066,1.011107,0.108033,-0.747729,0.023411,0.654739
10,3,199680,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094131,-0.046480,0.887435,0.755585,-0.019050,0.024255,0.654324
10,3,199680,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234455,0.045017,0.878546,0.707452,0.007950,0.010835,0.706633
10,3,199680,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.074993,0.871344,0.999999,-0.000158,0.001164,-0.000040
10,3,199680,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
10,3,199680,41,gripper,0,"","put carrot on sheet metal",-0.059904,-0.063937,0.975786,-0.477394,-0.422575,-0.517448,0.570765
10,3,199680,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.211246,-0.082626,0.887524,0.375191,-0.039846,0.016281,0.925947
10,3,199680,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
10,3,199680,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
10,3,199680,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
10,3,199680,42,gripper,0,"","put carrot on sheet metal",-0.161503,-0.054836,0.981349,-0.010708,-0.712016,0.030174,0.701433
10,3,199680,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093060,0.082119,0.887531,0.918029,-0.017075,0.039770,0.394143
10,3,199680,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204662,-0.075310,0.878547,0.924211,0.011520,0.006975,0.381645
10,3,199680,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
10,3,199680,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
10,3,199680,43,gripper,0,"","put carrot on sheet metal",-0.037954,0.099399,1.000272,0.313203,-0.760944,0.271850,0.498965
10,3,199680,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236760,0.077700,0.887539,0.997047,-0.003680,0.031067,0.070132
10,3,199680,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234983,-0.075438,0.878547,0.999910,0.013291,0.002047,0.000005
10,3,199680,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
10,3,199680,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
10,3,199680,44,gripper,0,"","put carrot on flat bowl",-0.138469,0.003738,1.040585,-0.028882,-0.729988,-0.157168,0.664516
10,3,199680,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242271,0.069170,0.887343,0.252180,-0.033565,0.004011,0.967090
10,3,199680,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074663,0.878547,0.383676,0.003200,0.013039,0.923370
10,3,199680,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
10,3,199680,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
10,3,199680,45,gripper,0,"","put carrot on flat bowl",-0.204231,0.077498,0.962304,0.011081,-0.730020,0.012886,0.683214
10,3,199680,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122257,0.036552,0.887348,0.380537,-0.035280,0.009382,0.924045
10,3,199680,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
10,3,199680,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
10,3,199680,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
10,3,199680,46,gripper,0,"","put carrot on flat bowl",-0.075977,0.047393,0.996159,0.112524,-0.718167,0.062178,0.683892
10,3,199680,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092434,-0.077354,0.887535,0.758827,-0.021862,0.023123,0.650515
10,3,199680,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114559,0.045006,0.878548,0.707240,0.008028,0.010937,0.706843
10,3,199680,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
10,3,199680,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
10,3,199680,47,gripper,0,"","put carrot on flat bowl",-0.060892,-0.007416,0.986167,0.338663,-0.695492,0.263963,0.576127
10,3,199680,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.162186,-0.015739,0.891189,-0.036954,0.017713,0.832920,-0.551874
10,3,199680,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.248184,0.115715,0.889773,0.012228,-0.929420,0.367041,0.036194
10,3,199680,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114998,-0.074997,0.872199,1.000000,0.000000,-0.000000,-0.000016
10,3,199680,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234985,-0.044998,0.870870,1.000000,0.000000,-0.000001,-0.000095
10,3,199680,48,gripper,0,"","put plastic bottle on frying pan",-0.042664,0.196260,0.916676,0.182610,-0.769437,0.160547,0.590631
10,3,199680,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.163471,0.087013,0.888209,0.541509,-0.024340,0.029846,0.839813
10,3,199680,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.228096,-0.059620,0.887026,0.284687,-0.655424,0.272223,0.644413
10,3,199680,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
10,3,199680,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.079189,0.074574,0.870870,0.999982,-0.000000,-0.000001,-0.006020
10,3,199680,49,gripper,0,"","put plastic bottle on frying pan",-0.171818,0.084915,0.923936,0.049505,-0.741718,0.040640,0.667646
10,3,199680,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.153843,0.080524,0.893173,0.789801,-0.151259,0.594379,0.006961
10,3,199680,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",15.148439,-8.865391,-491.056274,0.071536,-0.781347,0.594924,-0.174486
10,3,199680,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000293
10,3,199680,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000025
10,3,199680,50,gripper,0,"","put plastic bottle on frying pan",-0.127895,-0.122084,0.963923,-0.065285,-0.706559,-0.043578,0.703287
10,3,199680,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.126822,0.074718,0.888112,0.523347,-0.024647,-0.012286,0.851674
10,3,199680,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.114325,-0.118317,0.887135,-0.153607,-0.687857,-0.171717,0.688310
10,3,199680,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000035
10,3,199680,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.207798,-0.070938,0.870929,0.999920,0.000681,0.001092,0.012555
10,3,199680,51,gripper,0,"","put plastic bottle on frying pan",-0.105729,0.082748,0.995291,0.025299,-0.753026,-0.047429,0.655792
10,3,199680,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.152041,-0.034046,0.888112,0.966269,-0.026325,0.008095,0.256059
10,3,199680,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175685,0.045841,0.887026,0.704494,-0.017251,0.709499,0.001390
10,3,199680,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
10,3,199680,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000007
10,3,199680,52,gripper,0,"","put plastic bottle on cutting board",-0.159091,0.075899,0.984156,-0.085673,-0.719125,-0.054406,0.687429
10,3,199680,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.156282,0.055878,0.888717,-0.131911,-0.060632,0.003873,0.989398
10,3,199680,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.485403,-0.291920,0.016920,-0.720678,0.040975,0.690270,0.049705
10,3,199680,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.243553,-0.052818,0.872199,0.993406,-0.000001,-0.000001,-0.114645
10,3,199680,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083111,0.074966,0.870870,0.999988,0.000000,-0.000000,0.004871
10,3,199680,53,gripper,0,"","put plastic bottle on cutting board",-0.195726,-0.031357,0.981168,0.055174,-0.705050,0.027679,0.706466
10,3,199680,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.200596,-0.061401,0.888112,0.202511,-0.019004,-0.019937,0.978893
10,3,199680,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.104942,0.095486,0.887026,0.296669,-0.650227,0.284413,0.638985
10,3,199680,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
10,3,199680,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206348,0.045601,0.870870,0.999936,0.000000,-0.000001,0.011325
10,3,199680,54,gripper,0,"","put plastic bottle on cutting board",-0.096619,0.077682,0.977134,-0.089999,-0.771027,-0.076670,0.625731
10,3,199680,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.087715,-0.071125,0.888113,0.483381,-0.024057,-0.013413,0.874977
10,3,199680,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.169159,0.075321,0.890251,0.131479,-0.866987,0.250685,0.410127
10,3,199680,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
10,3,199680,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084991,0.075005,0.870870,1.000000,0.000000,0.000002,-0.000417
10,3,199680,55,gripper,0,"","put plastic bottle on cutting board",-0.075727,0.110672,0.954327,0.268680,-0.724355,-0.024025,0.634463
10,3,199680,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.207550,-0.036533,0.913357,0.403175,0.021211,-0.075896,0.911724
10,3,199680,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.138412,0.100060,0.887036,0.300622,-0.645747,0.286946,0.640546
10,3,199680,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000015
10,3,199680,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.237213,0.045685,0.870884,0.999749,0.000689,0.000739,0.022403
10,3,199680,56,gripper,0,"","put hamburger on frying pan",-0.209312,-0.040152,0.940107,0.066964,-0.725940,-0.016540,0.684291
10,3,199680,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.191639,-0.055630,0.890443,0.973011,-0.027390,0.010669,0.228878
10,3,199680,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055653,0.075813,0.887026,0.704495,-0.017018,0.709504,0.001159
10,3,199680,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
10,3,199680,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075008,0.870875,1.000000,0.000702,0.000651,0.000017
10,3,199680,57,gripper,0,"","put hamburger on frying pan",-0.186304,-0.035610,0.980248,0.020292,-0.745091,0.029920,0.665982
10,3,199680,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235241,-0.043919,0.888112,0.923809,-0.027149,0.004559,0.381862
10,3,199680,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.126637,0.007133,0.885720,0.452379,0.543230,-0.427848,0.563206
10,3,199680,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,-0.075027,0.872199,1.000000,-0.000000,-0.000001,0.000058
10,3,199680,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.077225,0.091003,0.870870,0.998932,-0.000000,-0.000001,-0.046209
10,3,199680,58,gripper,0,"","put hamburger on frying pan",-0.108322,-0.026138,1.001716,-0.077554,-0.726851,-0.218812,0.646370
10,3,199680,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.106031,0.073532,0.888112,0.971625,-0.019294,0.019655,-0.234919
10,3,199680,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175617,-0.074112,0.887026,0.704495,-0.016371,0.709520,0.000517
10,3,199680,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
10,3,199680,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
10,3,199680,59,gripper,0,"","put hamburger on frying pan",-0.078458,0.022875,0.970510,-0.138404,-0.878218,-0.017881,0.457447
10,3,199680,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235933,0.077183,0.888124,0.706031,-0.026133,-0.003216,0.707691
10,3,199680,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.214656,0.029922,0.887324,-0.728809,-0.205551,0.255408,-0.601126
10,3,199680,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235123,-0.075073,0.872199,1.000000,0.000000,-0.000001,-0.000579
10,3,199680,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
10,3,199680,60,gripper,0,"","put hamburger on cutting board",-0.217536,-0.067112,0.968984,0.024342,-0.706135,-0.015676,0.707485
10,3,199680,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.234369,0.075912,0.888112,0.999247,-0.022966,0.015202,-0.027340
10,3,199680,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055412,-0.078766,0.887026,0.704449,-0.007636,0.709667,-0.008155
10,3,199680,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
10,3,199680,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204988,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000017
10,3,199680,61,gripper,0,"","put hamburger on cutting board",-0.045630,-0.033411,0.999138,-0.170890,-0.805561,-0.007688,0.567282
10,3,199680,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.021152,0.037083,0.890586,-0.072297,0.475014,0.713303,-0.510229
10,3,199680,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.169182,-0.044720,0.885720,0.051796,0.690148,-0.042977,0.720532
10,3,199680,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.398762,-0.172916,0.003399,0.868032,0.000000,-0.000000,-0.496509
10,3,199680,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084824,-0.071259,0.870870,0.999996,0.000000,-0.000000,-0.002961
10,3,199680,62,gripper,0,"","put hamburger on cutting board",-0.157787,0.005344,0.998684,-0.033685,-0.741110,-0.076858,0.666119
10,3,199680,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.218563,-0.049377,0.888112,0.778809,-0.027345,-0.003299,0.626656
10,3,199680,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.202068,0.108192,0.887026,0.488746,-0.522011,0.480820,0.507389
10,3,199680,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
10,3,199680,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
10,3,199680,63,gripper,0,"","put hamburger on cutting board",-0.207436,-0.051771,0.943852,-0.063331,-0.746770,-0.093390,0.655440
10,4,204800,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.058014,0.066032,0.884978,-0.613507,0.377157,-0.530802,-0.446778
10,4,204800,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.232819,0.040718,0.888767,0.771969,-0.001194,-0.070777,0.631706
10,4,204800,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085014,0.074997,0.869533,1.000000,-0.000000,-0.000000,0.000479
10,4,204800,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205284,0.045135,0.871288,0.999997,-0.000156,-0.001019,-0.002296
10,4,204800,0,gripper,0,"","put kitchen shovel on cloth",-0.194225,-0.035873,0.931275,0.091188,-0.761438,0.108448,0.632563
10,4,204800,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.089569,-0.019791,0.885119,0.448718,0.546312,-0.547303,0.447945
10,4,204800,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.090946,0.082397,0.881637,0.456371,0.042735,-0.026277,0.888374
10,4,204800,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.112335,-0.045494,0.869564,0.999633,-0.000257,0.000472,0.027068
10,4,204800,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.220982,-0.097458,0.871288,0.999152,-0.000195,-0.001011,-0.041170
10,4,204800,1,gripper,0,"","put kitchen shovel on cloth",-0.076231,0.093330,0.925566,0.002067,-0.779114,-0.017399,0.626638
10,4,204800,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.224918,-0.091675,0.885122,0.363485,0.633182,-0.444101,0.519359
10,4,204800,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084389,0.074280,0.881638,0.382136,0.034405,-0.019050,0.923269
10,4,204800,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.237766,-0.080925,0.869532,0.999751,-0.000001,-0.000001,0.022329
10,4,204800,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000157,-0.001019,-0.000040
10,4,204800,2,gripper,0,"","put kitchen shovel on cloth",-0.203009,-0.078476,0.975707,-0.013672,-0.780055,-0.093597,0.618520
10,4,204800,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.160360,-0.117935,0.879126,0.525109,0.432624,-0.641071,0.355141
10,4,204800,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.181644,0.049301,0.883788,0.930687,0.014937,-0.048878,-0.362229
10,4,204800,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000005
10,4,204800,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084915,0.075043,0.871288,0.999999,-0.000153,-0.001019,-0.000270
10,4,204800,3,gripper,0,"","put kitchen shovel on cloth",-0.186584,0.023132,0.999262,0.006427,-0.745520,-0.016369,0.666251
10,4,204800,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072667,0.106377,0.885085,0.704214,0.279891,-0.368899,0.538198
10,4,204800,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.092304,0.066925,0.887367,0.767104,0.015838,-0.036915,0.640263
10,4,204800,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084934,0.074951,0.869532,0.999999,-0.000001,-0.000000,0.001245
10,4,204800,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.204531,-0.045174,0.871288,0.999999,-0.000155,-0.001019,-0.000353
10,4,204800,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.129388,0.046925,1.122609,0.094106,-0.745551,0.090883,0.653482
10,4,204800,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218472,0.062073,0.885369,0.665823,-0.195912,0.196290,0.692653
10,4,204800,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085730,0.075623,0.881641,0.382134,-0.038610,0.011172,0.923232
10,4,204800,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000001
10,4,204800,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.074989,0.871287,0.999999,-0.000153,-0.001019,0.000472
10,4,204800,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.144494,-0.016514,1.116242,-0.074456,-0.856147,0.152489,0.488073
10,4,204800,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.161331,0.031784,0.885582,-0.278964,-0.530263,0.777089,-0.192699
10,4,204800,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085964,0.075119,0.881638,0.999226,-0.004460,-0.039090,-0.000381
10,4,204800,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.206985,0.070374,0.869532,0.997737,-0.000000,-0.000000,-0.067241
10,4,204800,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.082214,-0.073128,0.871282,0.999780,-0.000478,-0.001256,-0.020942
10,4,204800,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.181435,0.039772,0.966938,0.130107,-0.804283,0.055642,0.577153
10,4,204800,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.135292,0.144363,0.879540,-0.904008,-0.053662,0.115665,-0.408058
10,4,204800,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.090904,0.076233,0.887474,0.774877,-0.035336,0.030108,0.630404
10,4,204800,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114952,0.044930,0.869532,1.000000,-0.000000,-0.000001,-0.000269
10,4,204800,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.233635,0.077347,0.871282,0.999976,-0.000441,-0.001267,0.006865
10,4,204800,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.198950,0.060020,0.926968,0.070571,-0.786040,0.046918,0.612340
10,4,204800,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.051361,0.087109,0.887753,-0.074214,0.546206,-0.832675,-0.052956
10,4,204800,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085716,-0.075592,0.881638,0.923055,0.010859,-0.037806,0.382653
10,4,204800,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000032
10,4,204800,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000004
10,4,204800,8,gripper,0,"","put ketchup bottle on cloth",-0.137730,-0.141048,0.914920,0.225034,-0.718413,0.192685,0.629376
10,4,204800,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.220631,0.109604,0.879372,0.945279,-0.043708,0.274798,0.170362
10,4,204800,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.090176,-0.074799,0.883210,0.998714,0.023529,0.043663,-0.010503
10,4,204800,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.116405,0.047802,0.869532,0.999624,-0.000000,-0.000000,-0.027415
10,4,204800,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074947,0.871288,0.999999,-0.000155,-0.001020,0.000140
10,4,204800,9,gripper,0,"","put ketchup bottle on cloth",-0.207592,0.089685,0.970438,0.048660,-0.795676,0.037083,0.602624
10,4,204800,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.197937,0.067200,0.879117,0.098914,0.021670,0.994856,-0.002714
10,4,204800,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085968,-0.074886,0.881638,0.999225,-0.004459,-0.039110,-0.000379
10,4,204800,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000041
10,4,204800,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000015
10,4,204800,10,gripper,0,"","put ketchup bottle on cloth",-0.205576,0.085938,0.935461,0.079134,-0.782802,0.056794,0.614599
10,4,204800,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.022530,0.137081,0.879212,-0.238439,-0.492620,0.824539,-0.143555
10,4,204800,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.074322,-0.068192,0.881641,0.736478,-0.030257,0.026420,0.675268
10,4,204800,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085018,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000014
10,4,204800,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235313,0.075081,0.871288,0.999995,-0.000156,-0.001018,-0.003067
10,4,204800,11,gripper,0,"","put ketchup bottle on cloth",-0.172604,0.000994,0.995249,0.073357,-0.737022,0.006108,0.671849
10,4,204800,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.083799,0.080795,0.879375,0.996101,0.004728,-0.088075,-0.001815
10,4,204800,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.194448,-0.071594,0.881638,0.900564,-0.020940,-0.033303,-0.432940
10,4,204800,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235000,0.075001,0.869532,1.000000,-0.000001,-0.000000,-0.000000
10,4,204800,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,-0.074993,0.871289,1.000000,-0.000154,-0.001019,-0.000014
10,4,204800,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.218220,-0.073462,0.929277,-0.087643,-0.845192,-0.064611,0.523254
10,4,204800,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.113346,0.058659,0.879453,0.165391,0.046401,0.985110,-0.007132
10,4,204800,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089836,0.076775,0.881662,0.997707,-0.001723,-0.057807,0.035146
10,4,204800,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000007
10,4,204800,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114962,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000073
10,4,204800,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.086143,0.106403,0.931451,-0.058631,-0.710650,-0.107904,0.692745
10,4,204800,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.016384,0.188854,0.879116,-0.078305,0.612475,-0.784277,-0.060437
10,4,204800,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.082035,-0.037674,0.887456,0.579490,-0.047117,0.023077,0.813289
10,4,204800,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085190,-0.075417,0.869533,0.999983,-0.000004,-0.000013,-0.005810
10,4,204800,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.080715,0.072327,0.871289,0.999829,-0.000176,-0.001016,-0.018468
10,4,204800,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.151545,-0.021236,0.974207,-0.134108,-0.723155,-0.171992,0.655348
10,4,204800,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.139423,0.041039,0.879089,0.848477,0.132317,-0.443761,0.256234
10,4,204800,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.208256,-0.022106,0.885533,-0.006936,-0.854981,0.497054,-0.147975
10,4,204800,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.083870,0.075966,0.869532,0.999969,0.000001,-0.000001,0.007834
10,4,204800,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235168,0.075752,0.871282,0.999982,-0.000443,-0.001267,0.005817
10,4,204800,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.214758,-0.017941,0.930764,-0.153269,-0.747494,-0.127104,0.633724
10,4,204800,16,obj,0,"003_bread_1","put 7up can on carpet",-0.174583,0.058655,0.886417,0.703685,0.013947,-0.005131,0.710356
10,4,204800,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.058197,0.086372,0.885633,-0.615616,0.083440,0.069318,0.780544
10,4,204800,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000115
10,4,204800,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.206619,0.044483,0.870461,0.999999,0.000019,-0.000158,0.001666
10,4,204800,16,gripper,0,"","put 7up can on carpet",-0.046665,-0.075684,0.964529,-0.006733,-0.730101,0.090781,0.677249
10,4,204800,17,obj,0,"003_bread_1","put 7up can on carpet",-0.223530,0.087471,0.883544,0.527329,0.011598,-0.005066,0.849567
10,4,204800,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.165718,-0.015930,0.887213,-0.518041,0.452465,-0.489921,-0.535619
10,4,204800,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205132,-0.044998,0.869490,0.999999,0.000549,0.001423,0.000552
10,4,204800,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.082912,-0.072876,0.870350,0.999998,-0.000674,-0.002014,-0.000040
10,4,204800,17,gripper,0,"","put 7up can on carpet",-0.181458,-0.002613,0.933334,-0.025401,-0.774409,-0.009195,0.632108
10,4,204800,18,obj,0,"003_bread_1","put 7up can on carpet",-0.093178,-0.045998,0.886675,0.130230,0.015361,0.000781,0.991364
10,4,204800,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.081078,-0.082096,0.888822,0.444712,0.502622,-0.343469,0.656987
10,4,204800,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204964,0.075005,0.869490,1.000000,0.000180,0.000874,0.000134
10,4,204800,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.083221,-0.074543,0.870447,0.999999,-0.000924,-0.000843,-0.001038
10,4,204800,18,gripper,0,"","put 7up can on carpet",-0.143328,-0.047281,1.100849,-0.070126,-0.783240,-0.012710,0.617621
10,4,204800,19,obj,0,"003_bread_1","put 7up can on carpet",-0.145409,-0.065453,0.884904,0.131017,0.099954,-0.985392,0.042968
10,4,204800,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.183060,-0.002598,0.885636,0.597217,0.219301,-0.181591,0.749842
10,4,204800,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000875,0.000008
10,4,204800,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.204851,-0.074749,0.870368,0.999989,0.000136,-0.001105,0.004622
10,4,204800,19,gripper,0,"","put 7up can on carpet",-0.134619,-0.071880,1.051346,-0.107709,-0.801313,-0.066241,0.584729
10,4,204800,20,obj,0,"003_bread_1","put bread on newspaper",-0.098161,-0.041420,0.886514,0.914432,0.009712,-0.007765,0.404548
10,4,204800,20,obj,1,"005_7up can_1","put bread on newspaper",-0.104417,0.146042,0.886001,-0.198087,0.677387,-0.679168,-0.201592
10,4,204800,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204995,0.074982,0.869490,1.000000,0.000180,0.000875,0.000134
10,4,204800,20,recep,1,"003_carpet_1","put bread on newspaper",-0.110735,-0.040234,0.870448,0.999926,-0.000127,-0.000156,-0.012132
10,4,204800,20,gripper,0,"","put bread on newspaper",-0.170460,-0.023081,0.968360,0.081443,-0.728796,0.130031,0.667320
10,4,204800,21,obj,0,"003_bread_1","put bread on newspaper",-0.084061,-0.036270,0.883527,0.962648,0.004815,-0.013067,0.270396
10,4,204800,21,obj,1,"005_7up can_1","put bread on newspaper",-0.169270,-0.055424,0.888480,0.631965,0.215675,-0.192045,0.719182
10,4,204800,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.114977,0.075005,0.869490,1.000000,0.000180,0.000874,0.000072
10,4,204800,21,recep,1,"003_carpet_1","put bread on newspaper",-0.204840,-0.074615,0.870370,0.999900,0.000140,-0.001087,0.014063
10,4,204800,21,gripper,0,"","put bread on newspaper",-0.093994,-0.078299,0.937404,-0.073367,-0.839383,-0.043114,0.536837
10,4,204800,22,obj,0,"003_bread_1","put bread on newspaper",-0.094524,-0.054302,0.886624,0.798922,0.010881,-0.006777,0.601297
10,4,204800,22,obj,1,"005_7up can_1","put bread on newspaper",-0.188778,-0.047325,0.886758,0.610703,-0.209839,0.206676,0.735047
10,4,204800,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,-0.074993,0.869489,0.999999,0.000552,0.001430,0.000718
10,4,204800,22,recep,1,"003_carpet_1","put bread on newspaper",-0.088512,-0.074944,0.870420,0.999999,-0.000624,-0.001219,-0.000103
10,4,204800,22,gripper,0,"","put bread on newspaper",-0.129671,0.026474,1.137806,0.045013,-0.796684,0.036627,0.601604
10,4,204800,23,obj,0,"003_bread_1","put bread on newspaper",-0.048161,0.119106,0.883545,0.339253,0.012407,-0.002542,0.940610
10,4,204800,23,obj,1,"005_7up can_1","put bread on newspaper",-0.113865,0.170170,0.885757,-0.648293,-0.343821,0.515537,-0.442407
10,4,204800,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.115005,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000052
10,4,204800,23,recep,1,"003_carpet_1","put bread on newspaper",-0.205017,0.075016,0.870452,0.999998,0.001568,0.001266,0.000305
10,4,204800,23,gripper,0,"","put bread on newspaper",-0.038614,0.104956,0.981030,0.180240,-0.710139,0.039607,0.679446
10,4,204800,24,obj,0,"003_bread_1","put bread on carpet",-0.147133,-0.032978,0.883544,0.882980,0.007487,-0.010206,0.469241
10,4,204800,24,obj,1,"005_7up can_1","put bread on carpet",-0.136627,0.102659,0.888857,0.625934,-0.268734,0.239551,0.691812
10,4,204800,24,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000110
10,4,204800,24,recep,1,"003_carpet_1","put bread on carpet",-0.114845,0.074900,0.870448,0.999998,-0.000924,-0.000844,-0.001380
10,4,204800,24,gripper,0,"","put bread on carpet",-0.145557,-0.054355,0.990839,0.107524,-0.731413,0.047289,0.671742
10,4,204800,25,obj,0,"003_bread_1","put bread on carpet",-0.186302,0.104141,0.883526,0.317466,0.010101,-0.001161,0.948215
10,4,204800,25,obj,1,"005_7up can_1","put bread on carpet",-0.089592,-0.005526,0.964375,-0.407537,0.549955,-0.489198,-0.540507
10,4,204800,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
10,4,204800,25,recep,1,"003_carpet_1","put bread on carpet",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
10,4,204800,25,gripper,0,"","put bread on carpet",-0.087183,-0.010619,1.006354,-0.017340,-0.701234,-0.110774,0.704059
10,4,204800,26,obj,0,"003_bread_1","put bread on carpet",-0.218132,-0.075806,0.886497,0.691999,0.014161,-0.005124,0.721741
10,4,204800,26,obj,1,"005_7up can_1","put bread on carpet",-0.178837,0.005455,0.885746,-0.555731,-0.426125,0.418391,-0.578385
10,4,204800,26,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
10,4,204800,26,recep,1,"003_carpet_1","put bread on carpet",-0.234959,-0.074865,0.870461,1.000000,0.000019,-0.000158,0.000179
10,4,204800,26,gripper,0,"","put bread on carpet",-0.179123,-0.048795,0.983677,-0.056378,-0.739393,-0.066434,0.667613
10,4,204800,27,obj,0,"003_bread_1","put bread on carpet",-0.119059,0.009607,0.883544,0.356222,0.012359,-0.002764,0.934315
10,4,204800,27,obj,1,"005_7up can_1","put bread on carpet",-0.056896,-0.041893,0.888708,0.448192,0.355283,-0.194038,0.797024
10,4,204800,27,recep,0,"004_newspaper_1","put bread on carpet",-0.235039,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000086
10,4,204800,27,recep,1,"003_carpet_1","put bread on carpet",-0.065983,-0.059874,0.870448,0.998824,-0.000958,-0.000797,-0.048476
10,4,204800,27,gripper,0,"","put bread on carpet",-0.115849,0.003848,1.133568,0.098946,-0.787823,0.023967,0.607429
10,4,204800,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.073853,-0.005129,0.883544,0.999885,0.001723,-0.012544,-0.008316
10,4,204800,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184217,0.015797,0.885733,0.679443,-0.300719,0.372283,0.556175
10,4,204800,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000004
10,4,204800,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
10,4,204800,28,gripper,0,"","put 7up can on newspaper",-0.149834,-0.010055,1.026763,0.034401,-0.728647,0.017346,0.683805
10,4,204800,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.183517,-0.038818,0.886434,0.509043,0.014969,-0.004356,0.860600
10,4,204800,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.417480,-0.098024,0.017055,-0.245670,-0.717927,0.300476,-0.577876
10,4,204800,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000874,0.000028
10,4,204800,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204967,-0.044804,0.870404,1.000000,0.000065,-0.000719,-0.000316
10,4,204800,29,gripper,0,"","put 7up can on newspaper",-0.109017,0.027366,1.129631,-0.018651,-0.850782,-0.031506,0.524242
10,4,204800,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.072464,0.112782,0.883544,0.297061,0.012504,-0.001980,0.954775
10,4,204800,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.048534,-0.030544,0.887280,-0.087899,-0.771374,0.625911,-0.074101
10,4,204800,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085911,-0.066793,0.869490,0.998828,0.000477,0.001446,0.048379
10,4,204800,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.075008,0.870452,0.999998,0.001568,0.001265,0.000096
10,4,204800,30,gripper,0,"","put 7up can on newspaper",-0.041183,-0.061934,1.028438,-0.104716,-0.700895,-0.118353,0.695538
10,4,204800,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,-0.075518,0.883544,0.924798,0.006451,-0.010900,0.380248
10,4,204800,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.180229,0.074396,0.886818,-0.261866,-0.667809,0.654938,-0.237723
10,4,204800,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235527,0.074915,0.869489,0.999999,0.000546,0.001422,0.000585
10,4,204800,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205597,-0.044954,0.870405,0.999992,0.000067,-0.000706,0.004056
10,4,204800,31,gripper,0,"","put 7up can on newspaper",-0.175943,0.014931,0.974271,0.010553,-0.734909,-0.014618,0.677925
10,4,204800,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205986,0.046188,0.887528,0.382641,-0.039931,0.016555,0.922885
10,4,204800,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,-0.074679,0.878547,0.382258,0.003184,0.013054,0.923958
10,4,204800,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
10,4,204800,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
10,4,204800,32,gripper,0,"","put banana on flat bowl",-0.165222,-0.055352,1.007973,-0.026105,-0.678029,-0.105741,0.726921
10,4,204800,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.121910,0.034791,0.887339,0.379233,-0.019074,0.004854,0.925092
10,4,204800,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923953
10,4,204800,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
10,4,204800,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,4,204800,33,gripper,0,"","put banana on flat bowl",-0.168901,0.083935,0.996674,-0.135669,-0.640846,-0.229244,0.719970
10,4,204800,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247234,-0.067205,0.887174,0.999509,-0.009064,0.029681,-0.004315
10,4,204800,34,obj,1,"013_banana_1","put banana on flat bowl",-0.114994,0.044559,0.878547,0.999909,0.013308,0.002053,0.000285
10,4,204800,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
10,4,204800,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,4,204800,34,gripper,0,"","put banana on flat bowl",-0.031815,0.076039,1.013059,0.209909,-0.762959,0.102622,0.602745
10,4,204800,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096020,-0.037021,0.887362,0.927272,-0.006294,0.022935,0.373633
10,4,204800,35,obj,1,"013_banana_1","put banana on flat bowl",-0.114679,0.074692,0.878547,0.923627,0.011544,0.007012,0.383054
10,4,204800,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
10,4,204800,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000001
10,4,204800,35,gripper,0,"","put banana on flat bowl",-0.075021,0.104273,1.023999,0.047522,-0.766306,0.038503,0.639558
10,4,204800,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.242430,0.066262,0.887293,0.246854,-0.023256,0.011205,0.968709
10,4,204800,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234690,-0.074680,0.878547,0.382227,0.003191,0.013076,0.923971
10,4,204800,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
10,4,204800,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,0.000000,-0.000000
10,4,204800,36,gripper,0,"","put carrot on sheet metal",-0.209023,0.042467,1.004904,-0.089303,-0.718222,-0.091989,0.683901
10,4,204800,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087881,0.074623,0.887315,0.996999,0.003142,0.032732,0.070077
10,4,204800,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084990,-0.075438,0.878547,0.999910,0.013285,0.002056,0.000352
10,4,204800,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
10,4,204800,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000002,0.000000,0.000003
10,4,204800,37,gripper,0,"","put carrot on sheet metal",-0.136507,0.079536,1.026375,0.074389,-0.791566,0.022160,0.606134
10,4,204800,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237118,-0.069156,0.887529,0.364177,-0.040256,0.015757,0.930326
10,4,204800,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.114697,-0.044686,0.878547,0.382310,0.003190,0.013071,0.923936
10,4,204800,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
10,4,204800,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
10,4,204800,38,gripper,0,"","put carrot on sheet metal",-0.170317,-0.061599,0.999499,-0.153525,-0.736003,-0.082823,0.654118
10,4,204800,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.216484,-0.078663,0.887423,0.771230,-0.027015,0.028381,0.635349
10,4,204800,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007922,0.010824,0.707246
10,4,204800,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
10,4,204800,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
10,4,204800,39,gripper,0,"","put carrot on sheet metal",-0.165421,-0.051573,0.977249,0.112744,-0.677662,0.066869,0.723597
10,4,204800,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090706,0.072548,0.887464,0.757365,-0.025200,0.031968,0.651721
10,4,204800,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234550,-0.074976,0.878547,0.708287,0.007976,0.010839,0.705796
10,4,204800,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074974,0.871344,0.999999,-0.000158,0.001164,0.000096
10,4,204800,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000607
10,4,204800,40,gripper,0,"","put carrot on flat bowl",-0.046139,0.112721,1.015239,0.131021,-0.683086,0.062166,0.715795
10,4,204800,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.101063,-0.044466,0.887397,0.801023,-0.019874,0.032622,0.597414
10,4,204800,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234451,0.045021,0.878546,0.707755,0.007955,0.010833,0.706330
10,4,204800,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000048
10,4,204800,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
10,4,204800,41,gripper,0,"","put carrot on flat bowl",-0.096567,-0.019650,1.000152,-0.024119,-0.713384,-0.003219,0.700351
10,4,204800,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213089,-0.085949,0.887490,0.383834,-0.035577,0.015581,0.922585
10,4,204800,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
10,4,204800,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
10,4,204800,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
10,4,204800,42,gripper,0,"","put carrot on flat bowl",-0.173815,-0.091480,0.976248,-0.091858,-0.686740,-0.089526,0.715497
10,4,204800,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.096693,0.083529,0.887440,0.925610,-0.010254,0.023611,0.377603
10,4,204800,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204657,-0.075308,0.878547,0.924402,0.011491,0.006952,0.381182
10,4,204800,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
10,4,204800,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
10,4,204800,43,gripper,0,"","put carrot on flat bowl",-0.038800,0.029203,0.998573,-0.143366,-0.746700,-0.027551,0.648942
10,4,204800,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237691,0.078604,0.887518,0.997354,-0.004093,0.020146,0.069728
10,4,204800,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234980,-0.075438,0.878547,0.999910,0.013295,0.002046,-0.000116
10,4,204800,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
10,4,204800,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000001
10,4,204800,44,gripper,0,"","put banana on sheet metal",-0.112036,-0.060855,1.008200,-0.320597,-0.567851,-0.515887,0.555538
10,4,204800,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241753,0.068840,0.887485,0.252535,-0.040064,0.009283,0.966713
10,4,204800,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074657,0.878547,0.384161,0.003216,0.013065,0.923168
10,4,204800,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
10,4,204800,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
10,4,204800,45,gripper,0,"","put banana on sheet metal",-0.049691,-0.026505,1.006757,-0.017148,-0.753462,0.023770,0.656838
10,4,204800,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123356,0.033670,0.887480,0.392400,-0.024200,0.009667,0.919425
10,4,204800,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
10,4,204800,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
10,4,204800,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
10,4,204800,46,gripper,0,"","put banana on sheet metal",-0.041979,0.012164,1.006774,0.173669,-0.702425,0.153020,0.673070
10,4,204800,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095306,-0.077477,0.887476,0.767668,-0.025237,0.032528,0.639523
10,4,204800,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114559,0.045008,0.878548,0.707400,0.008018,0.010919,0.706684
10,4,204800,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
10,4,204800,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
10,4,204800,47,gripper,0,"","put banana on sheet metal",-0.070444,0.074770,0.980756,0.143125,-0.707021,0.255273,0.643795
10,4,204800,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.155487,-0.018589,0.891116,-0.127949,0.009299,0.857886,-0.497569
10,4,204800,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.237251,-0.012138,0.892352,0.019853,-0.762028,0.646514,0.030631
10,4,204800,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114998,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000018
10,4,204800,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234863,-0.045033,0.870870,1.000000,-0.000004,-0.000001,-0.000013
10,4,204800,48,gripper,0,"","put plastic bottle on cutting board",-0.219032,-0.000715,1.020513,-0.028096,-0.744598,-0.046287,0.665313
10,4,204800,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.164383,0.085499,0.888112,0.543218,-0.024933,-0.011701,0.839140
10,4,204800,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.228119,-0.059578,0.887027,0.284710,-0.655413,0.272245,0.644404
10,4,204800,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
10,4,204800,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.079189,0.074570,0.870870,0.999982,-0.000000,-0.000001,-0.006034
10,4,204800,49,gripper,0,"","put plastic bottle on cutting board",-0.173250,-0.032030,0.977793,-0.060176,-0.671577,-0.082923,0.733817
10,4,204800,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.153843,0.080524,0.893173,0.789798,-0.151186,0.594403,0.006869
10,4,204800,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",15.148439,-8.865391,-1762.692993,0.071536,-0.781347,0.594924,-0.174486
10,4,204800,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000393
10,4,204800,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000027
10,4,204800,50,gripper,0,"","put plastic bottle on cutting board",-0.116001,0.004580,1.017762,0.138725,-0.883542,0.108049,0.434089
10,4,204800,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.125570,0.088135,0.892648,0.529659,-0.025412,-0.003366,0.847823
10,4,204800,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.114452,-0.118271,0.887026,-0.153864,-0.688941,-0.170431,0.687488
10,4,204800,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000052
10,4,204800,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.207794,-0.070927,0.870911,0.999916,0.002192,0.002292,0.012575
10,4,204800,51,gripper,0,"","put plastic bottle on cutting board",-0.126445,0.087189,0.948499,-0.035001,-0.795889,-0.059570,0.601487
10,4,204800,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.152107,-0.033863,0.888112,0.967102,-0.026299,0.008180,0.252892
10,4,204800,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175685,0.045841,0.887026,0.704494,-0.017251,0.709499,0.001390
10,4,204800,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
10,4,204800,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000007
10,4,204800,52,gripper,0,"","put hamburger on frying pan",-0.073722,-0.088932,0.988424,-0.074432,-0.758661,-0.103959,0.638816
10,4,204800,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.156311,0.055931,0.888713,-0.133656,-0.060475,0.004346,0.989171
10,4,204800,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.485405,-0.291920,0.016920,-0.720700,0.040975,0.690247,0.049716
10,4,204800,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.243553,-0.052818,0.872199,0.993396,-0.000000,-0.000001,-0.114733
10,4,204800,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083113,0.074966,0.870870,0.999989,0.000000,-0.000001,0.004779
10,4,204800,53,gripper,0,"","put hamburger on frying pan",-0.053897,0.048273,0.942938,0.021034,-0.757451,-0.028966,0.651910
10,4,204800,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.076584,-0.042984,0.896257,0.177428,0.009600,-0.044671,0.983073
10,4,204800,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.104942,0.095486,0.887026,0.296669,-0.650227,0.284412,0.638985
10,4,204800,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085011,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000019
10,4,204800,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.206348,0.045601,0.870870,0.999936,0.000000,-0.000001,0.011301
10,4,204800,54,gripper,0,"","put hamburger on frying pan",-0.071152,-0.036926,1.129449,0.016405,-0.769897,-0.026906,0.637390
10,4,204800,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.149948,-0.051460,0.888112,0.468915,-0.023833,-0.013806,0.882814
10,4,204800,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.169163,0.075321,0.890278,0.132985,-0.866314,0.252919,0.409692
10,4,204800,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
10,4,204800,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084988,0.075016,0.870870,1.000000,0.000000,0.000002,-0.000610
10,4,204800,55,gripper,0,"","put hamburger on frying pan",-0.060665,-0.183958,0.984661,0.012644,-0.747263,-0.092044,0.658002
10,4,204800,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.208382,-0.035248,0.888112,0.443950,-0.023432,-0.014471,0.895628
10,4,204800,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.138412,0.100056,0.887037,0.300858,-0.645379,0.287041,0.640764
10,4,204800,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000016
10,4,204800,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.237213,0.045685,0.870884,0.999757,0.000690,0.000741,0.022036
10,4,204800,56,gripper,0,"","put hamburger on cutting board",-0.092953,-0.023001,1.039474,-0.144438,-0.724691,-0.133127,0.660483
10,4,204800,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.191624,-0.054241,0.890437,0.975830,-0.027329,0.010960,0.216537
10,4,204800,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055653,0.075813,0.887026,0.704495,-0.016988,0.709505,0.001130
10,4,204800,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
10,4,204800,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075008,0.870875,1.000000,0.000699,0.000651,0.000042
10,4,204800,57,gripper,0,"","put hamburger on cutting board",-0.102602,0.072680,1.144822,0.156991,-0.818561,0.131704,0.536624
10,4,204800,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.209476,0.072575,0.891904,-0.540156,-0.796010,-0.270067,0.040788
10,4,204800,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.126202,0.012577,0.885720,0.471562,0.528128,-0.446358,0.547243
10,4,204800,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114998,-0.075027,0.872199,1.000000,0.000000,-0.000001,0.000056
10,4,204800,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.077221,0.091003,0.870870,0.998932,0.000000,-0.000001,-0.046213
10,4,204800,58,gripper,0,"","put hamburger on cutting board",-0.137650,0.013803,0.958139,0.106154,-0.778292,0.037824,0.617708
10,4,204800,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.106030,0.073528,0.888112,0.971078,-0.019249,0.019696,-0.237168
10,4,204800,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.176203,-0.073921,0.887026,0.704487,-0.012213,0.709602,-0.003611
10,4,204800,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
10,4,204800,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
10,4,204800,59,gripper,0,"","put hamburger on cutting board",-0.147167,-0.060291,0.963805,-0.104525,-0.742751,0.022965,0.660960
10,4,204800,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236211,0.085255,0.888112,0.695464,-0.026725,-0.006651,0.718033
10,4,204800,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.158958,-0.005821,0.885720,-0.507303,-0.496909,0.480864,-0.514291
10,4,204800,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235388,-0.075191,0.872199,0.999995,0.000000,-0.000001,0.003030
10,4,204800,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084217,-0.076126,0.870870,0.999996,-0.000000,-0.000000,0.002840
10,4,204800,60,gripper,0,"","put plastic bottle on frying pan",-0.134400,0.001989,0.984094,0.061930,-0.713212,0.039499,0.697089
10,4,204800,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234365,0.075905,0.888112,0.999076,-0.022879,0.015332,-0.032986
10,4,204800,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.086754,-0.083553,0.018226,-0.603745,0.379230,-0.599892,-0.363051
10,4,204800,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
10,4,204800,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204985,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000026
10,4,204800,61,gripper,0,"","put plastic bottle on frying pan",-0.043006,-0.101337,0.976939,0.111215,-0.690875,-0.081038,0.709758
10,4,204800,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.021156,0.037090,0.890586,-0.076800,0.481295,0.709080,-0.509571
10,4,204800,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.169182,-0.044720,0.885720,0.052013,0.690134,-0.043185,0.720517
10,4,204800,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.398762,-0.172916,0.003399,0.868032,-0.000000,0.000000,-0.496508
10,4,204800,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084824,-0.071262,0.870870,0.999996,0.000000,-0.000001,-0.002975
10,4,204800,62,gripper,0,"","put plastic bottle on frying pan",-0.137478,-0.029324,0.990024,0.040392,-0.709192,0.062942,0.701038
10,4,204800,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.218559,-0.049377,0.888112,0.779968,-0.027349,-0.003241,0.625214
10,4,204800,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.170780,0.109436,0.890049,0.524702,-0.531315,0.473482,0.467126
10,4,204800,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.083817,0.074303,0.872199,0.999998,-0.000000,-0.000001,0.002031
10,4,204800,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
10,4,204800,63,gripper,0,"","put plastic bottle on frying pan",-0.178188,0.112648,0.939387,0.083360,-0.818568,0.047231,0.566362
11,1,209920,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.023064,0.159454,0.878982,-0.641160,0.342002,-0.554050,-0.406173
11,1,209920,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085724,-0.045601,0.881638,0.923161,0.010862,-0.037839,0.382393
11,1,209920,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115036,0.075203,0.869532,0.999986,0.000000,-0.000001,0.005217
11,1,209920,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205017,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000086
11,1,209920,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.047268,0.144344,0.961195,0.326413,-0.741203,0.273425,0.518952
11,1,209920,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091888,-0.081955,0.879089,0.818590,0.176041,-0.428302,0.339818
11,1,209920,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.231110,0.045395,0.881638,0.910996,0.012008,-0.037464,0.410535
11,1,209920,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
11,1,209920,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000085
11,1,209920,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.224642,0.075600,0.943666,0.095360,-0.763865,0.113181,0.628177
11,1,209920,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.227455,-0.066856,0.885112,0.058697,-0.804337,0.585880,0.079629
11,1,209920,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
11,1,209920,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235004,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000191
11,1,209920,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.204399,0.075554,0.871261,0.999988,-0.001434,-0.002093,0.004158
11,1,209920,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.239182,-0.052010,0.992612,-0.083685,-0.767531,-0.097911,0.627938
11,1,209920,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.204260,-0.020401,0.885374,0.746008,-0.170988,0.219856,0.604895
11,1,209920,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084126,0.074188,0.884028,0.706922,0.045234,0.004154,0.705831
11,1,209920,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235004,-0.045006,0.869532,1.000000,0.000000,-0.000000,0.000026
11,1,209920,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205029,0.075012,0.871262,0.999997,-0.001423,-0.002070,-0.000055
11,1,209920,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.208449,-0.036339,0.980150,0.069147,-0.741257,-0.005310,0.667629
11,1,209920,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.112124,-0.043800,0.885083,0.584818,0.346486,-0.306285,0.666427
11,1,209920,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.231285,-0.075706,0.881641,0.716898,-0.031021,0.025564,0.696018
11,1,209920,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,-0.000001,-0.000000
11,1,209920,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234999,0.075005,0.871289,0.999999,-0.000156,-0.001019,0.000109
11,1,209920,4,gripper,0,"","put ketchup bottle on cloth",-0.225187,-0.068279,0.937291,-0.118611,-0.760414,-0.060077,0.635683
11,1,209920,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.237440,-0.071495,0.888041,0.527226,0.369199,-0.285242,0.710185
11,1,209920,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084412,-0.075745,0.881638,0.382437,0.034438,-0.019078,0.923143
11,1,209920,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000008
11,1,209920,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000128
11,1,209920,5,gripper,0,"","put ketchup bottle on cloth",-0.184258,-0.051830,1.074344,-0.013261,-0.752969,-0.078479,0.653225
11,1,209920,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.112194,-0.009209,0.902206,0.460462,0.535844,-0.560699,0.431813
11,1,209920,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205776,-0.075592,0.881638,0.923218,0.010858,-0.037841,0.382255
11,1,209920,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
11,1,209920,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000154,-0.001020,0.000044
11,1,209920,6,gripper,0,"","put ketchup bottle on cloth",-0.122026,-0.017170,0.940791,0.108612,-0.813669,-0.035944,0.569960
11,1,209920,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.238102,-0.014481,0.879251,-0.200480,-0.682290,0.671909,-0.206946
11,1,209920,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082859,-0.075882,0.883281,0.706828,0.041748,-0.007939,0.706107
11,1,209920,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205009,-0.075012,0.869532,1.000000,-0.000001,-0.000000,0.000153
11,1,209920,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234890,0.074951,0.871211,0.999982,-0.003901,-0.004135,0.001765
11,1,209920,7,gripper,0,"","put ketchup bottle on cloth",-0.227739,-0.007393,0.960648,-0.030959,-0.789410,-0.018725,0.612799
11,1,209920,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078033,0.068123,0.879089,0.338382,0.427355,-0.178282,0.819195
11,1,209920,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234451,-0.075760,0.881638,0.382484,0.034427,-0.019078,0.923123
11,1,209920,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000036
11,1,209920,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.237953,0.079704,0.871208,0.999642,-0.003993,-0.004032,-0.026146
11,1,209920,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.246998,0.036810,0.918764,0.029435,-0.734122,-0.040673,0.677158
11,1,209920,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.051880,0.111599,0.886421,-0.608763,0.438348,0.319170,0.579128
11,1,209920,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085766,-0.075626,0.881638,0.923284,0.010852,-0.037851,0.382095
11,1,209920,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075012,0.869532,1.000000,0.000001,-0.000001,0.000049
11,1,209920,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000066
11,1,209920,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.099291,0.034430,0.992264,0.005390,-0.748508,-0.113225,0.653366
11,1,209920,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097610,0.062332,0.879126,0.585833,0.294753,-0.715029,0.242186
11,1,209920,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.074413,-0.060013,0.881641,0.906834,-0.020799,0.034361,0.419571
11,1,209920,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000018
11,1,209920,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
11,1,209920,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.047363,-0.066292,0.946064,-0.001841,-0.772507,-0.052371,0.632840
11,1,209920,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.180412,0.064781,0.885083,0.663795,0.305301,-0.347279,0.587848
11,1,209920,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084406,0.074245,0.881638,0.382543,0.034400,-0.019069,0.923100
11,1,209920,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204983,0.074993,0.869532,1.000000,0.000000,-0.000001,0.000108
11,1,209920,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000042
11,1,209920,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.137778,0.058828,1.046980,0.081317,-0.770268,0.099197,0.624687
11,1,209920,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.229316,-0.117664,0.879566,0.808865,0.155046,-0.510407,0.247351
11,1,209920,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.241059,0.063728,0.881638,0.900918,0.012914,-0.037188,0.432200
11,1,209920,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000000
11,1,209920,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075008,0.871288,1.000000,-0.000158,-0.001019,-0.000014
11,1,209920,12,gripper,0,"","put kitchen shovel on cloth",-0.254565,-0.090645,0.925564,-0.122019,-0.774894,-0.005769,0.620175
11,1,209920,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094753,0.075005,0.879089,0.886333,-0.001294,-0.463046,0.000632
11,1,209920,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.213585,-0.054565,0.881638,0.984392,-0.011097,-0.037773,-0.171529
11,1,209920,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204420,0.080585,0.869532,0.998450,-0.000001,-0.000001,0.055663
11,1,209920,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114979,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000022
11,1,209920,13,gripper,0,"","put kitchen shovel on cloth",-0.244314,-0.032642,0.913080,-0.113653,-0.711871,-0.118088,0.682918
11,1,209920,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.072903,-0.046768,0.887849,0.494498,0.386614,-0.250214,0.737153
11,1,209920,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214085,-0.079266,0.881638,0.438181,0.033189,-0.021145,0.898025
11,1,209920,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000000
11,1,209920,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000027
11,1,209920,14,gripper,0,"","put kitchen shovel on cloth",-0.218929,-0.062119,0.942862,-0.132541,-0.709047,-0.094215,0.686155
11,1,209920,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094727,0.075008,0.879089,0.886324,-0.001327,-0.463063,0.000566
11,1,209920,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.194283,-0.057148,0.881656,0.935260,0.017487,0.056883,-0.348923
11,1,209920,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
11,1,209920,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000145
11,1,209920,15,gripper,0,"","put kitchen shovel on cloth",-0.202436,-0.034954,0.924220,-0.135892,-0.773275,-0.092924,0.612327
11,1,209920,16,obj,0,"003_bread_1","put bread on newspaper",-0.222618,0.059032,0.883544,0.998985,0.001284,-0.012599,-0.043216
11,1,209920,16,obj,1,"005_7up can_1","put bread on newspaper",-0.212585,-0.074829,0.885627,0.972431,-0.005178,-0.233131,0.000686
11,1,209920,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000037
11,1,209920,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
11,1,209920,16,gripper,0,"","put bread on newspaper",-0.188179,0.040377,0.984655,0.069734,-0.710326,-0.002853,0.700404
11,1,209920,17,obj,0,"003_bread_1","put bread on newspaper",-0.232590,0.083893,0.883544,0.228086,0.012604,-0.001089,0.973559
11,1,209920,17,obj,1,"005_7up can_1","put bread on newspaper",-0.078526,0.068291,0.885636,0.365923,0.261031,-0.113667,0.886026
11,1,209920,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
11,1,209920,17,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.044998,0.870404,1.000000,0.000065,-0.000723,-0.000050
11,1,209920,17,gripper,0,"","put bread on newspaper",-0.201935,0.098427,0.958342,-0.052235,-0.741894,0.008365,0.668427
11,1,209920,18,obj,0,"003_bread_1","put bread on newspaper",-0.081642,0.083275,0.883544,0.933501,0.006191,-0.011044,0.358352
11,1,209920,18,obj,1,"005_7up can_1","put bread on newspaper",-0.206501,-0.012882,0.900158,0.293670,0.047219,0.470310,-0.830865
11,1,209920,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
11,1,209920,18,recep,1,"003_carpet_1","put bread on newspaper",-0.115025,-0.075012,0.870447,0.999999,-0.000922,-0.000845,-0.000067
11,1,209920,18,gripper,0,"","put bread on newspaper",-0.167717,-0.042164,0.982740,0.078392,-0.763248,-0.025443,0.640827
11,1,209920,19,obj,0,"003_bread_1","put bread on newspaper",-0.085485,0.074501,0.883544,0.924357,0.006462,-0.010886,0.381317
11,1,209920,19,obj,1,"005_7up can_1","put bread on newspaper",0.086922,0.005302,0.030339,-0.359841,0.359836,0.608699,-0.608702
11,1,209920,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.085022,-0.075008,0.869490,1.000000,0.000180,0.000875,-0.000032
11,1,209920,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,0.074993,0.870452,0.999998,0.001568,0.001265,0.000014
11,1,209920,19,gripper,0,"","put bread on newspaper",-0.105231,-0.063768,0.997677,0.271956,-0.706066,0.273955,0.593682
11,1,209920,20,obj,0,"003_bread_1","put bread on carpet",-0.114479,0.074528,0.883544,0.383739,0.012270,-0.003122,0.923355
11,1,209920,20,obj,1,"005_7up can_1","put bread on carpet",-0.231202,0.041733,0.885627,0.367638,0.213619,-0.093001,0.900311
11,1,209920,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
11,1,209920,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
11,1,209920,20,gripper,0,"","put bread on carpet",-0.212862,0.031372,0.964989,-0.028825,-0.752568,-0.076783,0.653387
11,1,209920,21,obj,0,"003_bread_1","put bread on carpet",-0.113056,0.044838,0.883544,0.386063,0.012258,-0.003160,0.922386
11,1,209920,21,obj,1,"005_7up can_1","put bread on carpet",-0.151793,0.031452,0.885622,0.092035,-0.310643,-0.026505,-0.945689
11,1,209920,21,recep,0,"004_newspaper_1","put bread on carpet",-0.190516,-0.067673,0.869490,0.995440,0.000263,0.000854,-0.095382
11,1,209920,21,recep,1,"003_carpet_1","put bread on carpet",-0.084986,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000032
11,1,209920,21,gripper,0,"","put bread on carpet",-0.180548,0.022621,0.941772,0.081110,-0.755307,0.077455,0.645704
11,1,209920,22,obj,0,"003_bread_1","put bread on carpet",-0.190578,-0.042305,0.886547,0.464717,0.015320,-0.004397,0.885315
11,1,209920,22,obj,1,"005_7up can_1","put bread on carpet",-0.085182,-0.082607,0.885627,0.687222,0.161037,-0.168389,0.688068
11,1,209920,22,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
11,1,209920,22,recep,1,"003_carpet_1","put bread on carpet",-0.205013,-0.075783,0.870367,0.999980,0.000140,-0.001125,-0.006229
11,1,209920,22,gripper,0,"","put bread on carpet",-0.163176,-0.024918,0.981747,0.043325,-0.784946,0.014193,0.617885
11,1,209920,23,obj,0,"003_bread_1","put bread on carpet",-0.203323,-0.015736,0.984957,0.967220,0.058816,0.109078,0.221648
11,1,209920,23,obj,1,"005_7up can_1","put bread on carpet",-0.091728,-0.081486,0.885636,0.885291,0.104185,-0.264978,0.367685
11,1,209920,23,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,0.044998,0.869490,1.000000,0.000179,0.000874,0.000024
11,1,209920,23,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
11,1,209920,23,gripper,0,"","put bread on carpet",-0.199982,-0.015982,1.023588,-0.033095,-0.731972,-0.048741,0.678783
11,1,209920,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.214035,0.094650,0.883663,0.294802,0.016459,-0.000244,0.955417
11,1,209920,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.079735,-0.080502,0.885626,0.371114,0.213269,-0.093831,0.898881
11,1,209920,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114906,0.045088,0.870581,0.999958,-0.008939,0.000834,0.001874
11,1,209920,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205109,-0.045063,0.870448,1.000000,-0.000126,-0.000158,0.000170
11,1,209920,24,gripper,0,"","put 7up can on newspaper",-0.209869,0.091758,0.929935,0.081115,-0.752312,0.071779,0.649842
11,1,209920,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.288406,-0.115999,0.883544,0.665742,0.010569,-0.006975,0.746075
11,1,209920,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.238476,-0.077852,0.902089,-0.561478,-0.635530,0.387833,0.361151
11,1,209920,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
11,1,209920,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
11,1,209920,25,gripper,0,"","put 7up can on newspaper",-0.212612,-0.055928,0.989149,-0.145294,-0.739746,-0.097289,0.649769
11,1,209920,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.085117,0.074465,0.883544,0.709081,0.010122,-0.007600,0.705013
11,1,209920,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.200249,-0.018658,0.888596,0.737722,0.044292,-0.044483,0.672179
11,1,209920,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
11,1,209920,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234901,-0.045015,0.870460,1.000000,0.000019,-0.000160,0.000262
11,1,209920,26,gripper,0,"","put 7up can on newspaper",-0.171406,-0.021311,0.992443,-0.078200,-0.751469,-0.127137,0.642662
11,1,209920,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.204479,-0.075487,0.883544,0.383675,0.012263,-0.003134,0.923381
11,1,209920,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.230490,0.048553,0.885627,0.644903,0.170803,-0.158469,0.727883
11,1,209920,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
11,1,209920,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
11,1,209920,27,gripper,0,"","put 7up can on newspaper",-0.151425,-0.009454,1.004189,-0.117152,-0.731933,-0.141946,0.656049
11,1,209920,28,obj,0,"003_bread_1","put 7up can on carpet",-0.237996,0.058512,0.883544,0.868572,0.007785,-0.009981,0.495401
11,1,209920,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.210501,-0.080254,0.885627,0.898023,0.084453,-0.217150,0.373185
11,1,209920,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
11,1,209920,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,0.075005,0.870448,0.999999,-0.000923,-0.000845,0.000005
11,1,209920,28,gripper,0,"","put 7up can on carpet",-0.214783,0.061566,0.953329,0.010684,-0.752609,0.001680,0.658379
11,1,209920,29,obj,0,"003_bread_1","put 7up can on carpet",-0.115511,-0.044901,0.883544,0.999917,0.001789,-0.012535,-0.002484
11,1,209920,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.089735,0.074814,0.885675,0.984369,0.003074,-0.175412,0.015455
11,1,209920,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205004,0.045000,0.869489,1.000000,0.000180,0.000874,0.000002
11,1,209920,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235003,-0.074991,0.870461,1.000000,0.000019,-0.000158,-0.000025
11,1,209920,29,gripper,0,"","put 7up can on carpet",-0.104919,0.066891,0.939711,0.052789,-0.828917,-0.016400,0.556634
11,1,209920,30,obj,0,"003_bread_1","put 7up can on carpet",-0.115479,-0.045513,0.883544,0.924288,0.006466,-0.010878,0.381485
11,1,209920,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.185635,0.035250,0.885682,0.708773,0.126104,-0.131478,0.681507
11,1,209920,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
11,1,209920,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000020
11,1,209920,30,gripper,0,"","put 7up can on carpet",-0.197428,0.035771,0.933959,-0.019180,-0.754274,-0.019323,0.655996
11,1,209920,31,obj,0,"003_bread_1","put 7up can on carpet",-0.115479,0.044481,0.883544,0.924310,0.006463,-0.010879,0.381433
11,1,209920,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.208080,0.092968,0.890583,0.609106,-0.498496,0.514912,0.339643
11,1,209920,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
11,1,209920,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
11,1,209920,31,gripper,0,"","put 7up can on carpet",-0.184532,0.083978,0.943705,0.028105,-0.729472,-0.028324,0.682846
11,1,209920,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.235558,-0.074623,0.887461,0.723835,-0.016636,0.017844,0.689541
11,1,209920,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074995,0.878547,0.706686,0.007961,0.010867,0.707399
11,1,209920,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074914,0.871344,0.999999,-0.000157,0.001163,-0.000022
11,1,209920,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
11,1,209920,32,gripper,0,"","put carrot on sheet metal",-0.117355,-0.052373,1.008642,-0.032637,-0.777086,-0.021908,0.628166
11,1,209920,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087868,0.078744,0.887532,0.911740,-0.016263,0.034767,0.408971
11,1,209920,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
11,1,209920,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
11,1,209920,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
11,1,209920,33,gripper,0,"","put carrot on sheet metal",-0.023973,0.079235,0.993671,0.232460,-0.713910,0.191812,0.632063
11,1,209920,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117744,0.078543,0.887379,0.996424,0.000890,0.032649,0.077923
11,1,209920,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.075440,0.878547,0.999910,0.013273,0.002050,0.000284
11,1,209920,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
11,1,209920,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
11,1,209920,34,gripper,0,"","put carrot on sheet metal",-0.045832,0.060082,1.028369,0.090047,-0.735177,0.085193,0.666445
11,1,209920,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236097,0.076752,0.887301,0.997315,0.002794,0.021590,0.069918
11,1,209920,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204996,-0.075437,0.878547,0.999910,0.013273,0.002050,0.000312
11,1,209920,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
11,1,209920,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
11,1,209920,35,gripper,0,"","put carrot on sheet metal",-0.160516,0.062421,1.031127,-0.128597,-0.717614,-0.049111,0.682702
11,1,209920,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206369,-0.075562,0.887364,0.739504,-0.021462,0.030199,0.672132
11,1,209920,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084558,-0.074994,0.878547,0.706816,0.007962,0.010860,0.707269
11,1,209920,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
11,1,209920,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
11,1,209920,36,gripper,0,"","put carrot on flat bowl",-0.161459,-0.051980,0.969798,-0.026936,-0.729053,-0.008373,0.683876
11,1,209920,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.233919,0.045265,0.887528,0.999048,-0.000254,0.043219,0.005879
11,1,209920,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,-0.045434,0.878547,0.999910,0.013250,0.002054,0.000335
11,1,209920,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
11,1,209920,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
11,1,209920,37,gripper,0,"","put carrot on flat bowl",-0.090284,0.024196,1.040218,0.044855,-0.714179,-0.088949,0.692838
11,1,209920,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088146,0.074459,0.887552,0.744262,-0.022015,0.022300,0.667152
11,1,209920,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007967,0.010869,0.707323
11,1,209920,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
11,1,209920,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
11,1,209920,38,gripper,0,"","put carrot on flat bowl",-0.073502,0.106406,0.996816,0.124524,-0.779685,0.153908,0.594052
11,1,209920,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206734,-0.072131,0.887525,0.909114,-0.010612,0.027070,0.415531
11,1,209920,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114681,0.074692,0.878547,0.923622,0.011564,0.007022,0.383064
11,1,209920,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
11,1,209920,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,-0.000000,-0.000000
11,1,209920,39,gripper,0,"","put carrot on flat bowl",-0.168682,-0.061533,1.012473,-0.005747,-0.770510,-0.046696,0.635689
11,1,209920,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209496,-0.064640,0.887446,0.993870,-0.004320,0.030323,0.106227
11,1,209920,40,obj,1,"013_banana_1","put banana on sheet metal",-0.115013,0.074566,0.878547,0.999909,0.013298,0.002045,-0.000191
11,1,209920,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.045008,0.871344,0.999999,-0.000158,0.001163,0.000027
11,1,209920,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
11,1,209920,40,gripper,0,"","put banana on sheet metal",-0.064476,-0.001582,1.035109,-0.125679,-0.767726,-0.043407,0.626831
11,1,209920,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117962,-0.045839,0.887101,0.744808,-0.023193,0.010166,0.666798
11,1,209920,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
11,1,209920,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
11,1,209920,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
11,1,209920,41,gripper,0,"","put banana on sheet metal",-0.181431,-0.042733,0.978558,-0.020896,-0.708262,-0.018296,0.705403
11,1,209920,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117584,0.048592,0.887546,0.996482,-0.000665,0.031942,0.077476
11,1,209920,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.075434,0.878546,0.999910,0.013237,0.002048,-0.000197
11,1,209920,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
11,1,209920,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
11,1,209920,42,gripper,0,"","put banana on sheet metal",-0.111015,-0.033996,1.034807,-0.172066,-0.645154,-0.204189,0.715874
11,1,209920,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237886,-0.078104,0.887418,0.953186,-0.010530,0.027523,0.300944
11,1,209920,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204668,0.044695,0.878547,0.923860,0.011500,0.006978,0.382494
11,1,209920,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
11,1,209920,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
11,1,209920,43,gripper,0,"","put banana on sheet metal",-0.058215,0.089493,1.004169,-0.083886,-0.769353,-0.055451,0.630860
11,1,209920,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087634,-0.075468,0.887259,0.740854,-0.027246,0.019584,0.670828
11,1,209920,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084560,0.075008,0.878547,0.706780,0.007947,0.010851,0.707306
11,1,209920,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
11,1,209920,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000001,0.000000
11,1,209920,44,gripper,0,"","put banana on flat bowl",-0.056239,0.098660,0.976985,0.218994,-0.725707,0.194350,0.622590
11,1,209920,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239971,-0.072535,0.887186,0.997799,0.010120,0.025522,-0.060355
11,1,209920,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234995,0.074566,0.878547,0.999910,0.013278,0.002044,-0.000292
11,1,209920,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
11,1,209920,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
11,1,209920,45,gripper,0,"","put banana on flat bowl",-0.068913,0.021577,1.015117,-0.358913,-0.767102,-0.144988,0.511580
11,1,209920,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235401,-0.041311,0.887529,0.373250,-0.040093,0.016146,0.926723
11,1,209920,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
11,1,209920,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
11,1,209920,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
11,1,209920,46,gripper,0,"","put banana on flat bowl",-0.045631,-0.009621,0.988286,0.269299,-0.628086,0.351253,0.640006
11,1,209920,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207439,-0.040222,0.887484,0.995569,-0.001190,0.024055,0.090893
11,1,209920,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
11,1,209920,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
11,1,209920,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
11,1,209920,47,gripper,0,"","put banana on flat bowl",-0.147034,0.073666,1.011718,-0.211305,-0.782136,-0.160918,0.563665
11,1,209920,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205208,-0.073917,0.888112,0.925880,-0.027139,0.004685,0.376812
11,1,209920,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.103279,0.007458,0.984651,0.433662,-0.590599,0.460166,0.501375
11,1,209920,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000011
11,1,209920,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.093842,0.085922,0.870871,0.998595,0.000000,-0.000001,-0.052988
11,1,209920,48,gripper,0,"","put hamburger on frying pan",-0.092808,0.012342,1.028342,-0.065966,-0.752692,-0.056854,0.652588
11,1,209920,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.164543,-0.016235,0.889324,0.798135,-0.091774,-0.000370,0.595448
11,1,209920,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205921,0.104195,0.887026,0.496456,-0.514590,0.488756,0.499846
11,1,209920,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000003
11,1,209920,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114784,-0.079590,0.870871,0.999742,0.000000,-0.000001,0.022701
11,1,209920,49,gripper,0,"","put hamburger on frying pan",-0.154747,-0.007999,0.947921,-0.164860,-0.729095,-0.130944,0.651226
11,1,209920,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.189014,-0.072639,0.935212,0.777465,-0.019111,0.044952,0.627026
11,1,209920,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064766,-0.053261,0.887026,0.648908,-0.290848,0.647373,0.274287
11,1,209920,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
11,1,209920,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
11,1,209920,50,gripper,0,"","put hamburger on frying pan",-0.187401,-0.081501,0.976263,-0.020495,-0.719068,-0.125458,0.683214
11,1,209920,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205919,0.075607,0.888113,0.711117,-0.026868,-0.006060,0.702534
11,1,209920,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.116198,-0.049007,0.887027,0.481875,-0.528432,0.473757,0.513916
11,1,209920,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000012
11,1,209920,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000019
11,1,209920,51,gripper,0,"","put hamburger on frying pan",-0.111449,0.061296,0.999625,0.049266,-0.732917,0.090692,0.672444
11,1,209920,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205966,0.075645,0.888111,0.711539,-0.026875,-0.006043,0.702106
11,1,209920,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085823,-0.045639,0.887027,0.497189,-0.513871,0.489513,0.499116
11,1,209920,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
11,1,209920,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000004
11,1,209920,52,gripper,0,"","put hamburger on cutting board",-0.088071,-0.024937,0.972398,-0.131248,-0.739983,-0.070458,0.655922
11,1,209920,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.212042,-0.038784,0.992215,0.996663,0.021091,0.077246,0.015845
11,1,209920,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055590,0.075806,0.887027,0.704495,-0.016859,0.709508,0.001001
11,1,209920,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000001
11,1,209920,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
11,1,209920,53,gripper,0,"","put hamburger on cutting board",-0.211742,-0.040630,1.041178,0.088967,-0.720687,0.083767,0.682406
11,1,209920,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
11,1,209920,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226364,-0.054985,0.887026,0.266559,-0.662778,0.253792,0.652121
11,1,209920,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
11,1,209920,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
11,1,209920,54,gripper,0,"","put hamburger on cutting board",-0.119015,-0.092781,0.954414,-0.081442,-0.742437,-0.119546,0.654112
11,1,209920,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
11,1,209920,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.185555,0.097073,0.887026,0.648744,-0.291247,0.647186,0.274693
11,1,209920,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
11,1,209920,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000011
11,1,209920,55,gripper,0,"","put hamburger on cutting board",-0.164852,-0.031725,1.014429,0.062602,-0.704358,0.090762,0.701229
11,1,209920,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.083076,-0.046051,0.888112,0.818794,-0.027502,-0.001471,0.573427
11,1,209920,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065109,0.096382,0.887027,0.649532,-0.289371,0.648035,0.272806
11,1,209920,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000010
11,1,209920,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,-0.000000,0.000032
11,1,209920,56,gripper,0,"","put plastic bottle on frying pan",-0.015942,0.031902,0.986051,0.033524,-0.715857,-0.027529,0.696898
11,1,209920,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235237,-0.043919,0.888112,0.925543,-0.027126,0.004685,0.377641
11,1,209920,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.171322,0.032825,0.913331,0.724650,-0.140040,0.147640,0.658387
11,1,209920,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
11,1,209920,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.057198,0.059841,0.870870,0.990752,0.000001,0.000000,-0.135687
11,1,209920,57,gripper,0,"","put plastic bottle on frying pan",-0.162258,0.029455,0.948109,0.073936,-0.771335,-0.004042,0.632107
11,1,209920,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
11,1,209920,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235748,0.104263,0.887026,0.497362,-0.513701,0.489691,0.498944
11,1,209920,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
11,1,209920,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
11,1,209920,58,gripper,0,"","put plastic bottle on frying pan",-0.046305,0.046961,0.967028,0.072064,-0.792116,-0.032242,0.605243
11,1,209920,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
11,1,209920,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.269686,-0.017441,0.887026,0.401050,-0.592365,0.390885,0.579199
11,1,209920,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.196449,0.056778,0.872199,0.998316,0.000000,-0.000001,-0.058017
11,1,209920,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084982,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000017
11,1,209920,59,gripper,0,"","put plastic bottle on frying pan",-0.216028,-0.000221,0.986435,0.109595,-0.747078,0.060546,0.652838
11,1,209920,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235471,0.076088,0.888111,0.932325,-0.027056,0.005155,0.360573
11,1,209920,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.179075,-0.060757,0.887467,0.641931,-0.314779,0.636403,0.289533
11,1,209920,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
11,1,209920,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.074483,-0.076202,0.870870,0.999660,0.000000,-0.000000,0.026070
11,1,209920,60,gripper,0,"","put plastic bottle on cutting board",-0.170916,-0.035545,0.985391,0.002574,-0.755281,-0.061941,0.652462
11,1,209920,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205965,-0.044403,0.888112,0.712835,-0.026880,-0.005995,0.700791
11,1,209920,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.227612,0.090923,0.887026,0.448460,-0.557295,0.439441,0.543321
11,1,209920,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000010
11,1,209920,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
11,1,209920,61,gripper,0,"","put plastic bottle on cutting board",-0.181243,0.101292,0.976401,-0.243775,-0.694097,-0.258803,0.625959
11,1,209920,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
11,1,209920,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209396,0.082993,0.897066,0.908698,-0.202679,0.359867,0.060696
11,1,209920,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
11,1,209920,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114857,0.045010,0.870871,1.000000,0.000000,-0.000000,-0.000169
11,1,209920,62,gripper,0,"","put plastic bottle on cutting board",-0.235029,0.105877,0.934945,0.119131,-0.723428,0.060806,0.677320
11,1,209920,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235226,0.046124,0.888112,0.925709,-0.027143,0.004674,0.377233
11,1,209920,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055492,-0.026695,0.887067,0.564090,-0.438208,0.526148,0.461459
11,1,209920,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
11,1,209920,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.117847,0.068985,0.870870,0.999998,-0.000000,-0.000000,-0.001982
11,1,209920,63,gripper,0,"","put plastic bottle on cutting board",-0.032318,-0.032667,0.937390,0.016376,-0.781509,-0.014184,0.623518
11,2,215040,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.141678,-0.046532,0.883278,-0.474057,0.399044,-0.516666,-0.590838
11,2,215040,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085724,-0.045593,0.881638,0.923126,0.010866,-0.037839,0.382477
11,2,215040,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115036,0.075203,0.869532,0.999986,0.000000,-0.000001,0.005234
11,2,215040,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205017,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000103
11,2,215040,0,gripper,0,"","put ketchup bottle on cloth",-0.169563,-0.029602,1.033152,0.057028,-0.816925,-0.040458,0.572490
11,2,215040,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091888,-0.081955,0.879089,0.818598,0.176032,-0.428307,0.339800
11,2,215040,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.228409,0.047577,0.881655,0.887851,-0.018499,0.026093,0.459019
11,2,215040,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.202816,-0.076500,0.869532,0.999986,0.000001,-0.000001,0.005189
11,2,215040,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000085
11,2,215040,1,gripper,0,"","put ketchup bottle on cloth",-0.143444,-0.107151,0.916085,0.084385,-0.790250,0.055710,0.604385
11,2,215040,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.227455,-0.066864,0.885112,0.058698,-0.804308,0.585921,0.079620
11,2,215040,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
11,2,215040,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235004,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000159
11,2,215040,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.204399,0.075554,0.871261,0.999988,-0.001435,-0.002093,0.004116
11,2,215040,2,gripper,0,"","put ketchup bottle on cloth",-0.186264,-0.012680,1.007970,-0.020086,-0.771186,-0.101443,0.628154
11,2,215040,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.204260,-0.020401,0.885373,0.746008,-0.170996,0.219869,0.604888
11,2,215040,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082552,0.083763,0.883937,0.725311,-0.005179,0.054819,0.686216
11,2,215040,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235004,-0.045006,0.869532,1.000000,0.000000,-0.000001,0.000024
11,2,215040,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075012,0.871262,0.999997,-0.001424,-0.002073,-0.000027
11,2,215040,3,gripper,0,"","put ketchup bottle on cloth",-0.107087,0.072655,0.990993,0.003436,-0.783912,-0.022335,0.620461
11,2,215040,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.112124,-0.043800,0.885083,0.584818,0.346485,-0.306285,0.666428
11,2,215040,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231285,-0.075706,0.881641,0.716898,-0.031017,0.025560,0.696018
11,2,215040,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115000,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
11,2,215040,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234997,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000158
11,2,215040,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.187831,-0.009811,1.003003,-0.103633,-0.728154,-0.187467,0.651083
11,2,215040,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.030535,0.170624,0.879372,-0.719739,0.179924,-0.212244,-0.636047
11,2,215040,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084414,-0.075745,0.881638,0.382354,0.034409,-0.019064,0.923178
11,2,215040,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085043,0.075020,0.869532,1.000000,0.000000,-0.000001,0.000820
11,2,215040,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.223511,-0.100357,0.871288,0.997916,-0.000089,-0.001027,0.064518
11,2,215040,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.246681,-0.064369,0.936925,-0.109932,-0.724683,-0.059053,0.677689
11,2,215040,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.049698,0.090996,0.885121,0.473635,0.513329,-0.578960,0.420677
11,2,215040,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205441,-0.076035,0.881638,0.923514,0.010816,-0.037826,0.381541
11,2,215040,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075005,0.869532,1.000000,-0.000002,-0.000000,0.000004
11,2,215040,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234062,0.043777,0.871288,0.999930,-0.000141,-0.001021,0.011815
11,2,215040,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.193611,0.020031,0.975612,-0.003555,-0.722280,-0.025073,0.691137
11,2,215040,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.224957,-0.033714,0.885209,-0.167412,-0.765299,0.580399,-0.222324
11,2,215040,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.081188,-0.078743,0.883263,0.724114,-0.008297,0.043042,0.688286
11,2,215040,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205006,-0.075005,0.869532,1.000000,0.000001,-0.000003,0.000481
11,2,215040,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234890,0.074951,0.871211,0.999982,-0.003901,-0.004135,0.001745
11,2,215040,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.181501,-0.063713,0.965686,-0.094392,-0.728365,-0.129811,0.666126
11,2,215040,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078033,0.068123,0.879089,0.338380,0.427381,-0.178295,0.819179
11,2,215040,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.251320,0.008926,0.882869,0.940808,0.030397,-0.031702,0.336082
11,2,215040,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114998,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000032
11,2,215040,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.237991,0.079708,0.871210,0.999632,-0.004017,-0.004023,-0.026518
11,2,215040,8,gripper,0,"","put kitchen shovel on cloth",-0.230492,-0.021540,0.930743,0.054472,-0.753683,0.123630,0.643204
11,2,215040,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.051895,0.111710,0.886370,-0.614174,0.433951,0.321389,0.575488
11,2,215040,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.088814,-0.073288,0.881638,0.894595,0.013445,-0.036997,0.445141
11,2,215040,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075012,0.869532,1.000000,0.000001,-0.000001,0.000086
11,2,215040,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000073
11,2,215040,9,gripper,0,"","put kitchen shovel on cloth",-0.065193,-0.031376,1.002690,0.042270,-0.711700,-0.078164,0.696840
11,2,215040,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.185238,-0.053051,0.887846,0.429691,0.575806,-0.509583,0.473432
11,2,215040,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.074413,-0.060013,0.881641,0.906865,-0.020798,0.034368,0.419502
11,2,215040,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000023
11,2,215040,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000015
11,2,215040,10,gripper,0,"","put kitchen shovel on cloth",-0.027180,-0.002110,0.974611,-0.000090,-0.716036,-0.044650,0.696634
11,2,215040,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.181746,0.057831,0.885083,0.610107,0.334365,-0.319381,0.643401
11,2,215040,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084408,0.074249,0.881638,0.382470,0.034407,-0.019068,0.923130
11,2,215040,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204586,0.069248,0.869532,0.999363,-0.000000,-0.000001,-0.035682
11,2,215040,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000067
11,2,215040,11,gripper,0,"","put kitchen shovel on cloth",-0.186399,0.050402,0.946169,-0.051819,-0.783571,-0.079518,0.614010
11,2,215040,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.214217,-0.125790,0.879375,0.918492,0.038587,-0.079312,0.385478
11,2,215040,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.241059,0.063728,0.881638,0.900918,0.012913,-0.037185,0.432200
11,2,215040,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115000,-0.044998,0.869532,1.000000,-0.000001,0.000000,-0.000000
11,2,215040,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
11,2,215040,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.107805,-0.051508,1.006951,-0.197862,-0.745397,-0.136937,0.621677
11,2,215040,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094755,0.075005,0.879089,0.886314,-0.001298,-0.463082,0.000618
11,2,215040,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.147947,-0.049610,0.886995,0.860891,0.034585,-0.024668,-0.507013
11,2,215040,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204420,0.080585,0.869532,0.998450,-0.000001,-0.000001,0.055650
11,2,215040,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.110468,-0.044598,0.871288,0.999958,-0.000144,-0.001020,0.009076
11,2,215040,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.111495,-0.018524,0.982617,0.138043,-0.756611,0.033429,0.638253
11,2,215040,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072906,-0.046764,0.887849,0.494385,0.386660,-0.250157,0.737223
11,2,215040,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.131607,0.030880,0.887274,0.795976,-0.029694,0.015320,0.604405
11,2,215040,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114990,0.045010,0.869532,1.000000,-0.000004,0.000002,-0.000002
11,2,215040,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000158,-0.001019,0.000067
11,2,215040,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.178959,0.001228,0.993154,0.105298,-0.801658,0.121935,0.575664
11,2,215040,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094913,0.075489,0.879144,0.877067,-0.000562,-0.480361,0.002429
11,2,215040,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.195454,-0.055771,0.881638,0.933868,-0.018064,-0.034958,-0.355447
11,2,215040,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
11,2,215040,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000193
11,2,215040,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.105478,0.086460,0.932226,0.130787,-0.724420,0.076945,0.672450
11,2,215040,16,obj,0,"003_bread_1","put bread on carpet",-0.222618,0.059032,0.883544,0.999001,0.001289,-0.012597,-0.042854
11,2,215040,16,obj,1,"005_7up can_1","put bread on carpet",-0.133995,-0.034039,0.885946,0.462870,0.227665,0.848099,-0.121030
11,2,215040,16,recep,0,"004_newspaper_1","put bread on carpet",-0.079323,-0.071316,0.869490,0.998809,0.000222,0.000865,-0.048787
11,2,215040,16,recep,1,"003_carpet_1","put bread on carpet",-0.114998,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
11,2,215040,16,gripper,0,"","put bread on carpet",-0.165936,-0.059490,0.973248,-0.082850,-0.775626,-0.050307,0.623706
11,2,215040,17,obj,0,"003_bread_1","put bread on carpet",-0.232590,0.083893,0.883544,0.228190,0.012606,-0.001090,0.973534
11,2,215040,17,obj,1,"005_7up can_1","put bread on carpet",-0.183590,-0.031338,0.888899,0.225123,0.737577,-0.571290,0.280941
11,2,215040,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
11,2,215040,17,recep,1,"003_carpet_1","put bread on carpet",-0.205006,-0.045002,0.870448,1.000000,-0.000388,-0.000384,-0.000036
11,2,215040,17,gripper,0,"","put bread on carpet",-0.142065,-0.004885,1.044232,0.058447,-0.707482,0.055423,0.702126
11,2,215040,18,obj,0,"003_bread_1","put bread on carpet",-0.081642,0.083275,0.883544,0.933484,0.006190,-0.011038,0.358395
11,2,215040,18,obj,1,"005_7up can_1","put bread on carpet",-0.199131,-0.037628,0.935035,-0.292781,0.639542,0.685900,0.186564
11,2,215040,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205418,0.075291,0.869490,0.999994,0.000183,0.000873,-0.003519
11,2,215040,18,recep,1,"003_carpet_1","put bread on carpet",-0.115025,-0.075012,0.870447,0.999999,-0.000923,-0.000846,-0.000090
11,2,215040,18,gripper,0,"","put bread on carpet",-0.199797,-0.038427,0.975298,-0.030500,-0.728251,-0.049042,0.682873
11,2,215040,19,obj,0,"003_bread_1","put bread on carpet",-0.081572,0.088947,0.883544,0.939056,0.006015,-0.011139,0.343531
11,2,215040,19,obj,1,"005_7up can_1","put bread on carpet",0.086922,0.005302,0.030339,-0.359840,0.359835,0.608700,-0.608703
11,2,215040,19,recep,0,"004_newspaper_1","put bread on carpet",-0.085024,-0.075008,0.869490,1.000000,0.000180,0.000874,-0.000030
11,2,215040,19,recep,1,"003_carpet_1","put bread on carpet",-0.204988,0.074993,0.870452,0.999998,0.001568,0.001265,0.000030
11,2,215040,19,gripper,0,"","put bread on carpet",-0.079502,0.077677,0.946405,-0.014230,-0.777289,0.009367,0.628913
11,2,215040,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.111390,0.085678,0.889344,0.283134,0.033952,0.010390,0.958423
11,2,215040,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.231201,0.041733,0.885627,0.367636,0.213640,-0.093010,0.900306
11,2,215040,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
11,2,215040,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000924,-0.000845,-0.000000
11,2,215040,20,gripper,0,"","put 7up can on newspaper",-0.121053,0.080479,0.931215,-0.020935,-0.797454,-0.084390,0.597083
11,2,215040,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.094103,0.053860,0.883545,0.519445,0.011655,-0.004959,0.854410
11,2,215040,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132185,0.059395,0.885651,-0.048999,-0.288846,0.019734,-0.955917
11,2,215040,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.190517,-0.067669,0.869490,0.995451,0.000262,0.000854,-0.095275
11,2,215040,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084974,-0.074997,0.870447,0.999999,-0.000923,-0.000845,-0.000071
11,2,215040,21,gripper,0,"","put 7up can on newspaper",-0.168988,0.070671,0.914013,-0.050814,-0.757396,-0.057217,0.648457
11,2,215040,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.185707,-0.043957,0.886543,0.445671,0.012370,-0.002167,0.895109
11,2,215040,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.082256,-0.088192,0.885636,0.648482,0.205979,-0.196561,0.705980
11,2,215040,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
11,2,215040,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205013,-0.075783,0.870448,0.999979,-0.000600,-0.000559,-0.006389
11,2,215040,22,gripper,0,"","put 7up can on newspaper",-0.076454,-0.104443,0.952602,-0.236693,-0.750610,-0.149348,0.598545
11,2,215040,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.175007,-0.007782,0.885221,0.973183,0.041029,0.022400,-0.225232
11,2,215040,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.091728,-0.081486,0.885636,0.885277,0.104194,-0.264968,0.367724
11,2,215040,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.199577,0.047848,0.869489,0.999028,0.000485,0.001448,0.044060
11,2,215040,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
11,2,215040,23,gripper,0,"","put 7up can on newspaper",-0.161585,-0.000484,0.952984,-0.070706,-0.744768,-0.063988,0.660475
11,2,215040,24,obj,0,"003_bread_1","put 7up can on carpet",-0.213455,0.094893,0.883544,0.292596,0.012508,-0.001924,0.956152
11,2,215040,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.109863,-0.133488,0.885907,-0.251098,-0.741375,0.473354,-0.404041
11,2,215040,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114700,0.045307,0.870450,0.999951,-0.007851,0.000807,0.006036
11,2,215040,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.205124,-0.045080,0.870448,1.000000,-0.000349,-0.000351,0.000232
11,2,215040,24,gripper,0,"","put 7up can on carpet",-0.134499,-0.110322,0.950481,-0.237318,-0.764384,-0.149832,0.580473
11,2,215040,25,obj,0,"003_bread_1","put 7up can on carpet",-0.288410,-0.115999,0.883544,0.665419,0.010572,-0.006971,0.746363
11,2,215040,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.044807,0.044031,0.888381,-0.532479,-0.323639,-0.243766,0.743171
11,2,215040,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
11,2,215040,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075022,0.870461,1.000000,0.000019,-0.000158,0.000021
11,2,215040,25,gripper,0,"","put 7up can on carpet",-0.098246,0.017130,1.025055,-0.011174,-0.808456,-0.008543,0.588388
11,2,215040,26,obj,0,"003_bread_1","put 7up can on carpet",-0.085117,0.074465,0.883544,0.708956,0.010121,-0.007593,0.705139
11,2,215040,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.201046,-0.019352,0.888599,0.714462,0.046148,-0.043031,0.696823
11,2,215040,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
11,2,215040,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.234901,-0.045013,0.870460,1.000000,0.000019,-0.000160,0.000357
11,2,215040,26,gripper,0,"","put 7up can on carpet",-0.143774,0.038773,1.119424,-0.019948,-0.823838,0.048504,0.564394
11,2,215040,27,obj,0,"003_bread_1","put 7up can on carpet",-0.204479,-0.075487,0.883544,0.383624,0.012263,-0.003134,0.923403
11,2,215040,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.177729,0.079659,0.885871,0.433175,-0.553260,0.590054,0.397617
11,2,215040,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
11,2,215040,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
11,2,215040,27,gripper,0,"","put 7up can on carpet",-0.185284,0.073264,0.953236,0.051591,-0.726010,-0.010435,0.685667
11,2,215040,28,obj,0,"003_bread_1","put bread on newspaper",-0.180707,0.035458,0.883544,0.875042,0.007664,-0.010081,0.483882
11,2,215040,28,obj,1,"005_7up can_1","put bread on newspaper",-0.210502,-0.080254,0.885627,0.898021,0.084459,-0.217162,0.373184
11,2,215040,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
11,2,215040,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000005
11,2,215040,28,gripper,0,"","put bread on newspaper",-0.195583,0.032428,0.973228,-0.001181,-0.755763,0.012477,0.654725
11,2,215040,29,obj,0,"003_bread_1","put bread on newspaper",-0.112717,-0.010992,0.883544,0.977725,0.004403,-0.011871,0.209508
11,2,215040,29,obj,1,"005_7up can_1","put bread on newspaper",-0.087589,0.074785,0.885633,0.993953,0.004617,-0.108372,0.017071
11,2,215040,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,0.045000,0.869489,1.000000,0.000180,0.000874,0.000017
11,2,215040,29,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,-0.074982,0.870461,1.000000,0.000019,-0.000158,-0.000047
11,2,215040,29,gripper,0,"","put bread on newspaper",-0.101975,-0.005242,0.959811,0.150823,-0.723810,0.143877,0.657762
11,2,215040,30,obj,0,"003_bread_1","put bread on newspaper",-0.115479,-0.045513,0.883544,0.924324,0.006466,-0.010885,0.381398
11,2,215040,30,obj,1,"005_7up can_1","put bread on newspaper",-0.205696,-0.052534,0.888635,0.750969,0.042429,-0.043602,0.657529
11,2,215040,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
11,2,215040,30,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,-0.074986,0.870461,1.000000,0.000019,-0.000160,0.000023
11,2,215040,30,gripper,0,"","put bread on newspaper",-0.096264,-0.044415,0.988595,-0.049778,-0.722376,-0.059650,0.687123
11,2,215040,31,obj,0,"003_bread_1","put bread on newspaper",-0.115479,0.044481,0.883544,0.924364,0.006463,-0.010886,0.381301
11,2,215040,31,obj,1,"005_7up can_1","put bread on newspaper",-0.164074,-0.096853,0.886945,0.616822,-0.109613,0.103920,0.772474
11,2,215040,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204281,-0.074896,0.869489,0.999997,0.000552,0.001425,-0.001935
11,2,215040,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074966,0.870447,0.999999,-0.000923,-0.000844,-0.000005
11,2,215040,31,gripper,0,"","put bread on newspaper",-0.167879,-0.015274,1.016091,-0.048329,-0.752090,0.015265,0.657108
11,2,215040,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235931,-0.075875,0.887369,0.722977,-0.018418,0.024293,0.690199
11,2,215040,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074995,0.878547,0.706697,0.007937,0.010838,0.707389
11,2,215040,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074914,0.871344,0.999999,-0.000158,0.001163,-0.000022
11,2,215040,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
11,2,215040,32,gripper,0,"","put carrot on flat bowl",-0.177052,-0.062266,0.977645,-0.163098,-0.623151,-0.138048,0.752346
11,2,215040,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091606,0.080555,0.887273,0.918305,-0.015410,0.021428,0.394994
11,2,215040,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
11,2,215040,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
11,2,215040,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
11,2,215040,33,gripper,0,"","put carrot on flat bowl",-0.041826,-0.045234,1.021388,-0.102610,-0.675391,-0.086898,0.725098
11,2,215040,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118454,0.080340,0.887218,0.996833,0.005961,0.031739,0.072670
11,2,215040,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013280,0.002051,0.000284
11,2,215040,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
11,2,215040,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
11,2,215040,34,gripper,0,"","put carrot on flat bowl",-0.053314,0.046551,1.024383,-0.165914,-0.670979,-0.176767,0.700723
11,2,215040,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236155,0.077343,0.887437,0.996670,-0.000354,0.039699,0.071224
11,2,215040,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204996,-0.075437,0.878547,0.999910,0.013272,0.002050,0.000312
11,2,215040,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
11,2,215040,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
11,2,215040,35,gripper,0,"","put carrot on flat bowl",-0.167959,0.100740,1.001900,-0.104521,-0.757527,-0.065754,0.641018
11,2,215040,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210047,-0.076771,0.887376,0.750534,-0.022841,0.021080,0.660101
11,2,215040,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084558,-0.074994,0.878547,0.706815,0.007965,0.010865,0.707270
11,2,215040,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
11,2,215040,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
11,2,215040,36,gripper,0,"","put banana on sheet metal",-0.014829,0.032308,1.002515,0.223977,-0.645347,0.306520,0.662877
11,2,215040,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.233919,0.045266,0.887528,0.999048,-0.000255,0.043221,0.005879
11,2,215040,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.045435,0.878547,0.999910,0.013287,0.002057,0.000335
11,2,215040,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
11,2,215040,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
11,2,215040,37,gripper,0,"","put banana on sheet metal",-0.041283,-0.001182,0.983826,0.109621,-0.731636,0.066028,0.669577
11,2,215040,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092281,0.073701,0.887491,0.753248,-0.021251,0.024469,0.656937
11,2,215040,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007966,0.010868,0.707323
11,2,215040,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
11,2,215040,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
11,2,215040,38,gripper,0,"","put banana on sheet metal",-0.044476,0.003194,1.012207,-0.388235,-0.609815,-0.450992,0.523455
11,2,215040,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208805,-0.070592,0.887631,0.912180,-0.018526,0.041493,0.407261
11,2,215040,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114681,0.074692,0.878547,0.923623,0.011559,0.007019,0.383064
11,2,215040,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
11,2,215040,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
11,2,215040,39,gripper,0,"","put banana on sheet metal",-0.077787,0.049269,1.019273,-0.087524,-0.715181,-0.144123,0.678295
11,2,215040,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211784,-0.062584,0.887560,0.994574,-0.001286,0.031995,0.098977
11,2,215040,40,obj,1,"013_banana_1","put banana on flat bowl",-0.115005,0.074562,0.878547,0.999909,0.013303,0.002040,-0.000606
11,2,215040,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.045015,0.871344,0.999999,-0.000157,0.001163,0.000037
11,2,215040,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
11,2,215040,40,gripper,0,"","put banana on flat bowl",-0.036697,0.069355,1.038976,-0.124002,-0.729280,-0.242520,0.627661
11,2,215040,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.121113,-0.046083,0.887245,0.751823,-0.026843,0.019414,0.658532
11,2,215040,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
11,2,215040,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
11,2,215040,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
11,2,215040,41,gripper,0,"","put banana on flat bowl",-0.188786,-0.035659,0.975150,0.121273,-0.707812,0.148976,0.679781
11,2,215040,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118423,0.050182,0.887511,0.997086,-0.003387,0.026669,0.071395
11,2,215040,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075436,0.878547,0.999910,0.013264,0.002045,-0.000548
11,2,215040,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
11,2,215040,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
11,2,215040,42,gripper,0,"","put banana on flat bowl",-0.129358,0.008883,1.041351,-0.073726,-0.713909,-0.095610,0.689752
11,2,215040,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.241655,-0.074556,0.887665,0.948500,-0.014485,0.043839,0.313393
11,2,215040,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204664,0.044695,0.878547,0.924069,0.011481,0.006961,0.381989
11,2,215040,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
11,2,215040,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
11,2,215040,43,gripper,0,"","put banana on flat bowl",-0.159847,0.057109,1.022899,-0.088361,-0.715880,-0.106105,0.684434
11,2,215040,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090099,-0.076702,0.887550,0.752711,-0.018431,0.024290,0.657644
11,2,215040,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084560,0.075008,0.878547,0.706779,0.007954,0.010858,0.707306
11,2,215040,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
11,2,215040,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874362,1.000000,0.000000,-0.000000,-0.000000
11,2,215040,44,gripper,0,"","put carrot on sheet metal",-0.047747,-0.020648,0.985609,0.089030,-0.707049,0.162703,0.682410
11,2,215040,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245499,-0.065657,0.887135,0.998686,0.011273,0.025791,-0.042822
11,2,215040,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234993,0.074564,0.878547,0.999910,0.013278,0.002039,-0.000609
11,2,215040,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
11,2,215040,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
11,2,215040,45,gripper,0,"","put carrot on sheet metal",-0.063864,0.005798,1.031834,0.067519,-0.690713,0.067954,0.716756
11,2,215040,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.235401,-0.041311,0.887529,0.373227,-0.040096,0.016147,0.926733
11,2,215040,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
11,2,215040,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
11,2,215040,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
11,2,215040,46,gripper,0,"","put carrot on sheet metal",-0.172714,-0.060126,0.991963,0.016407,-0.711032,0.044218,0.701576
11,2,215040,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207798,-0.038111,0.887558,0.995542,-0.005028,0.033251,0.088118
11,2,215040,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
11,2,215040,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
11,2,215040,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
11,2,215040,47,gripper,0,"","put carrot on sheet metal",-0.050859,0.081442,1.039203,0.151759,-0.768348,0.163839,0.599806
11,2,215040,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.074829,0.131569,0.896521,0.869495,-0.482848,-0.084954,0.060162
11,2,215040,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.091049,0.041084,0.892389,0.022452,-0.780200,0.624310,0.031943
11,2,215040,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085190,-0.044483,0.872199,0.999999,-0.000000,-0.000001,0.000979
11,2,215040,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.093788,0.085995,0.870890,0.998600,0.000834,0.000707,-0.052878
11,2,215040,48,gripper,0,"","put hamburger on cutting board",-0.073853,0.103308,1.144447,0.163129,-0.750771,0.177981,0.614862
11,2,215040,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.008930,-0.063118,0.891718,-0.117560,0.737511,0.452514,-0.487328
11,2,215040,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205921,0.104195,0.887026,0.496247,-0.514794,0.488541,0.500054
11,2,215040,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000003
11,2,215040,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114830,-0.079556,0.870870,0.999739,-0.000000,-0.000001,0.022848
11,2,215040,49,gripper,0,"","put hamburger on cutting board",-0.020775,-0.080044,0.951828,-0.130811,-0.755079,-0.148597,0.625031
11,2,215040,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.231319,-0.002087,0.890528,-0.085141,-0.384269,-0.918195,0.044801
11,2,215040,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065269,-0.053253,0.887026,0.647500,-0.294156,0.645871,0.277609
11,2,215040,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114822,0.044880,0.872199,0.999994,-0.000000,-0.000001,-0.003440
11,2,215040,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000041
11,2,215040,50,gripper,0,"","put hamburger on cutting board",-0.065788,-0.008713,1.026246,-0.042247,-0.798335,-0.005813,0.600702
11,2,215040,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205919,0.075607,0.888113,0.711274,-0.026871,-0.006058,0.702375
11,2,215040,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.084373,-0.025414,0.887026,0.511855,-0.499042,0.504623,0.484063
11,2,215040,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000019
11,2,215040,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234983,-0.045002,0.870862,1.000000,0.000073,-0.000000,0.000035
11,2,215040,51,gripper,0,"","put hamburger on cutting board",-0.069407,-0.004513,1.032906,0.004650,-0.785739,0.000542,0.618541
11,2,215040,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205966,0.075645,0.888111,0.711539,-0.026876,-0.006043,0.702106
11,2,215040,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.083752,-0.048893,0.887026,0.486559,-0.524074,0.478573,0.509484
11,2,215040,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
11,2,215040,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000004
11,2,215040,52,gripper,0,"","put plastic bottle on frying pan",-0.087121,-0.037922,0.986111,0.092767,-0.723560,0.043359,0.682624
11,2,215040,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.277086,-0.072754,0.891850,0.085573,0.510601,-0.655625,-0.549654
11,2,215040,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055590,0.075806,0.887027,0.704495,-0.016806,0.709509,0.000949
11,2,215040,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000001
11,2,215040,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
11,2,215040,53,gripper,0,"","put plastic bottle on frying pan",-0.063401,-0.086143,0.949365,-0.069602,-0.766063,-0.155590,0.619754
11,2,215040,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086124,0.074833,0.888112,0.388121,-0.022500,-0.015881,0.921197
11,2,215040,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.230705,-0.051647,0.887982,0.226299,-0.707807,0.243659,0.623241
11,2,215040,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
11,2,215040,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
11,2,215040,54,gripper,0,"","put plastic bottle on frying pan",-0.220156,-0.041222,0.946837,-0.088372,-0.718517,-0.089311,0.684067
11,2,215040,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.111443,0.051876,0.888113,0.895964,-0.027408,0.002694,0.443272
11,2,215040,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.188766,0.095219,0.887445,0.687279,-0.276430,0.592936,0.315692
11,2,215040,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
11,2,215040,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000001,-0.000024
11,2,215040,55,gripper,0,"","put plastic bottle on frying pan",-0.192793,0.097515,0.943098,0.040131,-0.767334,0.023238,0.639568
11,2,215040,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084160,-0.046471,0.888112,0.816795,-0.027496,-0.001566,0.576271
11,2,215040,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.077316,0.080353,0.970370,0.537594,-0.433445,0.579177,0.433211
11,2,215040,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000019
11,2,215040,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204987,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000046
11,2,215040,56,gripper,0,"","put plastic bottle on cutting board",-0.050869,0.074207,0.996576,0.100869,-0.727372,0.090613,0.672714
11,2,215040,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235241,-0.043919,0.888112,0.924684,-0.027133,0.004628,0.379740
11,2,215040,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.100227,0.088726,0.892705,0.272229,-0.715762,0.551378,0.330996
11,2,215040,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000004
11,2,215040,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.051708,0.061337,0.870871,0.990374,0.000000,-0.000006,-0.138417
11,2,215040,57,gripper,0,"","put plastic bottle on cutting board",-0.119190,0.065912,1.028355,-0.012733,-0.746879,-0.046465,0.663212
11,2,215040,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085938,-0.074406,0.888112,0.712657,-0.026879,-0.006002,0.700972
11,2,215040,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235794,0.104408,0.887026,0.496878,-0.514176,0.489192,0.499425
11,2,215040,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
11,2,215040,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
11,2,215040,58,gripper,0,"","put plastic bottle on cutting board",-0.032789,0.090544,0.974956,0.036617,-0.846118,-0.053759,0.529011
11,2,215040,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388422,-0.022507,-0.015874,0.921070
11,2,215040,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.269690,-0.017441,0.887026,0.400967,-0.592420,0.390800,0.579258
11,2,215040,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.196449,0.056778,0.872199,0.998316,0.000000,-0.000001,-0.058002
11,2,215040,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084982,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000007
11,2,215040,59,gripper,0,"","put plastic bottle on cutting board",-0.209020,0.004189,0.975035,0.050197,-0.643797,-0.055588,0.761522
11,2,215040,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235472,0.076088,0.888112,0.932340,-0.027054,0.005157,0.360532
11,2,215040,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.180535,-0.067268,0.887382,0.627372,-0.343278,0.621433,0.319978
11,2,215040,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
11,2,215040,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.073560,-0.077427,0.870870,0.999386,0.000000,-0.000000,0.035052
11,2,215040,60,gripper,0,"","put hamburger on frying pan",-0.155931,-0.040737,0.971273,0.063726,-0.735143,0.052720,0.672847
11,2,215040,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205915,-0.036583,0.888112,0.742796,-0.027115,-0.004813,0.668952
11,2,215040,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.227612,0.090923,0.887026,0.448488,-0.557273,0.439471,0.543296
11,2,215040,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000008
11,2,215040,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
11,2,215040,61,gripper,0,"","put hamburger on frying pan",-0.178087,-0.031229,0.992943,0.028955,-0.710653,-0.049556,0.701198
11,2,215040,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.252350,-0.076321,0.898623,0.517848,0.112171,-0.801331,-0.277703
11,2,215040,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.208332,0.076359,0.888264,0.915377,-0.068352,0.381157,0.110143
11,2,215040,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000634
11,2,215040,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114857,0.045013,0.870871,1.000000,0.000000,-0.000000,-0.000176
11,2,215040,62,gripper,0,"","put hamburger on frying pan",-0.163792,-0.053423,1.089435,-0.012293,-0.709024,-0.052016,0.703156
11,2,215040,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235226,0.046124,0.888112,0.925196,-0.027150,0.004636,0.378489
11,2,215040,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.141678,-0.001762,0.885754,-0.580711,-0.416140,0.553832,-0.427635
11,2,215040,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205082,-0.074867,0.872199,0.999999,-0.000001,-0.000001,-0.001244
11,2,215040,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.117718,0.069290,0.870870,0.999994,0.000000,0.000003,-0.003400
11,2,215040,63,gripper,0,"","put hamburger on frying pan",-0.116386,-0.030279,0.990777,0.067423,-0.759157,0.070315,0.643576
11,3,220160,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.073570,0.101692,0.885113,-0.073820,0.665721,-0.739621,-0.065785
11,3,220160,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085716,-0.045593,0.881638,0.923089,0.010868,-0.037836,0.382567
11,3,220160,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115044,0.075203,0.869532,0.999986,0.000000,-0.000001,0.005227
11,3,220160,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.183182,-0.078384,0.871288,0.996599,-0.000237,-0.001003,-0.082402
11,3,220160,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.118195,0.048531,1.019935,0.082245,-0.693402,0.056242,0.713629
11,3,220160,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091896,-0.081955,0.879089,0.818605,0.176023,-0.428314,0.339777
11,3,220160,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.228413,0.047569,0.881654,0.887972,-0.018520,0.026152,0.458780
11,3,220160,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.202816,-0.076500,0.869532,0.999986,0.000001,-0.000001,0.005206
11,3,220160,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000085
11,3,220160,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.168177,0.030476,0.987089,-0.012600,-0.729073,-0.180375,0.660120
11,3,220160,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.227455,-0.066864,0.885112,0.058705,-0.804313,0.585912,0.079632
11,3,220160,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
11,3,220160,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000145
11,3,220160,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204403,0.075554,0.871261,0.999988,-0.001434,-0.002093,0.004074
11,3,220160,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.101603,-0.019108,0.983747,0.018627,-0.743943,0.020576,0.667666
11,3,220160,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204260,-0.020401,0.885373,0.746010,-0.170997,0.219869,0.604886
11,3,220160,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.080833,0.084724,0.883934,0.711846,0.044177,0.002926,0.700939
11,3,220160,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,-0.045006,0.869532,1.000000,-0.000000,-0.000001,0.000024
11,3,220160,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205027,0.075020,0.871262,0.999997,-0.001424,-0.002072,-0.000053
11,3,220160,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.140754,-0.021812,1.117586,-0.131335,-0.685160,-0.140854,0.702472
11,3,220160,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.112113,-0.043800,0.885083,0.584786,0.346499,-0.306265,0.666458
11,3,220160,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.231971,-0.064613,0.881638,0.597385,0.028701,-0.026952,0.800987
11,3,220160,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114989,-0.044998,0.869532,1.000000,-0.000001,-0.000001,0.000044
11,3,220160,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234997,0.075005,0.871289,0.999999,-0.000154,-0.001020,0.000158
11,3,220160,4,gripper,0,"","put kitchen shovel on cloth",-0.250621,-0.028793,0.936966,-0.023308,-0.819715,-0.021734,0.571884
11,3,220160,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.030535,0.170624,0.879372,-0.719748,0.179925,-0.212252,-0.636033
11,3,220160,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084415,-0.075745,0.881638,0.382291,0.034433,-0.019070,0.923203
11,3,220160,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.069324,0.080566,0.869532,0.998436,0.000000,-0.000001,0.055912
11,3,220160,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.223509,-0.100365,0.871288,0.997914,-0.000085,-0.001027,0.064556
11,3,220160,5,gripper,0,"","put kitchen shovel on cloth",-0.193871,-0.047523,1.011051,-0.085149,-0.703625,-0.123667,0.694527
11,3,220160,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.049698,0.091072,0.885125,0.473420,0.513793,-0.577837,0.421895
11,3,220160,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214493,-0.075340,0.881638,0.862163,0.015915,-0.035963,0.505103
11,3,220160,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075005,0.869532,1.000000,-0.000000,-0.000001,0.000010
11,3,220160,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234062,0.043777,0.871288,0.999930,-0.000141,-0.001021,0.011820
11,3,220160,6,gripper,0,"","put kitchen shovel on cloth",-0.223442,-0.105289,0.950407,-0.073048,-0.799338,-0.050085,0.594319
11,3,220160,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.262295,-0.034882,0.879676,-0.809252,-0.093146,0.134486,-0.564223
11,3,220160,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083664,-0.098648,0.883503,0.627025,0.048413,-0.003878,0.777484
11,3,220160,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.187504,-0.103111,0.869532,0.996697,0.000000,-0.000001,-0.081206
11,3,220160,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234890,0.074951,0.871211,0.999982,-0.003901,-0.004135,0.001725
11,3,220160,7,gripper,0,"","put kitchen shovel on cloth",-0.251575,-0.034008,0.950008,0.082821,-0.753984,0.115024,0.641419
11,3,220160,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078033,0.068123,0.879089,0.338373,0.427364,-0.178281,0.819194
11,3,220160,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.248001,0.012699,0.882562,0.890853,0.030098,-0.029644,0.452322
11,3,220160,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,0.000002,-0.000001,0.000034
11,3,220160,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.238358,0.079899,0.871288,0.999509,-0.000186,-0.001014,-0.031329
11,3,220160,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.213516,-0.024746,0.942652,-0.181435,-0.684677,-0.205764,0.675248
11,3,220160,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.051895,0.111839,0.886344,-0.613876,0.433775,0.321165,0.576063
11,3,220160,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.088814,-0.073288,0.881638,0.894581,0.013433,-0.036974,0.445170
11,3,220160,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075012,0.869532,1.000000,0.000000,-0.000001,0.000103
11,3,220160,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.045013,0.871288,1.000000,-0.000153,-0.001019,0.000078
11,3,220160,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.184036,-0.112644,0.918431,0.045304,-0.791961,0.019855,0.608565
11,3,220160,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.182972,-0.060619,0.887891,0.423598,0.582543,-0.502480,0.478249
11,3,220160,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.074417,-0.060017,0.881641,0.906901,-0.020795,0.034369,0.419425
11,3,220160,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000000,0.000028
11,3,220160,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205486,-0.075542,0.871288,0.999988,-0.000150,-0.001020,0.004852
11,3,220160,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.201859,-0.053198,0.946396,-0.028932,-0.798532,0.005429,0.601233
11,3,220160,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.181746,0.057804,0.885083,0.610367,0.334243,-0.319522,0.643149
11,3,220160,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084410,0.074249,0.881638,0.382393,0.034426,-0.019071,0.923161
11,3,220160,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204586,0.069241,0.869532,0.999363,0.000000,-0.000001,-0.035675
11,3,220160,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000086
11,3,220160,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.123773,0.013611,1.135940,0.004731,-0.827722,0.177992,0.532140
11,3,220160,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.125468,0.244427,0.010325,0.321502,-0.666947,-0.391564,-0.546347
11,3,220160,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.240643,0.065720,0.881621,0.905752,0.015959,-0.043781,0.421238
11,3,220160,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000000
11,3,220160,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
11,3,220160,12,gripper,0,"","put ketchup bottle on cloth",-0.257461,0.044701,0.930769,0.155918,-0.719650,0.137334,0.662520
11,3,220160,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.068031,0.043324,0.879210,0.894943,0.038463,-0.437296,0.079813
11,3,220160,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.147938,-0.049637,0.886996,0.861494,0.034053,-0.025513,-0.505983
11,3,220160,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204420,0.080589,0.869532,0.998449,-0.000001,-0.000001,0.055664
11,3,220160,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.110472,-0.044598,0.871288,0.999958,-0.000144,-0.001020,0.009089
11,3,220160,13,gripper,0,"","put ketchup bottle on cloth",-0.106488,0.079247,0.915489,0.028447,-0.800840,-0.027703,0.597560
11,3,220160,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.072906,-0.046764,0.887849,0.494297,0.386683,-0.250104,0.737289
11,3,220160,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131580,0.032139,0.887274,0.794096,-0.029858,0.015362,0.606864
11,3,220160,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114990,0.045010,0.869532,1.000000,-0.000001,-0.000001,0.000010
11,3,220160,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000109
11,3,220160,14,gripper,0,"","put ketchup bottle on cloth",-0.158398,0.052513,1.104194,0.060459,-0.854920,0.073321,0.509980
11,3,220160,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.152081,0.081161,0.879089,-0.886311,0.003289,0.463067,0.003189
11,3,220160,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.177837,-0.059910,0.881640,0.862634,0.025988,0.051526,-0.502526
11,3,220160,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083652,-0.077026,0.869532,0.999966,-0.000000,0.000001,0.008276
11,3,220160,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.075024,0.871210,0.999984,-0.003908,-0.004129,0.000261
11,3,220160,15,gripper,0,"","put ketchup bottle on cloth",-0.191380,-0.069613,0.915381,-0.010022,-0.803684,-0.068587,0.591006
11,3,220160,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.159004,0.070381,0.886832,0.998273,-0.003789,-0.011104,-0.057561
11,3,220160,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.133995,-0.034039,0.885946,0.462884,0.227625,0.848105,-0.121011
11,3,220160,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.079323,-0.071316,0.869490,0.998812,0.000222,0.000864,-0.048720
11,3,220160,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114944,0.076801,0.870447,0.999908,-0.003149,-0.002693,-0.012913
11,3,220160,16,gripper,0,"","put 7up can on newspaper",-0.153297,-0.005579,0.964211,-0.001098,-0.794864,-0.043522,0.605223
11,3,220160,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.232590,0.083893,0.883544,0.228296,0.012605,-0.001092,0.973509
11,3,220160,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184013,-0.032158,0.888886,0.227846,0.731745,-0.578617,0.278995
11,3,220160,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
11,3,220160,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,-0.045002,0.870413,1.000000,0.000057,-0.000626,0.000149
11,3,220160,17,gripper,0,"","put 7up can on newspaper",-0.108377,-0.064234,1.058691,-0.051764,-0.740004,-0.006271,0.670578
11,3,220160,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.081642,0.083275,0.883544,0.933469,0.006191,-0.011038,0.358434
11,3,220160,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.183212,0.037216,0.887676,0.469084,0.461996,0.357362,-0.662429
11,3,220160,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.206047,0.075417,0.869490,0.999973,0.000558,0.001418,-0.007190
11,3,220160,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115025,-0.075005,0.870447,0.999999,-0.000923,-0.000846,-0.000113
11,3,220160,18,gripper,0,"","put 7up can on newspaper",-0.188280,0.013704,0.974747,-0.094934,-0.738166,-0.106781,0.659315
11,3,220160,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.081572,0.088947,0.883544,0.939053,0.006014,-0.011135,0.343538
11,3,220160,19,obj,1,"005_7up can_1","put 7up can on newspaper",0.086922,0.005302,0.030339,-0.359837,0.359832,0.608701,-0.608704
11,3,220160,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085028,-0.075008,0.869490,1.000000,0.000180,0.000874,-0.000026
11,3,220160,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204983,0.074993,0.870452,0.999998,0.001568,0.001266,0.000047
11,3,220160,19,gripper,0,"","put 7up can on newspaper",-0.066237,0.089575,0.961885,0.003702,-0.747397,0.007825,0.664321
11,3,220160,20,obj,0,"003_bread_1","put 7up can on carpet",-0.113313,0.084980,0.883544,0.266221,0.012558,-0.001586,0.963829
11,3,220160,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.227520,0.048725,0.885626,0.381048,0.212225,-0.096192,0.894712
11,3,220160,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
11,3,220160,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000844,-0.000001
11,3,220160,20,gripper,0,"","put 7up can on carpet",-0.197345,0.061169,0.966928,-0.066621,-0.736370,-0.084446,0.667974
11,3,220160,21,obj,0,"003_bread_1","put 7up can on carpet",-0.042738,0.057842,0.883544,0.774451,0.009339,-0.008546,0.632506
11,3,220160,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.083082,0.051098,0.885615,0.210318,0.150237,0.038100,-0.965269
11,3,220160,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.190519,-0.067669,0.869490,0.995458,0.000262,0.000853,-0.095194
11,3,220160,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.084961,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000107
11,3,220160,21,gripper,0,"","put 7up can on carpet",-0.054077,0.041075,1.009509,-0.104889,-0.755732,-0.096007,0.639258
11,3,220160,22,obj,0,"003_bread_1","put 7up can on carpet",-0.175007,-0.043594,0.886476,0.438803,0.014609,-0.003011,0.898459
11,3,220160,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.075970,-0.028233,0.886088,-0.112231,-0.750468,0.637112,-0.135241
11,3,220160,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
11,3,220160,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205017,-0.075787,0.870420,0.999978,-0.000213,-0.000815,-0.006608
11,3,220160,22,gripper,0,"","put 7up can on carpet",-0.106880,-0.071297,0.917143,-0.283294,-0.747718,-0.283378,0.529490
11,3,220160,23,obj,0,"003_bread_1","put 7up can on carpet",-0.071117,0.034668,0.886414,0.904530,-0.004506,-0.007044,-0.426327
11,3,220160,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.091732,-0.081486,0.885636,0.885252,0.104214,-0.264976,0.367771
11,3,220160,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.199509,0.049942,0.869489,0.998488,0.000131,0.000883,0.054955
11,3,220160,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075031,0.870460,1.000000,0.000018,-0.000158,-0.000076
11,3,220160,23,gripper,0,"","put 7up can on carpet",-0.074972,0.038271,0.974783,0.095036,-0.745560,0.098957,0.652162
11,3,220160,24,obj,0,"003_bread_1","put bread on newspaper",-0.213196,-0.007532,0.956818,0.282561,-0.029033,-0.014483,0.958700
11,3,220160,24,obj,1,"005_7up can_1","put bread on newspaper",-0.109879,-0.133463,0.885904,-0.251696,-0.740711,0.473555,-0.404650
11,3,220160,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.114700,0.045311,0.870465,0.999949,-0.007971,0.000805,0.006144
11,3,220160,24,recep,1,"003_carpet_1","put bread on newspaper",-0.205124,-0.045078,0.870405,1.000000,0.000066,-0.000718,0.000194
11,3,220160,24,gripper,0,"","put bread on newspaper",-0.209339,-0.011876,0.996628,0.029387,-0.803907,-0.042726,0.592490
11,3,220160,25,obj,0,"003_bread_1","put bread on newspaper",-0.291584,-0.103788,0.883536,0.532232,0.011262,-0.005133,0.846508
11,3,220160,25,obj,1,"005_7up can_1","put bread on newspaper",-0.044537,0.043953,0.888379,-0.535292,-0.322743,-0.245025,0.741122
11,3,220160,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
11,3,220160,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075039,0.870461,1.000000,0.000020,-0.000158,0.000066
11,3,220160,25,gripper,0,"","put bread on newspaper",-0.281448,-0.138398,0.939984,0.123353,-0.701036,0.144723,0.687304
11,3,220160,26,obj,0,"003_bread_1","put bread on newspaper",-0.223919,0.054886,0.886824,0.721489,0.021526,0.001446,0.692089
11,3,220160,26,obj,1,"005_7up can_1","put bread on newspaper",-0.201309,-0.022768,0.888533,0.693563,0.116835,-0.106011,0.702909
11,3,220160,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.205006,0.074993,0.869490,1.000000,0.000180,0.000875,0.000042
11,3,220160,26,recep,1,"003_carpet_1","put bread on newspaper",-0.234901,-0.045012,0.870460,1.000000,0.000019,-0.000161,0.000465
11,3,220160,26,gripper,0,"","put bread on newspaper",-0.088400,-0.006823,1.039299,0.086440,-0.731513,0.107429,0.667739
11,3,220160,27,obj,0,"003_bread_1","put bread on newspaper",-0.204479,-0.075487,0.883544,0.383623,0.012263,-0.003133,0.923403
11,3,220160,27,obj,1,"005_7up can_1","put bread on newspaper",-0.078836,-0.081736,0.888674,0.609394,-0.212901,0.182830,0.741542
11,3,220160,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000875,0.000012
11,3,220160,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084614,-0.074554,0.870461,0.999999,0.000018,-0.000158,-0.001286
11,3,220160,27,gripper,0,"","put bread on newspaper",-0.178864,-0.064663,0.964632,0.063487,-0.744045,0.061974,0.662212
11,3,220160,28,obj,0,"003_bread_1","put bread on carpet",-0.070664,0.097069,0.886535,0.906182,0.008300,-0.007982,0.422731
11,3,220160,28,obj,1,"005_7up can_1","put bread on carpet",-0.192221,-0.029093,0.932612,0.491389,0.512678,-0.503425,0.492200
11,3,220160,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
11,3,220160,28,recep,1,"003_carpet_1","put bread on carpet",-0.084989,0.074976,0.870448,0.999999,-0.000922,-0.000845,0.000081
11,3,220160,28,gripper,0,"","put bread on carpet",-0.193373,-0.028855,0.980170,-0.006407,-0.720408,0.000227,0.693521
11,3,220160,29,obj,0,"003_bread_1","put bread on carpet",-0.098000,0.033226,0.883544,0.968847,0.004865,-0.011680,0.247335
11,3,220160,29,obj,1,"005_7up can_1","put bread on carpet",-0.089163,0.087421,0.889195,0.891029,0.129335,-0.423866,0.098370
11,3,220160,29,recep,0,"004_newspaper_1","put bread on carpet",-0.205009,0.045000,0.869489,1.000000,0.000180,0.000874,0.000026
11,3,220160,29,recep,1,"003_carpet_1","put bread on carpet",-0.235003,-0.074972,0.870461,1.000000,0.000018,-0.000158,-0.000068
11,3,220160,29,gripper,0,"","put bread on carpet",-0.086232,0.053531,0.946604,0.106219,-0.763402,0.068844,0.633400
11,3,220160,30,obj,0,"003_bread_1","put bread on carpet",-0.115479,-0.045513,0.883544,0.924359,0.006463,-0.010881,0.381314
11,3,220160,30,obj,1,"005_7up can_1","put bread on carpet",-0.206783,-0.056765,0.888592,0.723033,0.117776,-0.118215,0.670356
11,3,220160,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
11,3,220160,30,recep,1,"003_carpet_1","put bread on carpet",-0.235008,-0.075003,0.870461,1.000000,0.000019,-0.000158,0.000084
11,3,220160,30,gripper,0,"","put bread on carpet",-0.102314,-0.014364,0.963889,0.143105,-0.757134,0.067764,0.633780
11,3,220160,31,obj,0,"003_bread_1","put bread on carpet",-0.116413,0.045612,0.883544,0.937713,0.006052,-0.011116,0.347181
11,3,220160,31,obj,1,"005_7up can_1","put bread on carpet",-0.150887,-0.069462,0.887841,0.680707,-0.079429,0.050355,0.726493
11,3,220160,31,recep,0,"004_newspaper_1","put bread on carpet",-0.201672,-0.070019,0.869490,0.999528,0.000506,0.001442,0.030686
11,3,220160,31,recep,1,"003_carpet_1","put bread on carpet",-0.074917,-0.067635,0.870448,0.998034,-0.003280,-0.002535,-0.062541
11,3,220160,31,gripper,0,"","put bread on carpet",-0.168552,-0.075896,0.936350,-0.029382,-0.753114,-0.025832,0.656725
11,3,220160,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236824,-0.077105,0.887284,0.687464,-0.020007,0.027942,0.725404
11,3,220160,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084557,-0.074995,0.878547,0.706704,0.007945,0.010848,0.707381
11,3,220160,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074914,0.871344,0.999999,-0.000158,0.001163,-0.000022
11,3,220160,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,0.000000,-0.000000
11,3,220160,32,gripper,0,"","put banana on sheet metal",-0.053253,0.035077,0.983753,-0.075787,-0.744822,0.049965,0.661059
11,3,220160,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093746,0.081676,0.887556,0.921586,-0.005767,0.022420,0.387483
11,3,220160,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
11,3,220160,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
11,3,220160,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
11,3,220160,33,gripper,0,"","put banana on sheet metal",-0.185608,-0.050692,0.960328,-0.122914,-0.769955,-0.067588,0.622490
11,3,220160,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.119438,0.081622,0.887312,0.997351,-0.004979,0.019349,0.069939
11,3,220160,34,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,-0.075441,0.878547,0.999909,0.013303,0.002052,0.000284
11,3,220160,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
11,3,220160,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
11,3,220160,34,gripper,0,"","put banana on sheet metal",-0.172749,-0.043730,0.976073,-0.133139,-0.747420,-0.096630,0.643662
11,3,220160,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237110,0.078589,0.887359,0.997429,0.001110,0.022701,0.067966
11,3,220160,35,obj,1,"013_banana_1","put banana on sheet metal",-0.204996,-0.075437,0.878547,0.999910,0.013273,0.002050,0.000312
11,3,220160,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
11,3,220160,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000000
11,3,220160,35,gripper,0,"","put banana on sheet metal",-0.082654,0.055130,0.995326,0.010828,-0.776204,-0.054810,0.628002
11,3,220160,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214028,-0.077793,0.887389,0.758121,-0.017460,0.017265,0.651652
11,3,220160,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084558,-0.074994,0.878547,0.706815,0.007959,0.010857,0.707270
11,3,220160,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
11,3,220160,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
11,3,220160,36,gripper,0,"","put banana on flat bowl",-0.038912,-0.003504,0.991871,0.017134,-0.702276,0.077900,0.707422
11,3,220160,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.233919,0.045265,0.887528,0.999048,-0.000254,0.043220,0.005879
11,3,220160,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,-0.045434,0.878547,0.999910,0.013251,0.002054,0.000335
11,3,220160,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
11,3,220160,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
11,3,220160,37,gripper,0,"","put banana on flat bowl",-0.059186,0.087833,1.022722,-0.032544,-0.752937,-0.069811,0.653569
11,3,220160,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096317,0.072788,0.887512,0.762621,-0.017192,0.017400,0.646383
11,3,220160,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007948,0.010847,0.707323
11,3,220160,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
11,3,220160,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
11,3,220160,38,gripper,0,"","put banana on flat bowl",-0.024424,-0.005243,0.990645,0.404705,-0.623268,0.335583,0.578908
11,3,220160,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211666,-0.069187,0.887529,0.916858,-0.016602,0.038650,0.396992
11,3,220160,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114681,0.074692,0.878547,0.923623,0.011546,0.007013,0.383064
11,3,220160,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
11,3,220160,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,-0.000001
11,3,220160,39,gripper,0,"","put banana on flat bowl",-0.057705,0.078758,1.074589,0.022743,-0.815476,0.048460,0.576310
11,3,220160,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.212738,-0.060038,0.887333,0.995146,0.001961,0.035926,0.091592
11,3,220160,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.115005,0.074560,0.878547,0.999909,0.013275,0.002033,-0.000956
11,3,220160,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.045021,0.871344,0.999999,-0.000157,0.001163,0.000053
11,3,220160,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
11,3,220160,40,gripper,0,"","put carrot on sheet metal",-0.117493,-0.035517,1.041908,-0.234244,-0.702878,-0.222557,0.633688
11,3,220160,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.125622,-0.046814,0.887526,0.762138,-0.017149,0.022826,0.646784
11,3,220160,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
11,3,220160,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
11,3,220160,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
11,3,220160,41,gripper,0,"","put carrot on sheet metal",-0.063467,-0.040706,0.961558,0.253478,-0.743495,0.385584,0.484033
11,3,220160,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.119137,0.050648,0.887478,0.997366,-0.000185,0.021051,0.069411
11,3,220160,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075439,0.878546,0.999910,0.013255,0.002040,-0.000897
11,3,220160,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
11,3,220160,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
11,3,220160,42,gripper,0,"","put carrot on sheet metal",-0.095583,0.073624,0.988440,-0.066081,-0.743246,-0.018389,0.665493
11,3,220160,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243237,-0.074539,0.887210,0.951286,-0.017399,0.026925,0.306637
11,3,220160,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204659,0.044697,0.878547,0.924283,0.011501,0.006963,0.381472
11,3,220160,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
11,3,220160,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
11,3,220160,43,gripper,0,"","put carrot on sheet metal",-0.057035,0.002229,0.992321,0.180255,-0.693422,0.229403,0.658823
11,3,220160,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092351,-0.077242,0.887484,0.761932,-0.023900,0.029492,0.646544
11,3,220160,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084560,0.075008,0.878547,0.706779,0.007959,0.010865,0.707306
11,3,220160,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
11,3,220160,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
11,3,220160,44,gripper,0,"","put carrot on flat bowl",-0.056397,-0.012790,0.994399,0.273480,-0.736565,0.248682,0.566426
11,3,220160,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.246149,-0.061245,0.887171,0.998981,-0.008307,0.029799,-0.032859
11,3,220160,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234991,0.074562,0.878547,0.999909,0.013285,0.002036,-0.000891
11,3,220160,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
11,3,220160,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
11,3,220160,45,gripper,0,"","put carrot on flat bowl",-0.128075,-0.061417,1.018818,-0.047807,-0.643945,-0.028049,0.763061
11,3,220160,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235401,-0.041307,0.887529,0.373189,-0.040096,0.016145,0.926748
11,3,220160,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
11,3,220160,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
11,3,220160,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
11,3,220160,46,gripper,0,"","put carrot on flat bowl",-0.198530,-0.047314,0.984985,-0.016120,-0.730838,-0.076279,0.678083
11,3,220160,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208569,-0.036016,0.887343,0.995140,-0.007759,0.033413,0.092305
11,3,220160,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
11,3,220160,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
11,3,220160,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
11,3,220160,47,gripper,0,"","put carrot on flat bowl",-0.087681,0.083268,1.031408,0.179350,-0.817403,0.202950,0.508426
11,3,220160,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.071541,0.141937,0.890504,0.993034,-0.026371,0.013563,0.114041
11,3,220160,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094208,0.055870,0.887114,-0.464556,-0.537394,0.504093,-0.491208
11,3,220160,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085182,-0.044479,0.872200,0.999999,-0.000000,-0.000001,0.001139
11,3,220160,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.091866,0.119049,0.870884,0.999860,0.000717,0.000702,-0.016706
11,3,220160,48,gripper,0,"","put plastic bottle on frying pan",-0.066967,0.069624,0.953324,-0.031703,-0.783832,-0.062052,0.617051
11,3,220160,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.011505,-0.048775,0.891197,0.162655,0.760793,0.291444,-0.556594
11,3,220160,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206001,0.108837,0.887026,0.498301,-0.512778,0.490657,0.498007
11,3,220160,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000003
11,3,220160,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114830,-0.079556,0.870870,0.999739,-0.000000,-0.000001,0.022834
11,3,220160,49,gripper,0,"","put plastic bottle on frying pan",-0.180647,0.105930,0.953645,0.026791,-0.763483,-0.001941,0.645269
11,3,220160,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.229366,-0.031277,0.891736,0.471498,-0.525116,-0.626938,-0.329987
11,3,220160,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065273,-0.053253,0.887026,0.647505,-0.294143,0.645877,0.277596
11,3,220160,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114822,0.044880,0.872199,0.999994,0.000000,-0.000001,-0.003446
11,3,220160,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000067
11,3,220160,50,gripper,0,"","put plastic bottle on frying pan",-0.189232,-0.019243,0.976269,-0.128196,-0.731819,-0.092100,0.662966
11,3,220160,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205919,0.075607,0.888113,0.711366,-0.026869,-0.006054,0.702282
11,3,220160,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.072187,-0.025097,0.887027,0.506054,-0.505016,0.498642,0.490127
11,3,220160,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000044
11,3,220160,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234976,-0.045002,0.870862,1.000000,0.000073,-0.000000,0.000047
11,3,220160,51,gripper,0,"","put plastic bottle on frying pan",-0.056607,-0.045607,0.976419,0.016864,-0.769886,-0.020657,0.637624
11,3,220160,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.193107,-0.023319,0.890389,0.735486,-0.027162,-0.001759,0.676993
11,3,220160,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.083752,-0.048893,0.887026,0.486560,-0.524073,0.478572,0.509485
11,3,220160,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
11,3,220160,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234994,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000030
11,3,220160,52,gripper,0,"","put plastic bottle on cutting board",-0.071211,-0.029474,0.964898,0.067301,-0.762705,0.106949,0.634281
11,3,220160,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.277044,-0.072769,0.891851,0.089536,0.515319,-0.651931,-0.549013
11,3,220160,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055590,0.075806,0.887027,0.704495,-0.016761,0.709511,0.000903
11,3,220160,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.044998,0.872199,1.000000,0.000001,-0.000000,0.000001
11,3,220160,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
11,3,220160,53,gripper,0,"","put plastic bottle on cutting board",-0.044474,0.031420,0.948287,0.305447,-0.702413,0.196160,0.612241
11,3,220160,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086124,0.074833,0.888112,0.387001,-0.022481,-0.015909,0.921668
11,3,220160,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.111687,-0.017067,0.890712,0.607910,-0.434282,0.515119,0.420116
11,3,220160,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235470,0.046776,0.872199,0.999956,-0.000000,-0.000001,-0.009371
11,3,220160,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.039112,-0.069962,0.870864,0.989180,0.000595,0.000607,-0.146705
11,3,220160,54,gripper,0,"","put plastic bottle on cutting board",-0.134304,-0.013439,0.916881,0.159633,-0.745178,0.043636,0.646005
11,3,220160,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.111420,0.051910,0.888113,0.895926,-0.027408,0.002693,0.443349
11,3,220160,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.182766,0.085827,0.888574,0.755612,-0.253464,0.370862,0.476727
11,3,220160,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
11,3,220160,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000036
11,3,220160,55,gripper,0,"","put plastic bottle on cutting board",-0.197186,0.089600,0.944746,-0.040022,-0.669134,-0.085066,0.737171
11,3,220160,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.093193,-0.026722,0.888112,0.841312,-0.027541,-0.000360,0.539847
11,3,220160,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.080414,0.065662,0.887026,0.509219,-0.501774,0.501905,0.486837
11,3,220160,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000040
11,3,220160,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,0.000000,0.000047
11,3,220160,56,gripper,0,"","put hamburger on frying pan",-0.047146,0.014988,0.973464,0.055256,-0.766212,0.020415,0.639883
11,3,220160,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.229500,-0.038792,0.892092,0.905786,-0.074345,0.194542,0.369022
11,3,220160,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.141926,-0.040436,0.900739,0.539093,-0.397344,0.515086,0.534961
11,3,220160,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.110836,-0.073742,0.872200,0.998618,-0.000000,-0.000001,-0.052559
11,3,220160,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.048588,0.067242,0.870861,0.980705,0.002309,0.001999,-0.195470
11,3,220160,57,gripper,0,"","put hamburger on frying pan",-0.170988,-0.025696,1.023355,-0.033554,-0.705902,-0.116489,0.697858
11,3,220160,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.172428,-0.049892,0.960212,0.750928,-0.010695,0.078390,0.655628
11,3,220160,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235794,0.104404,0.887026,0.496958,-0.514098,0.489274,0.499346
11,3,220160,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
11,3,220160,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
11,3,220160,58,gripper,0,"","put hamburger on frying pan",-0.164007,-0.051054,1.010005,0.037658,-0.783900,0.028577,0.619084
11,3,220160,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.215815,0.057667,0.894292,0.531657,0.046358,0.017640,0.845506
11,3,220160,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.269695,-0.017441,0.887026,0.400875,-0.592482,0.390705,0.579322
11,3,220160,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.196449,0.056778,0.872199,0.998312,-0.000000,-0.000000,-0.058080
11,3,220160,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084980,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000001
11,3,220160,59,gripper,0,"","put hamburger on frying pan",-0.204628,-0.038628,1.060479,0.036568,-0.771888,-0.023438,0.634273
11,3,220160,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.192044,0.068787,0.916533,0.836765,0.002536,-0.062573,0.543969
11,3,220160,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.180535,-0.067268,0.887382,0.627372,-0.343278,0.621433,0.319977
11,3,220160,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
11,3,220160,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.073560,-0.077427,0.870870,0.999386,-0.000000,-0.000000,0.035051
11,3,220160,60,gripper,0,"","put hamburger on cutting board",-0.212158,0.061510,0.959201,-0.043861,-0.760146,-0.098551,0.640736
11,3,220160,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.093491,-0.042450,0.890720,0.756473,-0.027421,-0.000902,0.653449
11,3,220160,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.227612,0.090923,0.887026,0.448532,-0.557237,0.439515,0.543261
11,3,220160,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
11,3,220160,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085001,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000012
11,3,220160,61,gripper,0,"","put hamburger on cutting board",-0.106548,-0.066481,1.053932,-0.115910,-0.753777,-0.194963,0.616745
11,3,220160,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.252350,-0.076321,0.898623,0.517825,0.112156,-0.801344,-0.277716
11,3,220160,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.208321,0.076359,0.888264,0.915365,-0.068398,0.381147,0.110255
11,3,220160,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000601
11,3,220160,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114857,0.045010,0.870871,1.000000,0.000000,-0.000000,-0.000183
11,3,220160,62,gripper,0,"","put hamburger on cutting board",-0.219028,-0.063417,0.954818,-0.044428,-0.752752,-0.067574,0.653318
11,3,220160,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235229,0.046124,0.888112,0.924704,-0.027155,0.004601,0.379689
11,3,220160,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.141670,-0.001553,0.885766,-0.579761,-0.417215,0.553547,-0.428245
11,3,220160,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205082,-0.074867,0.872199,0.999999,-0.000000,-0.000001,-0.001311
11,3,220160,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.117664,0.069370,0.870870,0.999994,0.000000,0.000003,-0.003528
11,3,220160,63,gripper,0,"","put hamburger on cutting board",-0.123787,-0.024315,0.976796,-0.146626,-0.738666,-0.333342,0.567236
11,4,225280,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.074463,0.101646,0.885112,-0.073924,0.665632,-0.739691,-0.065769
11,4,225280,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085716,-0.045593,0.881638,0.923047,0.010860,-0.037809,0.382670
11,4,225280,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115021,0.075134,0.869532,0.999969,0.000001,-0.000001,0.007832
11,4,225280,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.183182,-0.078384,0.871288,0.996603,-0.000237,-0.001003,-0.082354
11,4,225280,0,gripper,0,"","put kitchen shovel on cloth",-0.083874,0.110409,0.953831,-0.096025,-0.735622,-0.100878,0.662921
11,4,225280,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091896,-0.081955,0.879089,0.818614,0.176013,-0.428318,0.339757
11,4,225280,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.217350,0.052734,0.881677,0.861831,-0.002455,-0.004614,0.507169
11,4,225280,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.201866,-0.076721,0.869532,0.999994,0.000000,0.000000,0.003529
11,4,225280,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000085
11,4,225280,1,gripper,0,"","put kitchen shovel on cloth",-0.237467,0.021137,0.914266,-0.093892,-0.756789,-0.097567,0.639481
11,4,225280,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.227455,-0.066864,0.885113,0.058700,-0.804299,0.585934,0.079619
11,4,225280,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083969,-0.077744,0.881638,0.372340,0.034641,-0.018702,0.927261
11,4,225280,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235004,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000129
11,4,225280,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.204403,0.075554,0.871261,0.999989,-0.001434,-0.002093,0.004031
11,4,225280,2,gripper,0,"","put kitchen shovel on cloth",-0.210550,-0.047016,0.971176,-0.017344,-0.762496,-0.083132,0.641395
11,4,225280,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.204260,-0.020401,0.885374,0.746012,-0.170989,0.219862,0.604888
11,4,225280,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.053221,0.073204,0.881638,0.743884,0.022793,-0.032074,0.667149
11,4,225280,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235004,-0.045006,0.869532,1.000000,0.000001,-0.000000,0.000024
11,4,225280,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205013,0.075027,0.871282,0.999999,-0.000452,-0.001266,-0.000044
11,4,225280,3,gripper,0,"","put kitchen shovel on cloth",-0.044745,0.089085,0.989915,0.025454,-0.759448,-0.064700,0.646842
11,4,225280,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.112113,-0.043800,0.885083,0.584800,0.346492,-0.306272,0.666446
11,4,225280,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.231971,-0.064613,0.881638,0.597386,0.028693,-0.026946,0.800988
11,4,225280,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114989,-0.044998,0.869532,1.000000,-0.000001,-0.000001,0.000023
11,4,225280,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234997,0.075005,0.871289,1.000000,-0.000154,-0.001019,0.000158
11,4,225280,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.158967,0.053341,1.130733,0.040111,-0.832741,0.088859,0.545012
11,4,225280,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.030535,0.170624,0.879372,-0.719797,0.179908,-0.212265,-0.635979
11,4,225280,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084417,-0.075737,0.881638,0.382230,0.034407,-0.019058,0.923230
11,4,225280,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.069328,0.080566,0.869532,0.998435,0.000000,-0.000001,0.055920
11,4,225280,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.218212,-0.099548,0.871288,0.999559,-0.000125,-0.001024,0.029689
11,4,225280,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.227830,-0.079018,0.956224,-0.113020,-0.793998,0.051590,0.595090
11,4,225280,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.049698,0.091057,0.885123,0.473216,0.513969,-0.578103,0.421545
11,4,225280,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.249592,-0.194618,0.873649,0.053831,0.565823,0.819143,0.077140
11,4,225280,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075005,0.869532,1.000000,0.000000,-0.000001,0.000045
11,4,225280,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234062,0.043777,0.871288,0.999929,-0.000141,-0.001021,0.011835
11,4,225280,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.105642,0.000050,0.949381,0.033741,-0.836893,0.104934,0.536153
11,4,225280,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.220676,-0.092865,0.885368,-0.644476,0.202431,-0.190900,-0.712201
11,4,225280,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083683,-0.098633,0.883502,0.626128,0.048417,-0.003828,0.778206
11,4,225280,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.187504,-0.103127,0.869532,0.996693,0.000000,-0.000001,-0.081257
11,4,225280,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234890,0.074951,0.871211,0.999982,-0.003902,-0.004135,0.001699
11,4,225280,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.237762,-0.065788,1.080595,-0.014339,-0.782325,-0.012488,0.622580
11,4,225280,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.025421,0.066280,0.879213,-0.016292,0.959030,0.052974,0.277832
11,4,225280,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.248001,0.012772,0.882562,0.890839,0.030104,-0.029644,0.452350
11,4,225280,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000037
11,4,225280,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.238358,0.079971,0.871288,0.999509,-0.000189,-0.001014,-0.031306
11,4,225280,8,gripper,0,"","put ketchup bottle on cloth",-0.033760,0.063093,0.959304,-0.045455,-0.780487,0.009260,0.623448
11,4,225280,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.051884,0.112213,0.886295,-0.607297,0.437918,0.319162,0.580993
11,4,225280,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.187016,0.019451,0.888604,0.833561,-0.002178,0.024559,0.551877
11,4,225280,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075012,0.869532,1.000000,-0.000000,-0.000001,0.000100
11,4,225280,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000075
11,4,225280,9,gripper,0,"","put ketchup bottle on cloth",-0.162777,0.010139,0.997278,0.150761,-0.739009,0.134438,0.642699
11,4,225280,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.182972,-0.060623,0.887891,0.423622,0.582511,-0.502464,0.478283
11,4,225280,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.074417,-0.060020,0.881641,0.906938,-0.020790,0.034366,0.419345
11,4,225280,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000033
11,4,225280,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205486,-0.075542,0.871288,0.999988,-0.000149,-0.001020,0.004844
11,4,225280,10,gripper,0,"","put ketchup bottle on cloth",-0.106443,-0.060057,1.140571,-0.075455,-0.826243,0.107844,0.547722
11,4,225280,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.181746,0.057789,0.885083,0.610451,0.334206,-0.319569,0.643064
11,4,225280,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084412,0.074253,0.881638,0.382320,0.034429,-0.019069,0.923191
11,4,225280,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204586,0.069233,0.869532,0.999363,0.000000,-0.000001,-0.035692
11,4,225280,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000086
11,4,225280,11,gripper,0,"","put ketchup bottle on cloth",-0.173588,0.073265,1.075056,0.079819,-0.867303,0.117139,0.477172
11,4,225280,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.125468,0.244427,0.010325,0.321503,-0.666947,-0.391564,-0.546347
11,4,225280,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231279,0.059097,0.881638,0.881366,0.014509,-0.036596,0.470792
11,4,225280,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115000,-0.044998,0.869532,1.000000,-0.000001,0.000000,-0.000000
11,4,225280,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
11,4,225280,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.235743,0.029049,0.954082,-0.030568,-0.722803,-0.084335,0.685208
11,4,225280,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.067871,0.043148,0.879088,0.882963,0.038551,-0.461497,0.076876
11,4,225280,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.147778,-0.050949,0.886885,0.846370,0.055672,0.007132,-0.529630
11,4,225280,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204420,0.080589,0.869532,0.998450,-0.000001,-0.000000,0.055651
11,4,225280,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.110472,-0.044598,0.871288,0.999958,-0.000144,-0.001020,0.009075
11,4,225280,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.164093,-0.052029,0.965252,-0.067961,-0.843110,-0.320435,0.426459
11,4,225280,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.072906,-0.046761,0.887849,0.494168,0.386733,-0.250039,0.737371
11,4,225280,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.131542,0.033611,0.887273,0.791421,-0.030056,0.015380,0.610339
11,4,225280,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114990,0.045006,0.869532,1.000000,-0.000000,-0.000001,-0.000004
11,4,225280,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000147
11,4,225280,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.103447,-0.005848,1.092759,0.113965,-0.811709,0.148950,0.553131
11,4,225280,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.152081,0.081161,0.879089,-0.886322,0.003296,0.463047,0.003205
11,4,225280,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.179066,-0.058315,0.881638,0.859083,-0.023782,-0.031333,-0.510323
11,4,225280,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.082912,-0.078262,0.869532,0.999918,0.000000,-0.000001,0.012783
11,4,225280,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234890,0.075100,0.871288,0.999999,-0.000155,-0.001019,0.001380
11,4,225280,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.251471,-0.037449,0.913803,-0.096406,-0.741247,-0.109641,0.655162
11,4,225280,16,obj,0,"003_bread_1","put 7up can on carpet",-0.159027,0.070316,0.886740,0.998141,-0.001239,-0.011900,-0.059769
11,4,225280,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.156586,-0.000507,0.885636,0.690686,-0.201307,-0.201350,-0.664745
11,4,225280,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.076294,-0.069782,0.869490,0.997339,0.000243,0.000859,-0.072895
11,4,225280,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.114944,0.076809,0.870448,0.999908,-0.003150,-0.002694,-0.012916
11,4,225280,16,gripper,0,"","put 7up can on carpet",-0.140873,-0.007051,0.999033,-0.026042,-0.782563,0.048458,0.620136
11,4,225280,17,obj,0,"003_bread_1","put 7up can on carpet",-0.232590,0.083893,0.883544,0.228345,0.012609,-0.001094,0.973498
11,4,225280,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.184525,-0.033272,0.888880,0.229947,0.727253,-0.584235,0.277303
11,4,225280,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
11,4,225280,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.045002,0.870403,1.000000,0.000066,-0.000726,0.000383
11,4,225280,17,gripper,0,"","put 7up can on carpet",-0.068047,-0.107811,0.941705,-0.245937,-0.733069,-0.176438,0.609093
11,4,225280,18,obj,0,"003_bread_1","put 7up can on carpet",-0.077950,0.088448,0.883544,0.941261,0.005938,-0.011180,0.337442
11,4,225280,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.156124,0.123375,0.886828,-0.295695,-0.681153,-0.507687,0.436864
11,4,225280,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.206024,0.075424,0.869490,0.999974,0.000184,0.000872,-0.007173
11,4,225280,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.115025,-0.074993,0.870447,0.999999,-0.000923,-0.000845,-0.000128
11,4,225280,18,gripper,0,"","put 7up can on carpet",-0.089849,0.087572,0.949453,0.170703,-0.751227,0.046649,0.635879
11,4,225280,19,obj,0,"003_bread_1","put 7up can on carpet",-0.079918,0.087898,0.883544,0.933420,0.006193,-0.011039,0.358563
11,4,225280,19,obj,1,"005_7up can_1","put 7up can on carpet",0.086922,0.005302,0.030339,-0.359833,0.359828,0.608703,-0.608707
11,4,225280,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085033,-0.075008,0.869490,1.000000,0.000180,0.000875,-0.000016
11,4,225280,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.204977,0.074993,0.870452,0.999998,0.001568,0.001265,0.000064
11,4,225280,19,gripper,0,"","put 7up can on carpet",-0.079573,0.087933,0.948492,0.044274,-0.755218,0.036538,0.652955
11,4,225280,20,obj,0,"003_bread_1","put bread on newspaper",-0.103277,0.093212,0.883544,0.238697,0.012600,-0.001224,0.971011
11,4,225280,20,obj,1,"005_7up can_1","put bread on newspaper",-0.227519,0.048725,0.885626,0.381021,0.212234,-0.096188,0.894722
11,4,225280,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
11,4,225280,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
11,4,225280,20,gripper,0,"","put bread on newspaper",-0.154152,0.059965,0.997636,0.005003,-0.796572,0.080434,0.599147
11,4,225280,21,obj,0,"003_bread_1","put bread on newspaper",-0.007000,0.082497,0.883544,0.935935,0.006107,-0.011081,0.351945
11,4,225280,21,obj,1,"005_7up can_1","put bread on newspaper",-0.085541,-0.030025,0.986909,0.637704,-0.114035,-0.016405,-0.761617
11,4,225280,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.190546,-0.067669,0.869490,0.995462,0.000262,0.000853,-0.095161
11,4,225280,21,recep,1,"003_carpet_1","put bread on newspaper",-0.083492,-0.072102,0.870352,0.999991,0.000113,-0.001237,0.004124
11,4,225280,21,gripper,0,"","put bread on newspaper",-0.106960,-0.027185,1.021878,0.067922,-0.772483,0.054774,0.629012
11,4,225280,22,obj,0,"003_bread_1","put bread on newspaper",-0.167118,-0.045147,0.886443,0.422340,0.012265,0.000472,0.906354
11,4,225280,22,obj,1,"005_7up can_1","put bread on newspaper",-0.312443,-0.102177,0.885675,-0.437236,0.318392,0.172414,0.823240
11,4,225280,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
11,4,225280,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205021,-0.075802,0.870448,0.999976,-0.000915,-0.000827,-0.006877
11,4,225280,22,gripper,0,"","put bread on newspaper",-0.067053,-0.015316,0.963952,-0.115685,-0.719453,-0.107934,0.676280
11,4,225280,23,obj,0,"003_bread_1","put bread on newspaper",-0.071117,0.034657,0.886414,0.904384,-0.004534,-0.007049,-0.426637
11,4,225280,23,obj,1,"005_7up can_1","put bread on newspaper",-0.162647,0.031330,0.887241,0.777142,0.161412,-0.170001,0.584034
11,4,225280,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.199802,0.049908,0.869491,0.998501,0.000493,0.001461,0.054705
11,4,225280,23,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075020,0.870460,1.000000,0.000018,-0.000158,-0.000053
11,4,225280,23,gripper,0,"","put bread on newspaper",-0.156937,0.023602,0.972158,0.100062,-0.737973,-0.002397,0.667366
11,4,225280,24,obj,0,"003_bread_1","put bread on carpet",-0.208321,-0.013790,0.886658,0.281086,0.015487,-0.001731,0.959556
11,4,225280,24,obj,1,"005_7up can_1","put bread on carpet",-0.196899,-0.073635,0.888768,-0.348363,-0.631821,0.573351,-0.388219
11,4,225280,24,recep,0,"004_newspaper_1","put bread on carpet",-0.114700,0.045353,0.870444,0.999946,-0.007798,0.000801,0.006850
11,4,225280,24,recep,1,"003_carpet_1","put bread on carpet",-0.205147,-0.045071,0.870405,1.000000,0.000066,-0.000718,0.000283
11,4,225280,24,gripper,0,"","put bread on carpet",-0.125736,-0.032094,1.001920,0.039255,-0.775087,0.002166,0.630630
11,4,225280,25,obj,0,"003_bread_1","put bread on carpet",-0.292488,-0.103552,0.883544,0.530833,0.011583,-0.005104,0.847382
11,4,225280,25,obj,1,"005_7up can_1","put bread on carpet",-0.044243,0.043873,0.888377,-0.538077,-0.321841,-0.246249,0.739089
11,4,225280,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
11,4,225280,25,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075066,0.870462,1.000000,0.000034,-0.000158,0.000014
11,4,225280,25,gripper,0,"","put bread on carpet",-0.076595,-0.053559,0.986559,-0.027879,-0.762555,0.009116,0.646258
11,4,225280,26,obj,0,"003_bread_1","put bread on carpet",-0.223919,0.054882,0.886824,0.721458,0.021529,0.001436,0.692122
11,4,225280,26,obj,1,"005_7up can_1","put bread on carpet",-0.201340,-0.022627,0.888531,0.693698,0.114881,-0.103291,0.703503
11,4,225280,26,recep,0,"004_newspaper_1","put bread on carpet",-0.205006,0.074989,0.869490,1.000000,0.000179,0.000874,0.000074
11,4,225280,26,recep,1,"003_carpet_1","put bread on carpet",-0.234901,-0.045012,0.870460,0.999999,0.000019,-0.000158,0.001032
11,4,225280,26,gripper,0,"","put bread on carpet",-0.205475,0.074075,0.995197,0.120536,-0.733161,0.169136,0.647564
11,4,225280,27,obj,0,"003_bread_1","put bread on carpet",-0.218994,-0.109814,0.933489,0.486751,0.050630,0.067509,0.869455
11,4,225280,27,obj,1,"005_7up can_1","put bread on carpet",-0.078812,-0.081701,0.888674,0.609417,-0.212927,0.182870,0.741507
11,4,225280,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000874,0.000028
11,4,225280,27,recep,1,"003_carpet_1","put bread on carpet",-0.084614,-0.074526,0.870461,0.999999,0.000018,-0.000158,-0.001351
11,4,225280,27,gripper,0,"","put bread on carpet",-0.218831,-0.103640,0.974269,-0.020231,-0.744390,0.087406,0.661691
11,4,225280,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.070633,0.097036,0.886570,0.906102,0.009439,-0.007760,0.422882
11,4,225280,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.098080,0.012865,0.885856,0.494557,0.482978,-0.610285,0.386908
11,4,225280,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
11,4,225280,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084990,0.074980,0.870461,1.000000,0.000014,-0.000162,-0.000061
11,4,225280,28,gripper,0,"","put 7up can on newspaper",-0.134469,-0.009239,1.039397,-0.003852,-0.762922,-0.048205,0.644680
11,4,225280,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.096375,0.030367,0.883544,0.997196,0.002749,-0.012358,0.073754
11,4,225280,29,obj,1,"005_7up can_1","put 7up can on newspaper",0.249315,0.134090,0.017166,0.009676,-0.930580,-0.032154,-0.364546
11,4,225280,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205011,0.045000,0.869489,1.000000,0.000180,0.000874,0.000037
11,4,225280,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235003,-0.074963,0.870461,1.000000,0.000018,-0.000158,-0.000088
11,4,225280,29,gripper,0,"","put 7up can on newspaper",-0.093682,0.053592,0.996144,0.043635,-0.786406,0.073060,0.611819
11,4,225280,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.110077,-0.018780,0.883544,0.953271,0.005530,-0.011391,0.301852
11,4,225280,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.207226,-0.055998,0.888580,0.716983,0.092496,-0.087423,0.685374
11,4,225280,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
11,4,225280,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,-0.075022,0.870453,0.999999,-0.000832,-0.000819,0.000140
11,4,225280,30,gripper,0,"","put 7up can on newspaper",-0.121372,-0.016621,0.988681,0.037580,-0.787608,-0.008038,0.614977
11,4,225280,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.120625,0.054386,0.883544,0.935453,0.006136,-0.011078,0.353225
11,4,225280,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.150894,-0.069502,0.887840,0.679103,-0.079504,0.050190,0.727997
11,4,225280,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.201672,-0.070005,0.869490,0.999534,0.000506,0.001441,0.030503
11,4,225280,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.074921,-0.067598,0.870447,0.998028,-0.003279,-0.002532,-0.062636
11,4,225280,31,gripper,0,"","put 7up can on newspaper",-0.104935,0.052575,0.972029,-0.004238,-0.713148,-0.030748,0.700326
11,4,225280,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236565,-0.077989,0.887514,0.699737,-0.030144,0.030147,0.713127
11,4,225280,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084557,-0.074995,0.878547,0.706710,0.007960,0.010864,0.707375
11,4,225280,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074914,0.871344,0.999999,-0.000157,0.001164,-0.000022
11,4,225280,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000000
11,4,225280,32,gripper,0,"","put banana on flat bowl",-0.043095,0.009625,0.959946,0.110712,-0.753138,0.069767,0.644716
11,4,225280,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096394,0.084291,0.887625,0.925835,-0.017010,0.041970,0.375204
11,4,225280,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011501,0.006989,0.383091
11,4,225280,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
11,4,225280,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
11,4,225280,33,gripper,0,"","put banana on flat bowl",-0.078283,-0.021028,1.028910,-0.161509,-0.741931,-0.323340,0.564716
11,4,225280,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.119251,0.082037,0.887542,0.997066,-0.003999,0.031108,0.069827
11,4,225280,34,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013271,0.002049,0.000284
11,4,225280,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
11,4,225280,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
11,4,225280,34,gripper,0,"","put banana on flat bowl",-0.139553,-0.037052,0.989256,-0.056686,-0.707983,0.001111,0.703950
11,4,225280,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237535,0.078904,0.887379,0.997038,0.000978,0.030575,0.070569
11,4,225280,35,obj,1,"013_banana_1","put banana on flat bowl",-0.204996,-0.075437,0.878547,0.999909,0.013300,0.002052,0.000313
11,4,225280,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
11,4,225280,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
11,4,225280,35,gripper,0,"","put banana on flat bowl",-0.144419,-0.042169,0.977223,-0.061304,-0.724626,-0.022704,0.686035
11,4,225280,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.215814,-0.078382,0.887369,0.766387,-0.017366,0.026367,0.641603
11,4,225280,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084558,-0.074994,0.878547,0.706815,0.007948,0.010846,0.707270
11,4,225280,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234985,0.045000,0.871344,0.999999,-0.000157,0.001164,-0.000005
11,4,225280,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000002,0.000002
11,4,225280,36,gripper,0,"","put carrot on sheet metal",-0.107241,-0.038814,1.010771,0.052976,-0.720531,0.136197,0.677848
11,4,225280,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.233919,0.045266,0.887528,0.999048,-0.000255,0.043221,0.005879
11,4,225280,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,-0.045434,0.878546,0.999910,0.013250,0.002054,0.000335
11,4,225280,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
11,4,225280,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000001,0.000000,-0.000000
11,4,225280,37,gripper,0,"","put carrot on sheet metal",-0.035716,-0.008398,1.073122,0.043881,-0.800226,-0.097683,0.590059
11,4,225280,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097958,0.072332,0.887522,0.769173,-0.020496,0.022651,0.638310
11,4,225280,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007951,0.010850,0.707323
11,4,225280,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
11,4,225280,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
11,4,225280,38,gripper,0,"","put carrot on sheet metal",-0.068375,0.072502,1.013628,0.036317,-0.731995,0.062018,0.677509
11,4,225280,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.298664,-0.071342,0.887520,-0.292106,0.016335,-0.001364,-0.956246
11,4,225280,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114681,0.074692,0.878547,0.923623,0.011549,0.007014,0.383064
11,4,225280,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
11,4,225280,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.234921,0.045129,0.874362,1.000000,-0.000000,-0.000001,0.000379
11,4,225280,39,gripper,0,"","put carrot on sheet metal",-0.170321,0.042781,1.005559,-0.061952,-0.797367,0.062392,0.597055
11,4,225280,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213470,-0.057644,0.887534,0.995469,-0.004390,0.030866,0.089828
11,4,225280,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.115005,0.074558,0.878547,0.999909,0.013279,0.002028,-0.001343
11,4,225280,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.045029,0.871344,0.999999,-0.000158,0.001163,0.000063
11,4,225280,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
11,4,225280,40,gripper,0,"","put carrot on flat bowl",-0.163979,-0.025848,0.985297,0.017580,-0.779716,0.014839,0.625710
11,4,225280,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.128483,-0.047083,0.887542,0.769247,-0.017489,0.024229,0.638252
11,4,225280,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
11,4,225280,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
11,4,225280,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
11,4,225280,41,gripper,0,"","put carrot on flat bowl",-0.028904,0.080442,1.010838,0.087779,-0.737711,0.018984,0.669116
11,4,225280,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.119053,0.050564,0.887485,0.997129,-0.001691,0.028995,0.069926
11,4,225280,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,-0.075441,0.878546,0.999909,0.013254,0.002035,-0.001255
11,4,225280,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
11,4,225280,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
11,4,225280,42,gripper,0,"","put carrot on flat bowl",-0.108232,0.054749,1.029650,-0.016447,-0.700099,-0.068933,0.710521
11,4,225280,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243237,-0.074539,0.887210,0.951285,-0.017398,0.026925,0.306640
11,4,225280,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204653,0.044697,0.878547,0.924489,0.011516,0.006963,0.380971
11,4,225280,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
11,4,225280,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
11,4,225280,43,gripper,0,"","put carrot on flat bowl",-0.189794,-0.057827,1.050955,-0.167320,-0.718660,-0.050318,0.673052
11,4,225280,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095822,-0.077702,0.887301,0.771342,-0.026487,0.022769,0.635461
11,4,225280,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084560,0.075008,0.878547,0.706780,0.007948,0.010852,0.707306
11,4,225280,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
11,4,225280,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000000
11,4,225280,44,gripper,0,"","put banana on sheet metal",-0.041785,0.114156,1.005021,0.227774,-0.692596,0.163508,0.664601
11,4,225280,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246151,-0.061279,0.887171,0.999058,-0.008378,0.029779,-0.030441
11,4,225280,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234989,0.074562,0.878547,0.999909,0.013284,0.002032,-0.001167
11,4,225280,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
11,4,225280,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
11,4,225280,45,gripper,0,"","put banana on sheet metal",-0.145153,0.066268,1.019301,0.019654,-0.759698,-0.041985,0.648621
11,4,225280,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.235401,-0.041307,0.887529,0.373152,-0.040100,0.016146,0.926763
11,4,225280,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
11,4,225280,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
11,4,225280,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
11,4,225280,46,gripper,0,"","put banana on sheet metal",-0.034855,-0.000792,0.961682,0.110229,-0.830153,0.136442,0.529225
11,4,225280,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209763,-0.033077,0.887280,0.995041,-0.008874,0.029352,0.094622
11,4,225280,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
11,4,225280,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
11,4,225280,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
11,4,225280,47,gripper,0,"","put banana on sheet metal",-0.046427,0.106955,1.004195,0.168168,-0.761516,0.113294,0.615611
11,4,225280,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.071533,0.141933,0.890503,0.994087,-0.026273,0.013789,0.104457
11,4,225280,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.094208,0.055882,0.887117,-0.464365,-0.537524,0.503842,-0.491503
11,4,225280,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085182,-0.044479,0.872200,0.999999,-0.000000,-0.000001,0.001139
11,4,225280,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.091866,0.119049,0.870884,0.999859,0.000718,0.000702,-0.016744
11,4,225280,48,gripper,0,"","put plastic bottle on cutting board",-0.084621,0.064928,1.129243,0.051408,-0.816046,0.034868,0.574640
11,4,225280,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.011505,-0.048779,0.891196,0.163725,0.760225,0.292924,-0.556281
11,4,225280,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205994,0.108913,0.887026,0.497768,-0.513302,0.490106,0.498541
11,4,225280,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000003
11,4,225280,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114830,-0.079556,0.870870,0.999740,-0.000000,-0.000001,0.022819
11,4,225280,49,gripper,0,"","put plastic bottle on cutting board",-0.178158,0.112257,0.980296,0.065024,-0.722020,0.045159,0.687328
11,4,225280,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.229370,-0.031277,0.891736,0.471505,-0.525111,-0.626937,-0.329987
11,4,225280,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.065269,-0.053253,0.887026,0.647505,-0.294145,0.645876,0.277598
11,4,225280,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114822,0.044880,0.872199,0.999994,-0.000001,-0.000001,-0.003446
11,4,225280,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234993,0.075001,0.870870,1.000000,0.000001,0.000000,-0.000101
11,4,225280,50,gripper,0,"","put plastic bottle on cutting board",-0.051411,-0.032154,0.973261,0.042860,-0.766112,0.138768,0.626082
11,4,225280,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.210075,0.105339,0.888112,0.597138,-0.025647,-0.010041,0.801666
11,4,225280,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.072187,-0.025097,0.887027,0.506067,-0.505002,0.498658,0.490111
11,4,225280,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000072
11,4,225280,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234970,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000066
11,4,225280,51,gripper,0,"","put plastic bottle on cutting board",-0.185821,0.054005,1.018873,0.029485,-0.688801,0.110542,0.715866
11,4,225280,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.180532,-0.026852,0.890310,0.371937,-0.022340,-0.013701,0.927888
11,4,225280,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.210289,-0.166653,0.887026,-0.500467,0.510635,-0.492886,-0.495831
11,4,225280,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
11,4,225280,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234760,-0.075035,0.870867,0.999992,0.000028,-0.000008,-0.004009
11,4,225280,52,gripper,0,"","put hamburger on frying pan",-0.063373,-0.022078,0.984251,0.233712,-0.709590,0.177065,0.640709
11,4,225280,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.277046,-0.072788,0.891851,0.094309,0.520961,-0.647423,-0.548223
11,4,225280,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055017,0.076523,0.887027,0.704485,-0.019410,0.709445,0.003533
11,4,225280,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,-0.044998,0.872199,1.000000,0.000000,-0.000000,0.000001
11,4,225280,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
11,4,225280,53,gripper,0,"","put hamburger on frying pan",-0.145096,0.026512,1.019621,-0.028173,-0.714226,-0.023675,0.698946
11,4,225280,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086075,0.074829,0.888113,0.381643,-0.022391,-0.016038,0.923899
11,4,225280,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.193935,0.162968,0.886092,-0.787846,0.020703,-0.008666,-0.615463
11,4,225280,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235397,0.046814,0.872199,0.999943,-0.000000,-0.000001,-0.010672
11,4,225280,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.036663,-0.067490,0.870837,0.985870,0.002033,0.002104,-0.167487
11,4,225280,54,gripper,0,"","put hamburger on frying pan",-0.155254,0.058966,1.004039,0.026783,-0.818813,-0.003377,0.573425
11,4,225280,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234570,-0.086388,0.900460,0.783698,0.329302,-0.521213,0.075596
11,4,225280,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.177811,0.097637,0.887026,0.590686,-0.399966,0.586271,0.383931
11,4,225280,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,-0.000000,-0.000001,0.001676
11,4,225280,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000058
11,4,225280,55,gripper,0,"","put hamburger on frying pan",-0.175962,-0.023426,1.076206,-0.023962,-0.725233,-0.013399,0.687956
11,4,225280,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.094856,-0.017582,0.888112,0.869180,-0.027519,0.001124,0.493728
11,4,225280,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.075737,0.075008,0.887026,0.530489,-0.478818,0.523853,0.463566
11,4,225280,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000062
11,4,225280,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204987,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
11,4,225280,56,gripper,0,"","put hamburger on cutting board",-0.093979,-0.013603,0.981845,0.029817,-0.742448,0.061180,0.666438
11,4,225280,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.237328,-0.045250,0.888112,0.941389,-0.026911,0.005859,0.336196
11,4,225280,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.053493,0.062992,0.889700,0.497189,-0.513506,0.489211,0.499787
11,4,225280,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.110332,-0.073750,0.872199,0.998830,0.000000,-0.000001,-0.048354
11,4,225280,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.048317,0.067291,0.870869,0.980491,0.000592,0.000502,-0.196562
11,4,225280,57,gripper,0,"","put hamburger on cutting board",-0.074808,0.069820,1.129382,0.072731,-0.777596,0.038525,0.623355
11,4,225280,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.152046,-0.041183,0.888112,0.772599,-0.027309,-0.003567,0.634297
11,4,225280,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235794,0.104404,0.887026,0.497047,-0.514011,0.489366,0.499258
11,4,225280,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235252,-0.075111,0.872199,0.999999,0.000000,-0.000001,0.001422
11,4,225280,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
11,4,225280,58,gripper,0,"","put hamburger on cutting board",-0.137672,-0.031662,0.958688,-0.137977,-0.731973,-0.105883,0.658762
11,4,225280,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.215818,0.057663,0.894303,0.527812,0.046142,0.017636,0.847924
11,4,225280,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.269693,-0.017441,0.887026,0.400800,-0.592533,0.390629,0.579373
11,4,225280,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.196449,0.056778,0.872199,0.998301,-0.000001,-0.000001,-0.058261
11,4,225280,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084984,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000023
11,4,225280,59,gripper,0,"","put hamburger on cutting board",-0.132569,0.016224,1.103141,0.024415,-0.828142,-0.005472,0.559960
11,4,225280,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.190122,0.070492,0.888112,0.841055,-0.027540,-0.000374,0.540248
11,4,225280,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.177597,-0.058273,0.887287,0.645462,-0.303591,0.641684,0.281873
11,4,225280,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
11,4,225280,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.072614,-0.075653,0.870870,0.999685,0.000000,-0.000002,0.025087
11,4,225280,60,gripper,0,"","put plastic bottle on frying pan",-0.172382,-0.055044,0.955421,0.127208,-0.697150,0.120121,0.695249
11,4,225280,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.093504,-0.042450,0.890720,0.756311,-0.027424,-0.000903,0.653637
11,4,225280,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.233845,0.111618,0.887027,0.441157,-0.563120,0.431951,0.549267
11,4,225280,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
11,4,225280,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000006
11,4,225280,61,gripper,0,"","put plastic bottle on frying pan",-0.220815,0.100981,0.957055,0.134410,-0.711461,0.031292,0.689042
11,4,225280,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.252350,-0.076321,0.898623,0.517824,0.112157,-0.801344,-0.277717
11,4,225280,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.208317,0.076359,0.888264,0.915351,-0.068444,0.381141,0.110363
11,4,225280,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000599
11,4,225280,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.111855,0.051678,0.870870,0.998814,0.000000,-0.000000,0.048691
11,4,225280,62,gripper,0,"","put plastic bottle on frying pan",-0.090223,0.040144,0.951754,-0.025501,-0.795055,-0.051403,0.603818
11,4,225280,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235229,0.046124,0.888112,0.924257,-0.027161,0.004571,0.380775
11,4,225280,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.126015,-0.027935,0.897982,-0.508499,-0.492801,0.477063,-0.520564
11,4,225280,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.206871,-0.076572,0.872199,0.999975,-0.000001,-0.000000,0.007088
11,4,225280,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.118359,0.071194,0.870870,0.999813,-0.000000,-0.000001,-0.019346
11,4,225280,63,gripper,0,"","put plastic bottle on frying pan",-0.108719,-0.032999,0.936787,0.029430,-0.803707,-0.063378,0.590908
12,1,230400,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.079659,0.083305,0.879089,0.531139,0.369737,-0.278798,0.709548
12,1,230400,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204384,0.074257,0.881638,0.382519,0.034436,-0.019084,0.923108
12,1,230400,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
12,1,230400,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000066
12,1,230400,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.078602,0.095047,0.944029,-0.048351,-0.810822,-0.116748,0.571489
12,1,230400,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085041,-0.084686,0.879089,0.626265,0.326577,-0.328415,0.627123
12,1,230400,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.149723,0.019852,0.886780,0.671131,0.014924,-0.059626,0.738786
12,1,230400,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115025,0.044998,0.869532,0.999999,-0.000000,-0.000001,-0.001106
12,1,230400,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000174
12,1,230400,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.207884,0.016701,0.951950,-0.024208,-0.786291,0.026370,0.616819
12,1,230400,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.215103,-0.043442,0.885085,0.531109,0.369751,-0.278781,0.709569
12,1,230400,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205780,0.074402,0.881638,0.923232,0.010846,-0.037823,0.382223
12,1,230400,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234993,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000035
12,1,230400,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
12,1,230400,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.222979,-0.008358,1.012766,-0.077188,-0.820033,-0.011151,0.566977
12,1,230400,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.062601,0.110504,0.885564,0.696649,-0.166290,0.176823,0.675101
12,1,230400,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234509,-0.075691,0.881638,0.383648,0.034407,-0.019118,0.922640
12,1,230400,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000030
12,1,230400,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000027
12,1,230400,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.078528,0.088589,1.022947,0.098259,-0.764683,0.007296,0.636829
12,1,230400,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.198669,0.063316,0.879095,0.880666,0.034719,-0.467652,0.067253
12,1,230400,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085953,0.075111,0.881638,0.999225,-0.004451,-0.039111,-0.000196
12,1,230400,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000000
12,1,230400,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235006,-0.074982,0.871288,1.000000,-0.000154,-0.001019,0.000044
12,1,230400,4,gripper,0,"","put ketchup bottle on cloth",-0.204620,0.082855,0.933054,0.018113,-0.780117,0.006730,0.625335
12,1,230400,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.077517,0.079750,0.879373,0.366535,-0.254955,0.111452,0.887822
12,1,230400,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234413,0.074257,0.881638,0.382524,0.034436,-0.019082,0.923106
12,1,230400,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
12,1,230400,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000148
12,1,230400,5,gripper,0,"","put ketchup bottle on cloth",-0.189221,0.104591,0.947112,0.010570,-0.776204,0.012831,0.630262
12,1,230400,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.077663,-0.082161,0.879072,0.332630,0.441572,-0.180349,0.813539
12,1,230400,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.103836,0.043694,0.887802,0.816543,0.018325,-0.035372,0.575909
12,1,230400,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205017,0.075005,0.869532,1.000000,0.000001,-0.000002,-0.000158
12,1,230400,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,1.000000,-0.000154,-0.001019,0.000017
12,1,230400,6,gripper,0,"","put ketchup bottle on cloth",-0.109982,-0.076706,0.932646,-0.018674,-0.813614,-0.054550,0.578539
12,1,230400,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.145073,0.074188,0.886374,0.047829,-0.602232,0.793363,0.074867
12,1,230400,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
12,1,230400,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000007
12,1,230400,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205299,0.045128,0.871288,0.999997,-0.000155,-0.001018,-0.002139
12,1,230400,7,gripper,0,"","put ketchup bottle on cloth",-0.202105,0.056210,1.060353,-0.018559,-0.811208,0.046149,0.582638
12,1,230400,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.075851,0.012527,0.879704,-0.286674,-0.690235,-0.548899,0.374304
12,1,230400,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.072716,-0.072495,0.881641,0.948639,0.008315,0.039293,-0.313801
12,1,230400,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
12,1,230400,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084969,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000148
12,1,230400,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.123730,0.013054,1.018742,-0.057935,-0.830717,-0.154518,0.531674
12,1,230400,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091900,-0.081844,0.879088,0.818028,0.176750,-0.428009,0.341172
12,1,230400,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201862,-0.031036,0.883447,0.822852,0.044455,-0.017760,0.566235
12,1,230400,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234352,0.045185,0.876920,0.993702,0.099778,0.050033,-0.009885
12,1,230400,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
12,1,230400,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.218739,-0.022589,0.914689,0.096253,-0.774731,0.109173,0.615312
12,1,230400,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214752,0.075005,0.879088,0.886322,-0.001279,-0.463068,0.000658
12,1,230400,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.198627,-0.059914,0.881641,0.961165,0.006639,0.039640,-0.273032
12,1,230400,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
12,1,230400,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
12,1,230400,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.198435,-0.047188,0.936207,-0.073320,-0.748066,-0.095174,0.652658
12,1,230400,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.200623,-0.048534,0.879373,0.959911,-0.004073,0.278226,0.033819
12,1,230400,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085951,0.075108,0.881638,0.999226,-0.004450,-0.039092,-0.000140
12,1,230400,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000006
12,1,230400,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000042
12,1,230400,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.229424,-0.050730,0.952756,-0.035513,-0.753605,-0.034818,0.655443
12,1,230400,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.221532,-0.028820,0.887957,0.500478,0.384964,-0.253732,0.732765
12,1,230400,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084653,-0.069405,0.881638,0.872327,0.015176,-0.036284,0.487339
12,1,230400,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000007
12,1,230400,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000042
12,1,230400,12,gripper,0,"","put kitchen shovel on cloth",-0.204352,-0.054012,0.977953,-0.078733,-0.735545,-0.104341,0.664746
12,1,230400,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124750,0.075005,0.879089,0.886332,-0.001250,-0.463047,0.000719
12,1,230400,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.158485,-0.061661,0.881641,0.999152,-0.004087,0.039987,-0.008957
12,1,230400,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234474,0.045456,0.869532,0.999941,-0.000001,-0.000001,0.010854
12,1,230400,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.044994,0.871288,0.999999,-0.000154,-0.001019,-0.000010
12,1,230400,13,gripper,0,"","put kitchen shovel on cloth",-0.178227,0.059593,0.997950,0.037591,-0.715177,0.008940,0.697875
12,1,230400,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.173798,-0.065586,0.883475,0.627974,0.155871,0.017305,0.762269
12,1,230400,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084255,0.074371,0.883919,0.706948,0.042781,0.004236,0.705958
12,1,230400,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234997,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000030
12,1,230400,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205307,0.045147,0.871210,0.999981,-0.003918,-0.004119,-0.002222
12,1,230400,14,gripper,0,"","put kitchen shovel on cloth",-0.153530,-0.074617,0.956278,-0.018450,-0.732113,-0.001998,0.680931
12,1,230400,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.232628,-0.000984,0.939032,-0.234552,-0.648932,0.713054,-0.124205
12,1,230400,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.117607,-0.074554,0.889986,0.664565,-0.041039,-0.024812,0.745690
12,1,230400,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084957,0.044991,0.869532,1.000000,0.000000,-0.000001,-0.000205
12,1,230400,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000004
12,1,230400,15,gripper,0,"","put kitchen shovel on cloth",-0.223488,-0.004622,0.974431,0.068504,-0.731048,0.032741,0.678089
12,1,230400,16,obj,0,"003_bread_1","put bread on newspaper",-0.189743,-0.055164,0.884485,0.427053,0.032402,0.013661,0.903542
12,1,230400,16,obj,1,"005_7up can_1","put bread on newspaper",-0.248283,-0.054405,0.935766,0.687230,-0.042610,0.188719,0.700203
12,1,230400,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,-0.075005,0.869489,1.000000,0.000180,0.000872,-0.000145
12,1,230400,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
12,1,230400,16,gripper,0,"","put bread on newspaper",-0.261055,-0.056057,0.969448,0.055129,-0.670492,0.005272,0.739847
12,1,230400,17,obj,0,"003_bread_1","put bread on newspaper",-0.084480,-0.075478,0.883544,0.383606,0.012273,-0.003119,0.923410
12,1,230400,17,obj,1,"005_7up can_1","put bread on newspaper",-0.179043,0.003204,0.887542,0.661874,-0.075056,0.085457,0.740936
12,1,230400,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204941,-0.044949,0.869490,0.999999,0.000181,0.000875,-0.000599
12,1,230400,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
12,1,230400,17,gripper,0,"","put bread on newspaper",-0.180645,-0.007599,0.998235,-0.007494,-0.749215,-0.103904,0.654083
12,1,230400,18,obj,0,"003_bread_1","put bread on newspaper",-0.173309,-0.051197,0.885166,0.756707,0.022463,0.009180,0.653304
12,1,230400,18,obj,1,"005_7up can_1","put bread on newspaper",-0.235161,0.037388,0.885627,0.686987,0.161090,-0.168329,0.688305
12,1,230400,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205036,-0.074986,0.869490,1.000000,0.000180,0.000875,0.000144
12,1,230400,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
12,1,230400,18,gripper,0,"","put bread on newspaper",-0.159803,0.002064,0.972296,0.087076,-0.700887,0.190277,0.681887
12,1,230400,19,obj,0,"003_bread_1","put bread on newspaper",-0.074995,0.089249,0.883544,0.998960,0.001276,-0.012592,-0.043794
12,1,230400,19,obj,1,"005_7up can_1","put bread on newspaper",-0.092594,-0.074818,0.885627,0.972484,-0.005058,-0.232910,0.001177
12,1,230400,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
12,1,230400,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204988,-0.074902,0.870367,0.999998,0.000186,-0.001152,0.001565
12,1,230400,19,gripper,0,"","put bread on newspaper",-0.073386,0.094839,0.955011,0.070054,-0.798552,0.013753,0.597677
12,1,230400,20,obj,0,"003_bread_1","put bread on carpet",-0.085130,0.074448,0.883544,0.709327,0.010132,-0.007601,0.704765
12,1,230400,20,obj,1,"005_7up can_1","put bread on carpet",-0.157192,-0.089855,0.888147,0.601111,0.364681,-0.418792,0.574705
12,1,230400,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204993,-0.075024,0.869490,0.999999,0.000549,0.001426,0.000234
12,1,230400,20,recep,1,"003_carpet_1","put bread on carpet",-0.084748,-0.075115,0.870363,0.999998,-0.000548,-0.001760,0.000650
12,1,230400,20,gripper,0,"","put bread on carpet",-0.164578,-0.072090,0.956471,0.023869,-0.779119,0.054202,0.624072
12,1,230400,21,obj,0,"003_bread_1","put bread on carpet",-0.114479,-0.045471,0.883544,0.383722,0.012268,-0.003125,0.923362
12,1,230400,21,obj,1,"005_7up can_1","put bread on carpet",-0.172966,0.026237,0.885627,0.668948,0.165387,-0.164101,0.705852
12,1,230400,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
12,1,230400,21,recep,1,"003_carpet_1","put bread on carpet",-0.234995,-0.075001,0.870460,1.000000,0.000019,-0.000159,-0.000023
12,1,230400,21,gripper,0,"","put bread on carpet",-0.166784,0.011311,0.980797,-0.053633,-0.757859,-0.062801,0.647170
12,1,230400,22,obj,0,"003_bread_1","put bread on carpet",-0.085476,0.074490,0.883544,0.924442,0.006464,-0.010893,0.381113
12,1,230400,22,obj,1,"005_7up can_1","put bread on carpet",-0.183636,0.069576,0.888851,0.285359,0.655749,-0.638981,0.283312
12,1,230400,22,recep,0,"004_newspaper_1","put bread on carpet",-0.115002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
12,1,230400,22,recep,1,"003_carpet_1","put bread on carpet",-0.205009,0.075001,0.870460,1.000000,0.000019,-0.000159,-0.000030
12,1,230400,22,gripper,0,"","put bread on carpet",-0.158087,-0.032484,1.018047,-0.029228,-0.791021,0.001954,0.611087
12,1,230400,23,obj,0,"003_bread_1","put bread on carpet",-0.086334,0.089470,0.886624,0.697859,0.012545,-0.006508,0.716096
12,1,230400,23,obj,1,"005_7up can_1","put bread on carpet",-0.163895,0.002304,1.002781,0.674590,0.222921,-0.265168,0.651859
12,1,230400,23,recep,0,"004_newspaper_1","put bread on carpet",-0.115009,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000038
12,1,230400,23,recep,1,"003_carpet_1","put bread on carpet",-0.085014,0.075005,0.870447,0.999999,-0.000923,-0.000845,-0.000019
12,1,230400,23,gripper,0,"","put bread on carpet",-0.169048,0.003796,1.041976,0.004106,-0.771244,0.030334,0.635803
12,1,230400,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.234489,-0.045500,0.883544,0.383363,0.012265,-0.003117,0.923511
12,1,230400,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.150391,0.065756,0.885950,0.182987,0.818477,-0.409295,0.359288
12,1,230400,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.083214,0.046244,0.869490,0.999877,0.000194,0.000871,-0.015663
12,1,230400,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,-0.074982,0.870447,0.999999,-0.000923,-0.000845,-0.000020
12,1,230400,24,gripper,0,"","put 7up can on newspaper",-0.153450,0.019997,0.970446,-0.083923,-0.745591,-0.027965,0.660506
12,1,230400,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.217911,0.053236,0.883544,0.532204,0.011567,-0.005127,0.846522
12,1,230400,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.085163,-0.084333,0.885636,0.677162,0.197655,-0.204913,0.678524
12,1,230400,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
12,1,230400,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
12,1,230400,25,gripper,0,"","put 7up can on newspaper",-0.221527,0.038548,0.950356,0.007639,-0.781818,-0.032477,0.622614
12,1,230400,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.085480,0.044489,0.883544,0.924407,0.006459,-0.010888,0.381198
12,1,230400,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.168125,0.080183,0.901572,0.710697,-0.021964,0.019548,0.702884
12,1,230400,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000049
12,1,230400,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000039
12,1,230400,26,gripper,0,"","put 7up can on newspaper",-0.183886,0.075990,0.939182,0.047327,-0.807486,-0.030580,0.587189
12,1,230400,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.158495,-0.025608,0.884415,0.877223,0.021028,0.018175,0.479278
12,1,230400,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.240501,0.069754,0.885626,0.897967,0.084487,-0.217141,0.373318
12,1,230400,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204958,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000053
12,1,230400,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
12,1,230400,27,gripper,0,"","put 7up can on newspaper",-0.228005,0.070148,0.966925,0.067092,-0.720888,0.027948,0.689230
12,1,230400,28,obj,0,"003_bread_1","put 7up can on carpet",-0.094385,-0.064178,0.886681,0.240838,0.015177,-0.000391,0.970447
12,1,230400,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.183880,-0.075584,0.885868,0.265722,0.709679,-0.330233,0.562755
12,1,230400,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
12,1,230400,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000007
12,1,230400,28,gripper,0,"","put 7up can on carpet",-0.233510,-0.083194,0.959015,-0.020802,-0.727760,-0.028776,0.684912
12,1,230400,29,obj,0,"003_bread_1","put 7up can on carpet",-0.172554,0.089371,0.886412,0.930963,0.009236,-0.007978,0.364910
12,1,230400,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.090500,0.039761,0.885627,0.897926,0.084515,-0.217142,0.373411
12,1,230400,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
12,1,230400,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074965,0.870460,1.000000,0.000018,-0.000158,-0.000121
12,1,230400,29,gripper,0,"","put 7up can on carpet",-0.137525,-0.048540,0.972344,-0.044867,-0.758425,-0.026227,0.649685
12,1,230400,30,obj,0,"003_bread_1","put 7up can on carpet",-0.205204,-0.045176,0.883544,0.923708,0.006477,-0.010875,0.382887
12,1,230400,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.099533,-0.077267,0.894295,0.791609,-0.051875,-0.423878,0.437026
12,1,230400,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
12,1,230400,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
12,1,230400,30,gripper,0,"","put 7up can on carpet",-0.116322,-0.091793,0.942131,-0.218365,-0.700229,-0.214618,0.644930
12,1,230400,31,obj,0,"003_bread_1","put 7up can on carpet",-0.235126,0.074457,0.883544,0.709079,0.010124,-0.007598,0.705016
12,1,230400,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.085934,0.049761,0.888966,0.261629,0.654521,-0.664383,0.248492
12,1,230400,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
12,1,230400,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085041,0.075018,0.870461,1.000000,0.000019,-0.000158,-0.000068
12,1,230400,31,gripper,0,"","put 7up can on carpet",-0.101917,-0.051538,1.058557,-0.032858,-0.797601,-0.024776,0.601780
12,1,230400,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088509,-0.077228,0.887507,0.356026,-0.035110,0.013310,0.933722
12,1,230400,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204689,0.075325,0.878547,0.382234,0.003182,0.013050,0.923968
12,1,230400,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000022
12,1,230400,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
12,1,230400,32,gripper,0,"","put carrot on sheet metal",-0.027306,0.094534,0.979058,0.135357,-0.755543,0.190799,0.611906
12,1,230400,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086945,-0.072216,0.887246,0.996811,0.005162,0.032742,0.072586
12,1,230400,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
12,1,230400,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
12,1,230400,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
12,1,230400,33,gripper,0,"","put carrot on sheet metal",-0.045143,0.008153,0.989814,0.110149,-0.766165,0.375620,0.509674
12,1,230400,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.115730,-0.072603,0.887558,0.908129,-0.018283,0.039870,0.416386
12,1,230400,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234680,-0.045306,0.878547,0.923619,0.011488,0.006983,0.383076
12,1,230400,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
12,1,230400,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
12,1,230400,34,gripper,0,"","put carrot on sheet metal",-0.044733,0.085934,1.045017,0.090949,-0.752180,0.024813,0.652179
12,1,230400,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087812,0.077872,0.887502,0.911411,-0.009858,0.015804,0.411076
12,1,230400,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204697,0.074737,0.878547,0.923942,0.011515,0.006982,0.382296
12,1,230400,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
12,1,230400,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
12,1,230400,35,gripper,0,"","put carrot on sheet metal",-0.091056,-0.008920,1.021453,-0.099018,-0.797894,-0.119325,0.582514
12,1,230400,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205105,0.079822,0.887175,0.358647,-0.024304,0.019354,0.932956
12,1,230400,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,0.075319,0.878547,0.382207,0.003187,0.013066,0.923979
12,1,230400,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
12,1,230400,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000001,0.000003
12,1,230400,36,gripper,0,"","put carrot on flat bowl",-0.167925,0.099031,0.987655,-0.102414,-0.680261,-0.115652,0.716506
12,1,230400,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205502,0.076778,0.887528,0.708701,-0.030466,0.030660,0.704184
12,1,230400,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234566,-0.044995,0.878547,0.706773,0.007962,0.010863,0.707312
12,1,230400,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
12,1,230400,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
12,1,230400,37,gripper,0,"","put carrot on flat bowl",-0.165048,0.067333,0.999176,-0.077148,-0.683278,-0.128576,0.714596
12,1,230400,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117878,-0.075472,0.887520,0.742092,-0.020921,0.024684,0.669517
12,1,230400,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204556,0.075008,0.878547,0.706825,0.007976,0.010888,0.707259
12,1,230400,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
12,1,230400,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
12,1,230400,38,gripper,0,"","put carrot on flat bowl",-0.057051,-0.058256,0.974946,0.078652,-0.770001,0.051847,0.631050
12,1,230400,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207336,-0.040688,0.887473,0.996210,-0.000446,0.020264,0.084580
12,1,230400,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.235001,0.074566,0.878547,0.999909,0.013315,0.002046,-0.000081
12,1,230400,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
12,1,230400,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
12,1,230400,39,gripper,0,"","put carrot on flat bowl",-0.063873,0.089939,0.989989,0.071283,-0.793083,0.036220,0.603843
12,1,230400,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088676,-0.076632,0.887688,0.352499,-0.043661,0.016467,0.934648
12,1,230400,40,obj,1,"013_banana_1","put banana on sheet metal",-0.114677,0.075325,0.878547,0.382404,0.003199,0.013098,0.923897
12,1,230400,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000157,0.001164,0.000034
12,1,230400,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000000,-0.000002
12,1,230400,40,gripper,0,"","put banana on sheet metal",-0.064476,0.096756,1.011214,0.092103,-0.693363,-0.026168,0.714198
12,1,230400,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088039,-0.041679,0.887314,0.912340,-0.007378,0.010583,0.409229
12,1,230400,41,obj,1,"013_banana_1","put banana on sheet metal",-0.114681,0.074692,0.878547,0.923761,0.011510,0.006988,0.382734
12,1,230400,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
12,1,230400,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
12,1,230400,41,gripper,0,"","put banana on sheet metal",-0.077576,0.093944,0.980234,0.196618,-0.790074,0.159839,0.558190
12,1,230400,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088528,-0.076784,0.887409,0.349863,-0.037180,0.010327,0.936006
12,1,230400,42,obj,1,"013_banana_1","put banana on sheet metal",-0.114708,0.045322,0.878547,0.382741,0.003196,0.013070,0.923758
12,1,230400,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000007
12,1,230400,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
12,1,230400,42,gripper,0,"","put banana on sheet metal",-0.090992,0.085055,1.027608,0.058963,-0.754351,0.004212,0.653804
12,1,230400,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
12,1,230400,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,0.075333,0.878547,0.382793,0.003196,0.013066,0.923736
12,1,230400,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000011
12,1,230400,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
12,1,230400,43,gripper,0,"","put banana on sheet metal",-0.163900,0.111688,0.965105,0.108041,-0.731805,0.090564,0.666773
12,1,230400,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236347,-0.073807,0.887529,0.379857,-0.039980,0.016434,0.924035
12,1,230400,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084691,0.075323,0.878548,0.382255,0.003182,0.013048,0.923959
12,1,230400,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
12,1,230400,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000001,0.000000
12,1,230400,44,gripper,0,"","put banana on flat bowl",-0.053999,0.086222,0.997823,0.016365,-0.741594,0.003611,0.670639
12,1,230400,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.116783,0.047390,0.887427,0.906990,-0.009993,0.024157,0.420339
12,1,230400,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204674,-0.045305,0.878547,0.923844,0.011506,0.006982,0.382532
12,1,230400,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
12,1,230400,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
12,1,230400,45,gripper,0,"","put banana on flat bowl",-0.181685,-0.043192,0.951483,-0.306863,-0.708922,-0.322864,0.546831
12,1,230400,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087070,-0.071491,0.887503,0.910055,-0.018045,0.038163,0.412333
12,1,230400,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923826,0.011486,0.006973,0.382576
12,1,230400,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
12,1,230400,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000000,-0.000000,0.000140
12,1,230400,46,gripper,0,"","put banana on flat bowl",-0.165667,-0.028439,1.016778,0.021658,-0.713443,0.037850,0.699355
12,1,230400,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117962,-0.045839,0.887101,0.744808,-0.023193,0.010166,0.666798
12,1,230400,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
12,1,230400,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
12,1,230400,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
12,1,230400,47,gripper,0,"","put banana on flat bowl",-0.179770,-0.026049,1.031566,-0.091216,-0.626923,-0.081694,0.769398
12,1,230400,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235252,-0.073906,0.888112,0.925386,-0.027146,0.004648,0.378024
12,1,230400,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.196182,0.051151,0.888310,0.838111,-0.179943,0.332990,0.392822
12,1,230400,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084961,-0.075230,0.872199,0.999999,-0.000001,-0.000001,-0.001475
12,1,230400,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.054871,0.089054,0.870870,-0.074029,-0.000000,0.000000,0.997256
12,1,230400,48,gripper,0,"","put hamburger on frying pan",-0.221626,0.066244,0.938257,-0.003353,-0.729825,-0.020727,0.683311
12,1,230400,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.163452,0.080051,0.888318,0.970640,-0.029699,0.025675,-0.237312
12,1,230400,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205631,-0.074211,0.887026,0.704495,-0.016915,0.709506,0.001057
12,1,230400,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
12,1,230400,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
12,1,230400,49,gripper,0,"","put hamburger on frying pan",-0.162306,0.078516,0.947039,0.025513,-0.745927,0.010265,0.665460
12,1,230400,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.149948,0.187870,0.890586,0.029027,0.326139,0.792529,-0.514479
12,1,230400,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.096992,0.085373,0.963638,0.100991,-0.660299,0.740694,0.071965
12,1,230400,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.243870,0.080715,0.872199,0.999501,-0.000000,-0.000001,0.031601
12,1,230400,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
12,1,230400,50,gripper,0,"","put hamburger on frying pan",-0.084175,0.076057,0.988491,0.150125,-0.831664,-0.015544,0.534375
12,1,230400,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.065975,-0.007103,0.890113,0.988003,-0.104977,0.084844,0.075046
12,1,230400,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175491,-0.074211,0.887054,0.703399,-0.017219,0.710585,0.001405
12,1,230400,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000029
12,1,230400,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
12,1,230400,51,gripper,0,"","put hamburger on frying pan",-0.164541,-0.080236,0.948143,0.027427,-0.744667,0.007422,0.666831
12,1,230400,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085370,0.076126,0.888112,0.931744,-0.027061,0.005115,0.362071
12,1,230400,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064630,-0.053074,0.887026,0.648073,-0.292812,0.646487,0.276256
12,1,230400,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
12,1,230400,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000001
12,1,230400,52,gripper,0,"","put hamburger on cutting board",-0.052980,-0.073486,1.000669,-0.046288,-0.752240,0.003604,0.657251
12,1,230400,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235189,0.076057,0.888112,0.934679,-0.027019,0.005336,0.354425
12,1,230400,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065054,-0.053532,0.887027,0.649799,-0.288732,0.648320,0.272167
12,1,230400,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
12,1,230400,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
12,1,230400,53,gripper,0,"","put hamburger on cutting board",-0.036851,-0.029558,0.964415,0.138812,-0.762106,0.082763,0.626958
12,1,230400,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.062420,0.075260,0.890447,0.437594,-0.023680,-0.012109,0.898779
12,1,230400,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
12,1,230400,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
12,1,230400,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084995,0.045010,0.870870,1.000000,0.000000,-0.000000,0.000114
12,1,230400,54,gripper,0,"","put hamburger on cutting board",-0.102383,0.066196,1.125087,0.154478,-0.714718,0.103973,0.674169
12,1,230400,55,obj,0,"014_hamburger_1","put hamburger on cutting board",0.135998,0.032772,0.022936,0.543672,-0.334060,-0.746453,-0.188763
12,1,230400,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085842,-0.045670,0.887026,0.497156,-0.513905,0.489478,0.499149
12,1,230400,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
12,1,230400,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114925,0.075077,0.870870,1.000000,0.000000,-0.000001,0.000760
12,1,230400,55,gripper,0,"","put hamburger on cutting board",-0.069487,-0.065228,0.974523,-0.030739,-0.808887,-0.191851,0.554933
12,1,230400,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115952,-0.074345,0.888112,0.717016,-0.026920,-0.005832,0.696513
12,1,230400,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205315,0.069931,0.894170,0.783997,-0.018436,0.001588,0.620489
12,1,230400,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205307,0.073441,0.872199,0.999827,-0.000000,-0.000001,-0.018613
12,1,230400,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.044998,0.870870,1.000000,0.000000,-0.000001,0.000000
12,1,230400,56,gripper,0,"","put plastic bottle on frying pan",-0.155746,-0.028484,1.077233,0.119475,-0.753532,0.055364,0.644089
12,1,230400,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.199654,0.076599,0.888112,0.338252,-0.021632,-0.017052,0.940652
12,1,230400,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.255856,-0.024925,0.887027,0.268842,-0.661886,0.256112,0.651181
12,1,230400,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
12,1,230400,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
12,1,230400,57,gripper,0,"","put plastic bottle on frying pan",-0.218971,0.066086,0.933471,0.158380,-0.769855,0.040637,0.616917
12,1,230400,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.051510,0.069523,0.888112,0.989351,-0.021047,0.017762,-0.142918
12,1,230400,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.145504,0.076565,0.889773,0.038114,-0.016927,0.999127,0.002568
12,1,230400,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
12,1,230400,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
12,1,230400,58,gripper,0,"","put plastic bottle on frying pan",-0.056492,0.075720,0.959291,0.001139,-0.837934,-0.049712,0.543501
12,1,230400,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235964,-0.074406,0.888112,0.712860,-0.026880,-0.005995,0.700765
12,1,230400,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.080303,0.014984,0.917305,0.502400,-0.496818,0.495924,0.504802
12,1,230400,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000016
12,1,230400,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
12,1,230400,59,gripper,0,"","put plastic bottle on frying pan",-0.070761,0.011293,0.958275,0.057066,-0.793243,-0.030955,0.605434
12,1,230400,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.118100,0.046215,0.888112,0.347291,-0.021785,-0.016854,0.937353
12,1,230400,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.107577,-0.052856,0.887056,0.246502,-0.659824,0.230024,0.671534
12,1,230400,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205015,-0.074997,0.872199,1.000000,-0.000000,-0.000001,-0.000206
12,1,230400,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
12,1,230400,60,gripper,0,"","put plastic bottle on cutting board",-0.110782,0.049971,1.014750,-0.188654,-0.757656,-0.173077,0.600342
12,1,230400,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
12,1,230400,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106441,0.095055,0.887026,0.264600,-0.663534,0.251799,0.652922
12,1,230400,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
12,1,230400,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204998,0.074993,0.870870,1.000000,0.000003,0.000003,0.000038
12,1,230400,61,gripper,0,"","put plastic bottle on cutting board",-0.082096,0.046305,0.966077,-0.106160,-0.765135,-0.112221,0.625064
12,1,230400,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085228,-0.073883,0.888112,0.925793,-0.027141,0.004677,0.377027
12,1,230400,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.203060,-0.020199,0.887045,0.550081,-0.455671,0.535818,0.450194
12,1,230400,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.170254,0.048336,0.872199,-0.862420,0.000000,0.000001,-0.506193
12,1,230400,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.061382,0.099575,0.870871,0.979855,0.000005,0.000003,-0.199708
12,1,230400,62,gripper,0,"","put plastic bottle on cutting board",-0.201765,-0.025700,0.956332,-0.091421,-0.752537,-0.088444,0.646148
12,1,230400,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205227,-0.073875,0.888112,0.925637,-0.027141,0.004665,0.377409
12,1,230400,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.154606,0.061249,0.891369,0.011555,-0.701888,0.711051,0.040326
12,1,230400,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
12,1,230400,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.236176,0.045868,0.870882,0.999997,0.000699,0.000707,-0.002081
12,1,230400,63,gripper,0,"","put plastic bottle on cutting board",-0.146929,0.047176,0.974946,0.053838,-0.753662,-0.001332,0.655052
12,2,235520,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.079659,0.083313,0.879089,0.531141,0.369734,-0.278797,0.709548
12,2,235520,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.202637,0.070694,0.881638,0.379412,0.034465,-0.018950,0.924392
12,2,235520,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000056
12,2,235520,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000072
12,2,235520,0,gripper,0,"","put ketchup bottle on cloth",-0.200592,0.092346,0.948048,-0.133757,-0.801310,-0.135749,0.567083
12,2,235520,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.151291,0.093094,0.886159,0.494371,-0.458909,0.614594,0.408991
12,2,235520,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.149891,0.020088,0.886780,0.672395,0.013998,-0.058972,0.737707
12,2,235520,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115025,0.044991,0.869533,0.999999,-0.000004,-0.000001,-0.000977
12,2,235520,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000237
12,2,235520,1,gripper,0,"","put ketchup bottle on cloth",-0.183224,0.064888,0.992130,0.146001,-0.831014,0.052619,0.534163
12,2,235520,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156887,-0.074181,0.884209,0.893615,-0.110366,0.327382,0.286520
12,2,235520,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205776,0.074402,0.881638,0.923200,0.010849,-0.037822,0.382300
12,2,235520,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.213657,-0.097618,0.869532,0.940332,0.000000,-0.000003,-0.340259
12,2,235520,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000012
12,2,235520,2,gripper,0,"","put ketchup bottle on cloth",-0.225901,-0.066151,0.928162,-0.022733,-0.806067,0.025213,0.590850
12,2,235520,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.062559,0.111176,0.885372,0.689259,-0.189709,0.203680,0.668914
12,2,235520,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.168863,0.075279,0.889071,0.805607,-0.015291,0.026358,0.591667
12,2,235520,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084988,0.074974,0.869532,1.000000,0.000000,-0.000002,0.000509
12,2,235520,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205019,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000082
12,2,235520,3,gripper,0,"","put ketchup bottle on cloth",-0.179334,0.039608,1.125289,0.184473,-0.770971,0.183886,0.581171
12,2,235520,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.098159,-0.025749,0.885122,0.448986,0.545420,-0.548351,0.447481
12,2,235520,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085953,0.075111,0.881638,0.999225,-0.004451,-0.039112,-0.000196
12,2,235520,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114995,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000028
12,2,235520,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235006,-0.074982,0.871288,0.999999,-0.000155,-0.001019,0.000043
12,2,235520,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.116767,-0.017723,1.006944,0.018189,-0.697921,0.006847,0.715911
12,2,235520,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.077517,0.079750,0.879373,0.366523,-0.254956,0.111448,0.887827
12,2,235520,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.206614,0.051392,0.881637,0.196360,0.037458,-0.012038,0.979742
12,2,235520,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000003
12,2,235520,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.233328,-0.083115,0.872389,0.998589,-0.012842,-0.006678,-0.051087
12,2,235520,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.250521,-0.009895,0.921124,-0.071786,-0.721446,-0.054198,0.686604
12,2,235520,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.176754,0.112724,0.884977,-0.551457,0.441823,-0.478211,-0.521538
12,2,235520,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.103683,0.043747,0.887817,0.816034,0.018286,-0.035403,0.576629
12,2,235520,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205017,0.075005,0.869532,1.000000,0.000001,-0.000001,-0.000114
12,2,235520,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000090
12,2,235520,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.208698,0.040867,0.963235,0.002900,-0.822086,0.076638,0.564174
12,2,235520,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.081299,0.197769,0.879213,-0.224508,-0.565031,0.776710,-0.164490
12,2,235520,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
12,2,235520,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.074574,0.075195,0.869630,0.999797,-0.000779,0.001457,0.020076
12,2,235520,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.186203,0.046677,0.871288,0.998020,-0.000217,-0.001007,-0.062887
12,2,235520,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.153765,0.016956,1.001455,-0.024942,-0.741430,-0.158782,0.651496
12,2,235520,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.075851,0.012527,0.879704,-0.286666,-0.690240,-0.548904,0.374294
12,2,235520,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.072716,-0.072495,0.881641,0.948638,0.008325,0.039322,-0.313798
12,2,235520,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.198563,0.089558,0.869532,0.919237,0.000000,-0.000001,0.393704
12,2,235520,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084969,0.075008,0.871288,0.999999,-0.000155,-0.001020,0.000171
12,2,235520,8,gripper,0,"","put kitchen shovel on cloth",-0.114655,-0.010038,0.979622,-0.069647,-0.745914,-0.085150,0.656895
12,2,235520,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091686,-0.081570,0.879089,0.821654,0.172129,-0.429892,0.332338
12,2,235520,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.099789,0.030003,0.885508,0.609810,0.076336,-0.089593,0.783759
12,2,235520,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.218842,0.054379,0.876611,0.987234,0.090393,0.060424,0.116388
12,2,235520,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.077106,0.081932,0.871282,0.996646,-0.000345,-0.001295,0.081822
12,2,235520,9,gripper,0,"","put kitchen shovel on cloth",-0.173557,-0.017582,0.927719,-0.164512,-0.765811,-0.179474,0.595196
12,2,235520,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.185207,0.071690,0.879372,0.960441,0.002444,0.278241,0.011329
12,2,235520,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.186531,-0.049923,0.881637,0.936513,-0.017791,-0.035083,-0.348419
12,2,235520,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
12,2,235520,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
12,2,235520,10,gripper,0,"","put kitchen shovel on cloth",-0.221901,-0.058615,0.961810,-0.094272,-0.726814,-0.097555,0.673303
12,2,235520,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.095291,-0.057373,0.882832,0.454285,0.271521,0.834212,-0.154893
12,2,235520,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085949,0.075108,0.881638,0.999225,-0.004447,-0.039112,-0.000073
12,2,235520,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000011
12,2,235520,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.047037,-0.084576,0.871231,0.987070,-0.003395,-0.002790,-0.160231
12,2,235520,11,gripper,0,"","put kitchen shovel on cloth",-0.120977,-0.024305,0.914870,-0.023979,-0.815051,-0.089030,0.572006
12,2,235520,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202663,0.082245,0.885085,0.669044,0.302466,-0.350536,0.581394
12,2,235520,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084653,-0.069405,0.881638,0.872327,0.015177,-0.036285,0.487339
12,2,235520,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204987,0.075012,0.869532,1.000000,0.000001,-0.000001,-0.000289
12,2,235520,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000042
12,2,235520,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.222036,0.077631,1.125621,0.078680,-0.755696,0.165129,0.628860
12,2,235520,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.131407,0.075569,0.879463,0.676647,0.000090,-0.736294,0.004338
12,2,235520,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.160095,-0.061466,0.881638,0.999130,-0.004986,-0.039026,-0.013813
12,2,235520,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234474,0.045456,0.869532,0.999941,-0.000001,-0.000001,0.010855
12,2,235520,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000019
12,2,235520,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.138910,0.092100,0.931025,0.109209,-0.709741,0.110143,0.687175
12,2,235520,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.173798,-0.065586,0.883475,0.627971,0.155869,0.017306,0.762271
12,2,235520,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081791,0.073467,0.883829,0.734734,-0.006441,0.054756,0.676111
12,2,235520,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234997,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000028
12,2,235520,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205311,0.045143,0.871210,0.999982,-0.003917,-0.004120,-0.002160
12,2,235520,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.064165,0.076557,0.937893,-0.134630,-0.812250,-0.087674,0.560748
12,2,235520,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.040268,0.067089,0.885122,-0.554928,-0.373145,0.677457,-0.306382
12,2,235520,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.119129,-0.076519,0.889363,0.661315,0.013440,-0.060615,0.747534
12,2,235520,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084972,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000026
12,2,235520,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000024
12,2,235520,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.210728,0.064247,0.994237,0.088612,-0.724353,0.158548,0.665074
12,2,235520,16,obj,0,"003_bread_1","put bread on carpet",-0.189636,-0.054981,0.884475,0.423157,0.030202,0.015273,0.905424
12,2,235520,16,obj,1,"005_7up can_1","put bread on carpet",-0.253922,-0.060158,0.889027,0.606255,-0.075165,0.068517,0.788740
12,2,235520,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234962,-0.074986,0.869490,1.000000,0.000178,0.000869,0.000251
12,2,235520,16,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
12,2,235520,16,gripper,0,"","put bread on carpet",-0.141785,-0.062027,0.963971,-0.066902,-0.677986,0.004291,0.732011
12,2,235520,17,obj,0,"003_bread_1","put bread on carpet",-0.084305,-0.062836,0.888470,0.335337,0.047990,-0.046437,0.939728
12,2,235520,17,obj,1,"005_7up can_1","put bread on carpet",-0.179100,0.002991,0.887526,0.661581,-0.068236,0.079193,0.742552
12,2,235520,17,recep,0,"004_newspaper_1","put bread on carpet",-0.205097,-0.044937,0.869490,1.000000,0.000179,0.000871,-0.000345
12,2,235520,17,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
12,2,235520,17,gripper,0,"","put bread on carpet",-0.098330,-0.068405,0.935145,-0.055688,-0.792495,-0.115464,0.596254
12,2,235520,18,obj,0,"003_bread_1","put bread on carpet",-0.173298,-0.051197,0.885166,0.757400,0.022444,0.009178,0.652500
12,2,235520,18,obj,1,"005_7up can_1","put bread on carpet",-0.082829,0.108929,0.888949,-0.443611,-0.550082,0.570947,-0.417898
12,2,235520,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205021,-0.074986,0.869490,1.000000,0.000180,0.000874,0.000103
12,2,235520,18,recep,1,"003_carpet_1","put bread on carpet",-0.085011,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000086
12,2,235520,18,gripper,0,"","put bread on carpet",-0.157394,-0.010815,1.007752,0.044486,-0.756957,-0.022686,0.651554
12,2,235520,19,obj,0,"003_bread_1","put bread on carpet",-0.190853,-0.068295,0.886568,0.999918,0.002722,-0.010612,0.006625
12,2,235520,19,obj,1,"005_7up can_1","put bread on carpet",-0.092594,-0.074818,0.885627,0.972479,-0.005068,-0.232933,0.001145
12,2,235520,19,recep,0,"004_newspaper_1","put bread on carpet",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000005
12,2,235520,19,recep,1,"003_carpet_1","put bread on carpet",-0.204996,-0.074852,0.870447,0.999998,-0.000487,-0.000469,0.001959
12,2,235520,19,gripper,0,"","put bread on carpet",-0.100801,-0.085606,0.976740,-0.016525,-0.758939,-0.032105,0.650160
12,2,235520,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.082375,0.097481,0.883544,0.769054,0.009400,-0.008470,0.639058
12,2,235520,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.147830,-0.090179,0.888335,0.608706,0.348742,-0.439708,0.560815
12,2,235520,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204993,-0.075024,0.869489,0.999999,0.000548,0.001426,0.000235
12,2,235520,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085344,-0.075329,0.870448,0.999999,-0.000922,-0.000843,0.000354
12,2,235520,20,gripper,0,"","put 7up can on newspaper",-0.077200,0.083298,0.997339,0.036923,-0.771525,-0.017045,0.634897
12,2,235520,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.114353,-0.045479,0.883544,0.386082,0.012262,-0.003156,0.922377
12,2,235520,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.189087,0.051510,0.885753,-0.468251,-0.480361,0.352294,-0.652598
12,2,235520,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
12,2,235520,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235025,-0.075012,0.870460,1.000000,0.000019,-0.000159,0.000097
12,2,235520,21,gripper,0,"","put 7up can on newspaper",-0.222315,0.048708,0.933970,-0.022295,-0.736201,0.017783,0.676162
12,2,235520,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,0.074490,0.883544,0.924565,0.006460,-0.010889,0.380814
12,2,235520,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.183632,0.069572,0.888851,0.285357,0.655705,-0.639059,0.283240
12,2,235520,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115009,-0.075001,0.869490,1.000000,0.000179,0.000874,0.000024
12,2,235520,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,0.075001,0.870460,1.000000,0.000019,-0.000159,-0.000113
12,2,235520,22,gripper,0,"","put 7up can on newspaper",-0.140182,0.067192,1.127424,0.140662,-0.799804,0.174589,0.556818
12,2,235520,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.086338,0.089466,0.886624,0.697757,0.012544,-0.006502,0.716195
12,2,235520,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.159824,0.138561,0.885658,-0.368562,-0.077831,-0.034377,0.925701
12,2,235520,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115025,-0.044994,0.869490,1.000000,0.000179,0.000874,0.000055
12,2,235520,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085014,0.075001,0.870447,0.999999,-0.000923,-0.000845,0.000017
12,2,235520,23,gripper,0,"","put 7up can on newspaper",-0.138447,0.073092,1.023527,-0.017279,-0.737287,-0.073263,0.671373
12,2,235520,24,obj,0,"003_bread_1","put 7up can on carpet",-0.234497,-0.045500,0.883544,0.383189,0.012265,-0.003113,0.923583
12,2,235520,24,obj,1,"005_7up can_1","put 7up can on carpet",0.126938,-0.179873,0.016965,0.677565,-0.314653,0.543574,0.382657
12,2,235520,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.066673,0.034575,0.869490,0.999987,0.000184,0.000873,-0.004925
12,2,235520,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.115028,-0.075022,0.870447,0.999999,-0.000917,-0.000840,0.000121
12,2,235520,24,gripper,0,"","put 7up can on carpet",-0.081364,-0.114935,0.986053,-0.223598,-0.704860,-0.226477,0.633943
12,2,235520,25,obj,0,"003_bread_1","put 7up can on carpet",-0.168377,-0.019524,0.885291,0.394903,-0.009373,0.050840,0.917267
12,2,235520,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.085163,-0.084333,0.885636,0.677155,0.197667,-0.204924,0.678524
12,2,235520,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
12,2,235520,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.204994,-0.074656,0.870448,0.999992,-0.000579,-0.000554,0.003945
12,2,235520,25,gripper,0,"","put 7up can on carpet",-0.185577,-0.004608,0.933577,-0.083989,-0.745191,0.033916,0.660671
12,2,235520,26,obj,0,"003_bread_1","put 7up can on carpet",-0.085480,0.044489,0.883544,0.924507,0.006456,-0.010891,0.380954
12,2,235520,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.181026,-0.002317,0.888418,0.380682,-0.533305,0.403055,0.638916
12,2,235520,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000067
12,2,235520,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.234776,-0.044910,0.870461,1.000000,0.000019,-0.000159,-0.000153
12,2,235520,26,gripper,0,"","put 7up can on carpet",-0.142797,-0.006493,0.993252,-0.178404,-0.740134,-0.152720,0.630119
12,2,235520,27,obj,0,"003_bread_1","put 7up can on carpet",-0.158506,-0.025633,0.884414,0.877237,0.021047,0.018163,0.479252
12,2,235520,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.183506,0.088720,0.885644,0.760385,0.077506,-0.087968,0.638803
12,2,235520,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204969,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000101
12,2,235520,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
12,2,235520,27,gripper,0,"","put 7up can on carpet",-0.177380,0.072482,1.000075,0.089056,-0.688663,0.013882,0.719458
12,2,235520,28,obj,0,"003_bread_1","put bread on newspaper",-0.094384,-0.064180,0.886681,0.240838,0.015189,-0.000403,0.970446
12,2,235520,28,obj,1,"005_7up can_1","put bread on newspaper",-0.181740,-0.072153,0.885855,0.267658,0.705874,-0.327798,0.568023
12,2,235520,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
12,2,235520,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000007
12,2,235520,28,gripper,0,"","put bread on newspaper",-0.019762,-0.047037,1.032978,0.085318,-0.756101,0.089292,0.642696
12,2,235520,29,obj,0,"003_bread_1","put bread on newspaper",-0.172554,0.089361,0.886412,0.930357,0.009262,-0.007967,0.366451
12,2,235520,29,obj,1,"005_7up can_1","put bread on newspaper",-0.069838,0.060492,0.885733,0.727811,-0.265130,0.398435,0.491169
12,2,235520,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.114986,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000015
12,2,235520,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074955,0.870460,1.000000,0.000018,-0.000158,-0.000163
12,2,235520,29,gripper,0,"","put bread on newspaper",-0.076067,0.063383,0.960846,-0.067369,-0.750910,-0.003942,0.656947
12,2,235520,30,obj,0,"003_bread_1","put bread on newspaper",-0.096928,0.090141,0.940839,0.903889,0.057325,-0.025264,0.423154
12,2,235520,30,obj,1,"005_7up can_1","put bread on newspaper",-0.091820,-0.083185,0.885675,0.853558,0.148185,-0.330351,0.374631
12,2,235520,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
12,2,235520,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
12,2,235520,30,gripper,0,"","put bread on newspaper",-0.095867,0.087960,0.982512,0.034623,-0.757958,-0.004647,0.651368
12,2,235520,31,obj,0,"003_bread_1","put bread on newspaper",-0.199337,0.060282,0.917272,0.729511,-0.007420,-0.014334,0.683778
12,2,235520,31,obj,1,"005_7up can_1","put bread on newspaper",-0.085934,0.049768,0.888966,0.261651,0.654437,-0.664472,0.248450
12,2,235520,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
12,2,235520,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085041,0.075026,0.870461,1.000000,0.000019,-0.000158,-0.000148
12,2,235520,31,gripper,0,"","put bread on newspaper",-0.203560,0.056165,0.958903,0.120023,-0.756851,0.053261,0.640261
12,2,235520,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089882,-0.080882,0.887556,0.370242,-0.023912,0.006093,0.928607
12,2,235520,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204689,0.075325,0.878547,0.382233,0.003192,0.013080,0.923968
12,2,235520,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000022
12,2,235520,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
12,2,235520,32,gripper,0,"","put carrot on flat bowl",-0.045986,-0.027546,1.028503,0.195574,-0.730531,0.168732,0.632143
12,2,235520,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087605,-0.071846,0.887545,0.997093,-0.004478,0.026203,0.071402
12,2,235520,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
12,2,235520,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
12,2,235520,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
12,2,235520,33,gripper,0,"","put carrot on flat bowl",-0.076353,-0.020413,1.017307,0.112894,-0.719136,0.117016,0.675578
12,2,235520,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.119133,-0.071553,0.887366,0.913713,-0.007914,0.025134,0.405504
12,2,235520,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234680,-0.045305,0.878547,0.923619,0.011474,0.006975,0.383075
12,2,235520,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
12,2,235520,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
12,2,235520,34,gripper,0,"","put carrot on flat bowl",-0.043791,-0.004628,1.049008,0.250073,-0.666237,0.275848,0.646142
12,2,235520,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090780,0.079490,0.887428,0.915546,-0.006481,0.015706,0.401854
12,2,235520,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204697,0.074737,0.878547,0.923942,0.011518,0.006984,0.382296
12,2,235520,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
12,2,235520,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
12,2,235520,35,gripper,0,"","put carrot on flat bowl",-0.019839,0.070708,1.000988,0.178482,-0.703097,0.124913,0.676901
12,2,235520,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205105,0.079822,0.887175,0.358647,-0.024306,0.019353,0.932956
12,2,235520,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084691,0.075319,0.878546,0.382207,0.003185,0.013061,0.923979
12,2,235520,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000001
12,2,235520,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000004
12,2,235520,36,gripper,0,"","put banana on sheet metal",-0.031113,0.076301,0.995777,0.191287,-0.752422,0.037143,0.629198
12,2,235520,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205502,0.076778,0.887528,0.708700,-0.030467,0.030660,0.704184
12,2,235520,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234566,-0.044995,0.878547,0.706773,0.007965,0.010865,0.707312
12,2,235520,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
12,2,235520,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
12,2,235520,37,gripper,0,"","put banana on sheet metal",-0.197102,-0.026769,0.964583,-0.126433,-0.712675,-0.085501,0.684688
12,2,235520,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122070,-0.075759,0.887504,0.747386,-0.027521,0.032045,0.663046
12,2,235520,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204556,0.075008,0.878547,0.706826,0.007959,0.010869,0.707259
12,2,235520,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
12,2,235520,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
12,2,235520,38,gripper,0,"","put banana on sheet metal",-0.142155,0.094418,0.989789,0.152962,-0.696340,0.091178,0.695269
12,2,235520,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208210,-0.038283,0.887485,0.996350,-0.003071,0.023619,0.081975
12,2,235520,39,obj,1,"013_banana_1","put banana on sheet metal",-0.235001,0.074567,0.878547,0.999910,0.013289,0.002044,-0.000081
12,2,235520,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
12,2,235520,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
12,2,235520,39,gripper,0,"","put banana on sheet metal",-0.045219,0.126831,1.001071,0.018237,-0.776858,-0.060878,0.626460
12,2,235520,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090424,-0.080915,0.887549,0.369091,-0.026677,0.013005,0.928919
12,2,235520,40,obj,1,"013_banana_1","put banana on flat bowl",-0.114677,0.075329,0.878547,0.382633,0.003205,0.013108,0.923802
12,2,235520,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000066
12,2,235520,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000005
12,2,235520,40,gripper,0,"","put banana on flat bowl",-0.075405,0.097193,0.975369,0.215365,-0.751132,0.206014,0.589048
12,2,235520,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090282,-0.040125,0.887455,0.917862,-0.010356,0.023681,0.396057
12,2,235520,41,obj,1,"013_banana_1","put banana on flat bowl",-0.114677,0.074692,0.878547,0.923916,0.011502,0.006977,0.382360
12,2,235520,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
12,2,235520,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
12,2,235520,41,gripper,0,"","put banana on flat bowl",-0.064655,0.116016,0.980549,0.117766,-0.780925,0.090178,0.606758
12,2,235520,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090385,-0.080416,0.887388,0.363401,-0.022161,0.010863,0.931306
12,2,235520,42,obj,1,"013_banana_1","put banana on flat bowl",-0.114712,0.045328,0.878547,0.383184,0.003197,0.013053,0.923575
12,2,235520,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000008
12,2,235520,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
12,2,235520,42,gripper,0,"","put banana on flat bowl",-0.072668,0.081901,0.987383,0.300616,-0.712846,0.279734,0.568533
12,2,235520,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
12,2,235520,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075336,0.878547,0.383286,0.003202,0.013062,0.923532
12,2,235520,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.045000,0.871344,0.999999,-0.000158,0.001164,-0.000013
12,2,235520,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
12,2,235520,43,gripper,0,"","put banana on flat bowl",-0.088017,-0.005339,1.029515,-0.129070,-0.719505,-0.084139,0.677181
12,2,235520,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236021,-0.069418,0.887387,0.343969,-0.018767,0.005494,0.938777
12,2,235520,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084691,0.075325,0.878548,0.382255,0.003185,0.013058,0.923959
12,2,235520,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
12,2,235520,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874362,1.000000,0.000000,-0.000000,-0.000000
12,2,235520,44,gripper,0,"","put carrot on sheet metal",-0.194588,-0.046453,0.985597,0.011660,-0.736896,0.057486,0.673457
12,2,235520,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120834,0.049900,0.887104,0.913621,-0.020610,0.019609,0.405569
12,2,235520,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204668,-0.045305,0.878547,0.924041,0.011487,0.006965,0.382056
12,2,235520,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
12,2,235520,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
12,2,235520,45,gripper,0,"","put carrot on sheet metal",-0.098379,0.051820,1.037853,0.102373,-0.754627,0.060224,0.645314
12,2,235520,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090816,-0.069616,0.887508,0.916704,-0.010119,0.026217,0.398578
12,2,235520,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,-0.075308,0.878547,0.924020,0.011514,0.006980,0.382106
12,2,235520,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
12,2,235520,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000287
12,2,235520,46,gripper,0,"","put carrot on sheet metal",-0.066389,0.073874,1.011288,0.075877,-0.750387,0.120588,0.645462
12,2,235520,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088390,-0.059582,0.887138,0.904678,-0.002658,0.029924,0.425036
12,2,235520,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
12,2,235520,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
12,2,235520,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
12,2,235520,47,gripper,0,"","put carrot on sheet metal",-0.066477,-0.017953,1.015387,0.134519,-0.746295,0.231957,0.609217
12,2,235520,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.207153,-0.041836,0.961216,0.922336,0.103455,-0.044810,0.369574
12,2,235520,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.186707,0.062485,0.887026,0.637288,-0.316787,0.635080,0.300306
12,2,235520,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084961,-0.075230,0.872199,0.999999,-0.000000,-0.000001,-0.001488
12,2,235520,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.054871,0.089031,0.870870,-0.074039,-0.000001,0.000000,0.997255
12,2,235520,48,gripper,0,"","put hamburger on cutting board",-0.201176,-0.048738,1.018694,0.018373,-0.776448,-0.053397,0.627646
12,2,235520,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.070278,-0.054436,0.890507,0.970891,-0.021761,0.019922,-0.237699
12,2,235520,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205631,-0.074211,0.887026,0.704495,-0.016880,0.709508,0.001022
12,2,235520,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083153,0.074734,0.872199,1.000000,-0.000000,-0.000001,0.000697
12,2,235520,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,0.000003
12,2,235520,49,gripper,0,"","put hamburger on cutting board",-0.098122,-0.057940,1.096197,-0.046014,-0.801344,-0.002784,0.596425
12,2,235520,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.149956,0.187878,0.890586,0.025653,0.331334,0.790371,-0.514658
12,2,235520,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.066154,-0.058990,0.892334,0.021014,-0.737491,0.674380,0.029628
12,2,235520,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.243870,0.080715,0.872199,0.999501,-0.000000,-0.000001,0.031579
12,2,235520,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084660,-0.074947,0.870871,1.000000,0.000000,-0.000006,-0.000856
12,2,235520,50,gripper,0,"","put hamburger on cutting board",-0.049519,-0.058504,1.125491,0.032477,-0.755647,-0.026128,0.653651
12,2,235520,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.066061,-0.007046,0.890079,0.988223,-0.104364,0.082906,0.075166
12,2,235520,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.178057,-0.072716,0.887026,0.704405,-0.004496,0.709694,-0.011272
12,2,235520,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085026,-0.075176,0.872199,1.000000,-0.000000,-0.000001,0.000944
12,2,235520,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
12,2,235520,51,gripper,0,"","put hamburger on cutting board",-0.056407,-0.001455,0.976481,-0.066050,-0.785104,-0.129505,0.602061
12,2,235520,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086269,0.100235,0.888112,0.891081,-0.027437,0.002395,0.453007
12,2,235520,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.064630,-0.053074,0.887026,0.648072,-0.292812,0.646487,0.276257
12,2,235520,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
12,2,235520,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000001
12,2,235520,52,gripper,0,"","put plastic bottle on frying pan",-0.052839,0.094498,0.947783,0.116236,-0.746924,0.062519,0.651679
12,2,235520,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235153,0.076054,0.888112,0.943664,-0.026875,0.006044,0.329757
12,2,235520,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.063194,-0.027355,0.887137,0.592338,-0.393816,0.595440,0.373491
12,2,235520,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
12,2,235520,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
12,2,235520,53,gripper,0,"","put plastic bottle on frying pan",-0.052070,-0.033171,0.933640,0.164375,-0.736373,0.152471,0.638348
12,2,235520,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.062420,0.075180,0.890448,0.443171,-0.023794,-0.011944,0.896042
12,2,235520,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.225796,0.094482,0.887061,0.268328,-0.649684,0.250589,0.665670
12,2,235520,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000004
12,2,235520,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084995,0.045010,0.870870,1.000000,-0.000000,-0.000001,0.000138
12,2,235520,54,gripper,0,"","put plastic bottle on frying pan",-0.198002,0.104404,0.954590,0.160386,-0.695565,0.104436,0.692502
12,2,235520,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.135998,0.032772,0.022936,0.543848,-0.333343,-0.746776,-0.188248
12,2,235520,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.086491,-0.044308,0.887026,0.488615,-0.522135,0.480687,0.507515
12,2,235520,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
12,2,235520,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114925,0.075077,0.870870,1.000000,0.000000,-0.000000,0.000747
12,2,235520,55,gripper,0,"","put plastic bottle on frying pan",-0.068439,-0.039351,0.980537,-0.217146,-0.704497,-0.234292,0.633749
12,2,235520,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115944,-0.074341,0.888112,0.721569,-0.026954,-0.005656,0.691794
12,2,235520,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.180641,0.073391,0.895275,0.397335,-0.608631,0.341097,0.596108
12,2,235520,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.194038,0.064678,0.872199,0.996835,-0.000000,-0.000000,0.079504
12,2,235520,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.081772,0.044575,0.870870,0.999987,0.000000,-0.000001,-0.005110
12,2,235520,56,gripper,0,"","put plastic bottle on cutting board",-0.220718,0.052277,0.924722,-0.206496,-0.739979,-0.240625,0.593203
12,2,235520,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.071434,-0.067123,0.890570,0.218339,-0.019106,-0.017058,0.975537
12,2,235520,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.255856,-0.024925,0.887027,0.268791,-0.661907,0.256060,0.651202
12,2,235520,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
12,2,235520,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,-0.075001,0.870871,1.000000,0.000000,-0.000001,-0.000050
12,2,235520,57,gripper,0,"","put plastic bottle on cutting board",-0.111637,-0.050211,1.055136,-0.004014,-0.751491,-0.053598,0.657551
12,2,235520,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.051510,0.069519,0.888112,0.988736,-0.020973,0.017853,-0.147118
12,2,235520,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.140160,0.076073,0.889793,-0.084014,-0.019942,0.996124,0.016795
12,2,235520,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
12,2,235520,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000025
12,2,235520,58,gripper,0,"","put plastic bottle on cutting board",-0.142126,0.078398,0.985828,0.170423,-0.736478,0.092718,0.648043
12,2,235520,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235962,-0.074402,0.888112,0.713604,-0.026887,-0.005965,0.700008
12,2,235520,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.079365,0.038895,0.889705,0.512944,-0.496892,0.508534,0.481020
12,2,235520,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000063
12,2,235520,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085407,0.075729,0.870886,0.999998,0.000727,0.000722,0.001836
12,2,235520,59,gripper,0,"","put plastic bottle on cutting board",-0.106429,0.027594,1.143069,0.091078,-0.808852,0.126582,0.566957
12,2,235520,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.193171,-0.004990,0.891130,0.384060,0.048794,0.136786,0.911815
12,2,235520,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.103554,-0.057507,0.887058,0.302249,-0.636873,0.284208,0.649819
12,2,235520,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.207551,-0.074440,0.872199,0.999945,-0.000000,-0.000001,-0.010458
12,2,235520,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
12,2,235520,60,gripper,0,"","put hamburger on frying pan",-0.133917,-0.048265,1.001098,-0.114081,-0.791635,-0.150513,0.581072
12,2,235520,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.075401,-0.032871,0.888112,0.457344,-0.023647,-0.014114,0.888864
12,2,235520,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106441,0.095055,0.887026,0.264620,-0.663526,0.251820,0.652914
12,2,235520,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
12,2,235520,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204998,0.074993,0.870870,1.000000,0.000001,0.000000,0.000040
12,2,235520,61,gripper,0,"","put hamburger on frying pan",-0.100276,-0.069349,0.987801,-0.035442,-0.758053,-0.132283,0.637653
12,2,235520,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085228,-0.073883,0.888112,0.925300,-0.027148,0.004642,0.378234
12,2,235520,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.185677,-0.012928,0.889169,0.524250,-0.512056,0.464013,0.497647
12,2,235520,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.162788,0.061226,0.872271,-0.863392,0.000848,0.001063,-0.504531
12,2,235520,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.053787,0.103283,0.870869,0.968565,0.000504,0.000381,-0.248759
12,2,235520,62,gripper,0,"","put hamburger on frying pan",-0.163851,-0.012163,0.938651,-0.009649,-0.759139,-0.020889,0.650522
12,2,235520,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.079823,-0.048237,0.931766,0.931664,-0.051137,0.039580,0.357520
12,2,235520,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.153774,0.061089,0.891369,-0.084773,-0.652842,0.752313,-0.025212
12,2,235520,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
12,2,235520,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236202,0.045849,0.870883,0.999987,0.000688,0.000691,-0.005038
12,2,235520,63,gripper,0,"","put hamburger on frying pan",-0.076971,-0.043209,0.987345,-0.086480,-0.768232,-0.026075,0.633767
12,3,240640,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.079659,0.083313,0.879089,0.531141,0.369738,-0.278801,0.709544
12,3,240640,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.240395,0.152443,0.873649,-0.093700,-0.992096,0.083041,0.008293
12,3,240640,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.113564,-0.073883,0.877170,0.993202,0.008082,-0.115953,0.006267
12,3,240640,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.223511,-0.048134,0.871921,0.995739,-0.007297,-0.006995,0.091663
12,3,240640,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.270935,0.031841,0.913422,-0.035852,-0.733334,-0.038621,0.677823
12,3,240640,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.152084,0.090042,0.885770,0.587708,-0.385558,0.525272,0.479619
12,3,240640,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.149948,0.020210,0.886779,0.674555,0.014976,-0.059962,0.735633
12,3,240640,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115025,0.044991,0.869532,0.999999,-0.000001,-0.000001,-0.000976
12,3,240640,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000212
12,3,240640,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.185162,-0.009384,1.120521,-0.026132,-0.810874,0.127372,0.570593
12,3,240640,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.156971,-0.074234,0.884188,0.896454,-0.106724,0.324867,0.281853
12,3,240640,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.198437,0.081215,0.881656,0.914123,0.016810,-0.048040,0.402228
12,3,240640,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.213657,-0.097618,0.869532,0.940333,0.000000,-0.000000,-0.340254
12,3,240640,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044998,0.871288,0.999999,-0.000153,-0.001019,0.000008
12,3,240640,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.223576,0.103165,0.929995,0.069206,-0.741293,0.011950,0.667497
12,3,240640,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.062538,0.111176,0.885371,0.689214,-0.189721,0.203676,0.668959
12,3,240640,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.168861,0.075287,0.889070,0.805563,-0.015312,0.026388,0.591724
12,3,240640,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084988,0.074974,0.869532,1.000000,0.000000,-0.000001,0.000521
12,3,240640,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205019,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000170
12,3,240640,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.149867,0.042679,1.059430,-0.012430,-0.832713,0.041132,0.552034
12,3,240640,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.098168,-0.025848,0.885122,0.451146,0.542765,-0.550911,0.445389
12,3,240640,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.081802,0.080856,0.881638,0.998360,-0.006066,-0.038867,-0.041594
12,3,240640,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114995,-0.044991,0.869532,1.000000,-0.000001,0.000000,-0.000079
12,3,240640,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235006,-0.074982,0.871288,1.000000,-0.000154,-0.001019,0.000044
12,3,240640,4,gripper,0,"","put kitchen shovel on cloth",-0.078497,0.139118,0.952940,0.245875,-0.741669,0.220225,0.583929
12,3,240640,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.077343,0.079544,0.879372,0.366917,-0.254906,0.111560,0.887665
12,3,240640,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.161825,0.051239,0.881664,0.222513,-0.025433,0.001240,0.974597
12,3,240640,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000004
12,3,240640,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.233280,-0.083305,0.871288,0.998642,-0.000206,-0.001009,-0.052092
12,3,240640,5,gripper,0,"","put kitchen shovel on cloth",-0.183702,0.062340,0.931378,0.057150,-0.761043,-0.032459,0.645363
12,3,240640,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.176720,0.112755,0.884977,-0.551140,0.442112,-0.477942,-0.521874
12,3,240640,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.103680,0.043739,0.887819,0.815662,0.018259,-0.035340,0.577160
12,3,240640,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205017,0.075005,0.869532,1.000000,0.000001,-0.000001,-0.000129
12,3,240640,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,1.000000,-0.000153,-0.001019,0.000151
12,3,240640,6,gripper,0,"","put kitchen shovel on cloth",-0.200891,0.115913,0.932516,0.138129,-0.763000,0.071523,0.627404
12,3,240640,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.081299,0.197769,0.879213,-0.224511,-0.565019,0.776719,-0.164486
12,3,240640,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
12,3,240640,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.074654,0.075195,0.869532,0.999825,-0.000000,-0.000002,0.018710
12,3,240640,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.187531,0.042450,0.871288,0.999822,-0.000172,-0.001015,-0.018857
12,3,240640,7,gripper,0,"","put kitchen shovel on cloth",-0.244919,-0.086266,0.914890,-0.117688,-0.770896,-0.129014,0.612555
12,3,240640,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.075851,0.012524,0.879703,-0.286668,-0.690234,-0.548916,0.374285
12,3,240640,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.072716,-0.072495,0.881641,0.948634,0.008316,0.039295,-0.313816
12,3,240640,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.198563,0.089558,0.869532,0.919244,0.000000,-0.000000,0.393689
12,3,240640,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084969,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000196
12,3,240640,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.216278,-0.119141,0.927509,0.035383,-0.717698,0.089241,0.689706
12,3,240640,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067322,-0.104336,0.879375,0.994956,0.009113,-0.087685,0.047858
12,3,240640,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.099220,0.029610,0.886537,0.614208,0.105439,-0.087822,0.777122
12,3,240640,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.219486,0.054920,0.869532,0.992909,0.000000,-0.000001,0.118878
12,3,240640,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.077106,0.081932,0.871282,0.996648,-0.000348,-0.001300,0.081801
12,3,240640,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.088047,-0.096024,0.938906,-0.091238,-0.785302,-0.093540,0.605166
12,3,240640,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.145779,0.052872,0.879116,0.098274,-0.118580,0.988005,0.011228
12,3,240640,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.185062,-0.051163,0.881641,0.936612,0.009738,0.038971,-0.348059
12,3,240640,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000028
12,3,240640,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
12,3,240640,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.172491,0.029099,0.952840,-0.059299,-0.758909,-0.058026,0.645890
12,3,240640,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078377,-0.025043,0.879885,0.775905,0.165505,0.580136,-0.184451
12,3,240640,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083723,0.075165,0.881637,0.998344,-0.003563,0.057394,0.001499
12,3,240640,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000016
12,3,240640,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.047033,-0.084572,0.871231,0.987058,-0.003403,-0.002793,-0.160306
12,3,240640,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.124506,-0.007994,0.943164,0.142949,-0.754371,0.068331,0.637040
12,3,240640,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202664,0.082245,0.885085,0.669099,0.302464,-0.350645,0.581265
12,3,240640,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084653,-0.069405,0.881638,0.872326,0.015180,-0.036290,0.487339
12,3,240640,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204987,0.075012,0.869532,1.000000,0.000001,-0.000002,-0.000276
12,3,240640,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000042
12,3,240640,12,gripper,0,"","put ketchup bottle on cloth",-0.167483,0.040016,1.120941,0.058735,-0.820276,0.079493,0.563364
12,3,240640,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.002422,0.177711,0.010325,0.359291,-0.637623,-0.437717,-0.522255
12,3,240640,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.160093,-0.061466,0.881638,0.999130,-0.004985,-0.039036,-0.013779
12,3,240640,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234474,0.045456,0.869532,0.999941,-0.000001,-0.000001,0.010856
12,3,240640,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.044994,0.871288,0.999999,-0.000154,-0.001019,-0.000019
12,3,240640,13,gripper,0,"","put ketchup bottle on cloth",-0.241880,0.076984,0.940324,0.022149,-0.747529,-0.000156,0.663859
12,3,240640,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.173798,-0.065590,0.883475,0.628076,0.155835,0.017317,0.762191
12,3,240640,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081783,0.073639,0.883820,0.735432,-0.008723,0.057294,0.675116
12,3,240640,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234997,-0.075001,0.869532,1.000000,-0.000000,-0.000001,-0.000030
12,3,240640,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205311,0.045143,0.871210,0.999982,-0.003917,-0.004119,-0.002146
12,3,240640,14,gripper,0,"","put ketchup bottle on cloth",-0.178888,0.053370,1.009996,0.058868,-0.779287,-0.030978,0.623126
12,3,240640,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.040203,0.067318,0.885121,-0.554489,-0.374696,0.676217,-0.308019
12,3,240640,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.119671,-0.077374,0.889553,0.662988,0.025416,-0.081398,0.743757
12,3,240640,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084972,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000035
12,3,240640,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000027
12,3,240640,15,gripper,0,"","put ketchup bottle on cloth",-0.218063,-0.025543,0.937199,0.077030,-0.817651,0.068524,0.566407
12,3,240640,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.189636,-0.055000,0.884474,0.423433,0.030130,0.015300,0.905297
12,3,240640,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.253922,-0.060249,0.889024,0.605590,-0.074443,0.067847,0.789377
12,3,240640,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234962,-0.074982,0.869489,1.000000,0.000179,0.000873,0.000610
12,3,240640,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075043,0.870448,0.999999,-0.000923,-0.000845,-0.000084
12,3,240640,16,gripper,0,"","put 7up can on newspaper",-0.087524,0.016336,1.149195,0.078816,-0.800639,0.187784,0.563473
12,3,240640,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.081013,-0.059345,0.883544,0.319398,0.012458,-0.002269,0.947536
12,3,240640,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.179455,0.002773,0.887526,0.660775,-0.062048,0.072860,0.744458
12,3,240640,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205338,-0.044930,0.869490,1.000000,0.000180,0.000875,-0.000279
12,3,240640,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
12,3,240640,17,gripper,0,"","put 7up can on newspaper",-0.108719,0.025063,1.025131,0.066174,-0.751274,0.039343,0.655485
12,3,240640,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.173283,-0.051197,0.885166,0.757695,0.022432,0.009194,0.652158
12,3,240640,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.080391,0.115524,0.888917,-0.410336,-0.594420,0.501260,-0.476475
12,3,240640,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.074986,0.869490,1.000000,0.000180,0.000875,0.000089
12,3,240640,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081493,0.075836,0.870414,0.999881,-0.000847,-0.001469,-0.015308
12,3,240640,18,gripper,0,"","put 7up can on newspaper",-0.071707,0.105511,0.995668,-0.038866,-0.768860,-0.052079,0.636107
12,3,240640,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.192623,-0.086395,0.886436,0.999966,0.003448,-0.006980,0.002820
12,3,240640,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.096941,-0.069149,0.889681,0.905600,-0.100362,-0.410164,0.039774
12,3,240640,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234989,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000005
12,3,240640,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205112,-0.075039,0.870416,1.000000,0.000057,-0.000602,-0.000262
12,3,240640,19,gripper,0,"","put 7up can on newspaper",-0.103009,-0.069740,0.943769,0.024160,-0.752343,0.047405,0.656619
12,3,240640,20,obj,0,"003_bread_1","put 7up can on carpet",-0.082375,0.097481,0.883544,0.769054,0.009403,-0.008476,0.639058
12,3,240640,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.147830,-0.090179,0.888335,0.608712,0.348738,-0.439712,0.560807
12,3,240640,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204993,-0.075024,0.869490,0.999999,0.000548,0.001425,0.000235
12,3,240640,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085344,-0.075329,0.870448,0.999999,-0.000922,-0.000843,0.000354
12,3,240640,20,gripper,0,"","put 7up can on carpet",-0.223663,-0.083416,0.943306,0.056697,-0.766343,-0.003651,0.639915
12,3,240640,21,obj,0,"003_bread_1","put 7up can on carpet",-0.110891,-0.043140,0.883573,0.352964,0.015984,-0.004233,0.935491
12,3,240640,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.203575,0.040550,0.885948,-0.232359,0.722026,-0.590712,-0.275221
12,3,240640,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
12,3,240640,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235022,-0.075016,0.870460,1.000000,0.000018,-0.000158,0.000077
12,3,240640,21,gripper,0,"","put 7up can on carpet",-0.112209,-0.039375,0.935085,0.037928,-0.813215,-0.041763,0.579223
12,3,240640,22,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,0.074490,0.883544,0.924681,0.006456,-0.010890,0.380533
12,3,240640,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.183636,0.069569,0.888851,0.285365,0.655679,-0.639087,0.283230
12,3,240640,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115005,-0.075001,0.869490,1.000000,0.000179,0.000874,0.000040
12,3,240640,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205009,0.075001,0.870460,1.000000,0.000019,-0.000159,-0.000193
12,3,240640,22,gripper,0,"","put 7up can on carpet",-0.120514,0.034588,1.132411,-0.029459,-0.839070,-0.020521,0.542838
12,3,240640,23,obj,0,"003_bread_1","put 7up can on carpet",-0.086338,0.089462,0.886624,0.697725,0.012544,-0.006502,0.716226
12,3,240640,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.165642,0.133030,0.885719,-0.349770,-0.305017,-0.124003,0.877068
12,3,240640,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115025,-0.044994,0.869490,1.000000,0.000179,0.000874,0.000068
12,3,240640,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.085014,0.074997,0.870447,0.999999,-0.000923,-0.000846,0.000056
12,3,240640,23,gripper,0,"","put 7up can on carpet",-0.194073,0.091021,0.932041,0.132197,-0.719152,0.051998,0.680177
12,3,240640,24,obj,0,"003_bread_1","put bread on newspaper",-0.116287,-0.066313,0.886636,0.525061,0.013874,-0.003387,0.850945
12,3,240640,24,obj,1,"005_7up can_1","put bread on newspaper",0.126938,-0.179874,0.016965,0.677452,-0.314813,0.543481,0.382858
12,3,240640,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.066673,0.034576,0.869490,0.999988,0.000184,0.000873,-0.004903
12,3,240640,24,recep,1,"003_carpet_1","put bread on newspaper",-0.115028,-0.075010,0.870448,0.999999,-0.000922,-0.000844,0.000142
12,3,240640,24,gripper,0,"","put bread on newspaper",-0.124966,-0.027974,1.078557,0.013162,-0.769477,0.097677,0.631024
12,3,240640,25,obj,0,"003_bread_1","put bread on newspaper",-0.169353,-0.031189,0.886514,0.458691,0.013449,-0.004720,0.888481
12,3,240640,25,obj,1,"005_7up can_1","put bread on newspaper",-0.085163,-0.084333,0.885636,0.677160,0.197665,-0.204924,0.678520
12,3,240640,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
12,3,240640,25,recep,1,"003_carpet_1","put bread on newspaper",-0.205059,-0.072992,0.870421,0.999977,-0.000194,-0.000791,0.006737
12,3,240640,25,gripper,0,"","put bread on newspaper",-0.169638,-0.026352,0.998191,0.021496,-0.731286,-0.069941,0.678135
12,3,240640,26,obj,0,"003_bread_1","put bread on newspaper",-0.085480,0.044489,0.883544,0.924600,0.006452,-0.010887,0.380730
12,3,240640,26,obj,1,"005_7up can_1","put bread on newspaper",-0.180717,0.015507,0.886003,0.191886,-0.695683,0.660842,0.206139
12,3,240640,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000087
12,3,240640,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235687,-0.043140,0.870446,0.999891,-0.000713,-0.001058,0.014719
12,3,240640,26,gripper,0,"","put bread on newspaper",-0.185091,0.018053,0.950240,-0.028776,-0.736739,-0.014547,0.675408
12,3,240640,27,obj,0,"003_bread_1","put bread on newspaper",-0.158510,-0.025652,0.884414,0.877332,0.021046,0.018140,0.479079
12,3,240640,27,obj,1,"005_7up can_1","put bread on newspaper",-0.174681,0.059795,0.885951,0.305405,0.602475,-0.688833,0.263174
12,3,240640,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204977,-0.074995,0.869490,1.000000,0.000180,0.000875,0.000192
12,3,240640,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084969,-0.074986,0.870418,1.000000,-0.000219,-0.000848,-0.000156
12,3,240640,27,gripper,0,"","put bread on newspaper",-0.160876,0.000042,0.972900,0.036198,-0.780003,-0.086608,0.618695
12,3,240640,28,obj,0,"003_bread_1","put bread on carpet",-0.094385,-0.064178,0.886681,0.240838,0.015172,-0.000388,0.970447
12,3,240640,28,obj,1,"005_7up can_1","put bread on carpet",-0.181740,-0.072153,0.885855,0.267658,0.705874,-0.327798,0.568022
12,3,240640,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
12,3,240640,28,recep,1,"003_carpet_1","put bread on carpet",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000007
12,3,240640,28,gripper,0,"","put bread on carpet",-0.206583,0.086533,0.964690,-0.028524,-0.717200,-0.044905,0.694834
12,3,240640,29,obj,0,"003_bread_1","put bread on carpet",-0.172554,0.089352,0.886412,0.930243,0.009267,-0.007965,0.366742
12,3,240640,29,obj,1,"005_7up can_1","put bread on carpet",-0.052280,0.082924,0.924558,-0.016281,-0.693536,0.718973,0.042664
12,3,240640,29,recep,0,"004_newspaper_1","put bread on carpet",-0.114981,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000041
12,3,240640,29,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074945,0.870460,1.000000,0.000018,-0.000158,-0.000183
12,3,240640,29,gripper,0,"","put bread on carpet",-0.039545,0.075008,0.968634,0.064305,-0.744178,-0.054394,0.662651
12,3,240640,30,obj,0,"003_bread_1","put bread on carpet",-0.101120,0.093702,0.886783,0.893639,0.009423,-0.007679,0.448622
12,3,240640,30,obj,1,"005_7up can_1","put bread on carpet",-0.082287,0.029261,0.888601,-0.347512,0.634490,-0.567329,-0.393441
12,3,240640,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
12,3,240640,30,recep,1,"003_carpet_1","put bread on carpet",-0.085129,0.075846,0.870461,1.000000,0.000018,-0.000158,0.000423
12,3,240640,30,gripper,0,"","put bread on carpet",-0.058298,0.069203,0.980721,0.102100,-0.751357,0.067282,0.648468
12,3,240640,31,obj,0,"003_bread_1","put bread on carpet",-0.137917,0.025644,0.883610,0.625357,0.009381,-0.007555,0.780246
12,3,240640,31,obj,1,"005_7up can_1","put bread on carpet",-0.070160,0.042124,0.888968,0.237227,0.713783,-0.600284,0.271839
12,3,240640,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
12,3,240640,31,recep,1,"003_carpet_1","put bread on carpet",-0.073975,0.067083,0.870462,0.995556,0.000050,-0.000154,0.094175
12,3,240640,31,gripper,0,"","put bread on carpet",-0.163561,-0.081654,0.947631,-0.029818,-0.776415,-0.099177,0.621655
12,3,240640,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091118,-0.083293,0.887129,0.379605,-0.017376,0.017773,0.924815
12,3,240640,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204689,0.075325,0.878547,0.382234,0.003189,0.013071,0.923968
12,3,240640,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000021
12,3,240640,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
12,3,240640,32,gripper,0,"","put banana on sheet metal",-0.140221,-0.008054,0.975109,0.171968,-0.700819,0.267448,0.638554
12,3,240640,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088364,-0.072124,0.887370,0.997150,-0.003571,0.020918,0.072396
12,3,240640,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
12,3,240640,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
12,3,240640,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
12,3,240640,33,gripper,0,"","put banana on sheet metal",-0.133293,0.011801,1.026710,-0.034493,-0.778154,-0.059870,0.624261
12,3,240640,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122448,-0.069829,0.887131,0.919318,-0.016186,0.014650,0.392909
12,3,240640,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234680,-0.045306,0.878547,0.923619,0.011490,0.006983,0.383076
12,3,240640,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
12,3,240640,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
12,3,240640,34,gripper,0,"","put banana on sheet metal",-0.181091,-0.022992,1.021096,0.010804,-0.736957,-0.077125,0.671438
12,3,240640,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093237,0.081241,0.887145,0.919223,-0.020517,0.022121,0.392579
12,3,240640,35,obj,1,"013_banana_1","put banana on sheet metal",-0.204697,0.074737,0.878547,0.923942,0.011485,0.006966,0.382296
12,3,240640,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
12,3,240640,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
12,3,240640,35,gripper,0,"","put banana on sheet metal",-0.151196,-0.035269,1.078504,-0.160836,-0.737403,-0.145682,0.639645
12,3,240640,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205105,0.079822,0.887175,0.358647,-0.024305,0.019354,0.932956
12,3,240640,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084691,0.075319,0.878546,0.382207,0.003185,0.013060,0.923979
12,3,240640,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
12,3,240640,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000004
12,3,240640,36,gripper,0,"","put banana on flat bowl",-0.044297,0.108446,1.006936,0.447689,-0.594161,0.373074,0.554403
12,3,240640,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205502,0.076778,0.887529,0.708701,-0.030467,0.030660,0.704184
12,3,240640,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234566,-0.044995,0.878547,0.706773,0.007955,0.010854,0.707312
12,3,240640,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
12,3,240640,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
12,3,240640,37,gripper,0,"","put banana on flat bowl",-0.179633,0.001777,0.992730,-0.024707,-0.697047,-0.045102,0.715178
12,3,240640,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.125828,-0.076825,0.887541,0.756203,-0.020981,0.021211,0.653656
12,3,240640,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075008,0.878547,0.706826,0.007967,0.010878,0.707259
12,3,240640,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
12,3,240640,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000001
12,3,240640,38,gripper,0,"","put banana on flat bowl",-0.155872,0.093356,0.993468,0.118361,-0.778970,0.079792,0.610598
12,3,240640,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.209007,-0.035943,0.887272,0.996129,-0.007935,0.025493,0.083745
12,3,240640,39,obj,1,"013_banana_1","put banana on flat bowl",-0.235001,0.074567,0.878547,0.999909,0.013311,0.002046,-0.000081
12,3,240640,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
12,3,240640,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
12,3,240640,39,gripper,0,"","put banana on flat bowl",-0.189768,0.096224,0.965646,-0.060649,-0.759822,-0.082110,0.642067
12,3,240640,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092552,-0.084713,0.887554,0.386154,-0.021747,0.012407,0.922095
12,3,240640,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.114677,0.075331,0.878547,0.382862,0.003213,0.013123,0.923707
12,3,240640,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001163,0.000093
12,3,240640,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000006
12,3,240640,40,gripper,0,"","put carrot on sheet metal",-0.085102,-0.068003,1.008659,-0.170314,-0.715190,-0.083176,0.672739
12,3,240640,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094097,-0.037539,0.887413,0.924493,-0.013640,0.027654,0.379950
12,3,240640,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.114674,0.074692,0.878547,0.924066,0.011521,0.006982,0.381994
12,3,240640,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
12,3,240640,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
12,3,240640,41,gripper,0,"","put carrot on sheet metal",-0.080954,-0.014066,0.997183,-0.266481,-0.722721,-0.173185,0.613733
12,3,240640,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092335,-0.083412,0.887470,0.375221,-0.028929,0.011301,0.926415
12,3,240640,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.114712,0.045332,0.878547,0.383646,0.003203,0.013050,0.923382
12,3,240640,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045002,0.871344,0.999999,-0.000157,0.001164,0.000008
12,3,240640,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
12,3,240640,42,gripper,0,"","put carrot on sheet metal",-0.040281,-0.049988,0.982893,-0.002463,-0.760020,0.035858,0.648905
12,3,240640,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093090,0.065413,0.887383,0.386505,-0.024386,0.013103,0.921872
12,3,240640,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204695,0.075342,0.878547,0.383789,0.003211,0.013065,0.923323
12,3,240640,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.045002,0.871344,0.999999,-0.000157,0.001164,-0.000014
12,3,240640,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
12,3,240640,43,gripper,0,"","put carrot on sheet metal",-0.053669,0.044580,0.978708,0.410249,-0.434649,0.385531,0.702952
12,3,240640,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242892,-0.056038,0.887927,0.276654,-0.049817,0.014361,0.959570
12,3,240640,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,0.075325,0.878548,0.382255,0.003181,0.013049,0.923959
12,3,240640,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
12,3,240640,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
12,3,240640,44,gripper,0,"","put carrot on flat bowl",-0.190786,-0.029920,0.997422,-0.090060,-0.709778,-0.126641,0.687071
12,3,240640,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123594,0.051376,0.887387,0.918973,-0.008945,0.027851,0.393234
12,3,240640,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204662,-0.045303,0.878547,0.924239,0.011507,0.006968,0.381578
12,3,240640,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
12,3,240640,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
12,3,240640,45,gripper,0,"","put carrot on flat bowl",-0.084730,0.010723,1.039440,0.077852,-0.675913,0.096644,0.726458
12,3,240640,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094589,-0.067108,0.887426,0.922456,-0.010889,0.023445,0.385237
12,3,240640,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234669,-0.075308,0.878547,0.924219,0.011511,0.006970,0.381626
12,3,240640,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
12,3,240640,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000434
12,3,240640,46,gripper,0,"","put carrot on flat bowl",-0.046309,0.055779,1.026457,0.108888,-0.762986,0.116153,0.626501
12,3,240640,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092335,-0.057474,0.887497,0.909121,-0.011420,0.021693,0.415810
12,3,240640,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
12,3,240640,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
12,3,240640,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
12,3,240640,47,gripper,0,"","put carrot on flat bowl",-0.037226,0.039285,1.014917,0.087890,-0.769324,0.177692,0.607324
12,3,240640,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205688,-0.032440,0.888112,0.941898,-0.026901,0.005901,0.334768
12,3,240640,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.079155,-0.055443,0.895220,0.491952,-0.512934,0.453235,0.538014
12,3,240640,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085121,-0.075230,0.872199,0.999999,-0.000001,-0.000001,-0.001442
12,3,240640,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.054871,0.089016,0.870870,-0.074027,-0.000000,0.000000,0.997256
12,3,240640,48,gripper,0,"","put plastic bottle on frying pan",-0.041248,-0.064833,0.971982,-0.042771,-0.784623,0.005123,0.618475
12,3,240640,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.070278,-0.054436,0.890507,0.970896,-0.021773,0.019917,-0.237677
12,3,240640,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205631,-0.074211,0.887026,0.704495,-0.016857,0.709508,0.001000
12,3,240640,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.083153,0.074734,0.872199,1.000000,-0.000001,-0.000001,0.000683
12,3,240640,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000000
12,3,240640,49,gripper,0,"","put plastic bottle on frying pan",-0.196489,-0.125578,0.955826,-0.002914,-0.715029,-0.066899,0.695880
12,3,240640,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.149960,0.187881,0.890586,0.022265,0.336519,0.788176,-0.514818
12,3,240640,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.233776,0.104412,0.898155,0.030275,-0.615366,0.787233,0.025922
12,3,240640,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.243774,0.080791,0.872199,0.999530,0.000000,-0.000001,0.030641
12,3,240640,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084850,-0.080288,0.870870,0.999432,0.000000,-0.000001,-0.033701
12,3,240640,50,gripper,0,"","put plastic bottle on frying pan",-0.143795,0.047319,1.041617,0.093540,-0.716325,0.042067,0.690187
12,3,240640,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.066061,-0.007046,0.890080,0.988212,-0.104375,0.082903,0.075295
12,3,240640,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.178066,-0.071030,0.889728,0.702606,-0.033829,0.709640,-0.040142
12,3,240640,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085026,-0.075176,0.872199,1.000000,-0.000001,-0.000001,0.000937
12,3,240640,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
12,3,240640,51,gripper,0,"","put plastic bottle on frying pan",-0.173978,-0.037888,0.948976,0.077559,-0.751999,0.023967,0.654147
12,3,240640,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086272,0.100235,0.888112,0.891156,-0.027440,0.002401,0.452861
12,3,240640,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.082157,-0.048454,0.887027,0.553648,-0.451218,0.547802,0.435649
12,3,240640,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
12,3,240640,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000001
12,3,240640,52,gripper,0,"","put plastic bottle on cutting board",-0.074229,-0.033211,0.983412,-0.085016,-0.761061,-0.075308,0.638661
12,3,240640,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235106,0.076046,0.888111,0.950013,-0.026735,0.006587,0.310995
12,3,240640,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.061928,-0.026222,0.887027,0.592621,-0.396995,0.588286,0.380939
12,3,240640,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
12,3,240640,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
12,3,240640,53,gripper,0,"","put plastic bottle on cutting board",-0.027827,-0.024153,0.984174,-0.060886,-0.735095,-0.034735,0.674331
12,3,240640,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.062416,0.075054,0.890448,0.448940,-0.023887,-0.011827,0.893164
12,3,240640,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.228760,0.098988,0.887026,0.221012,-0.678681,0.207540,0.668934
12,3,240640,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
12,3,240640,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,0.045006,0.870870,1.000000,0.000000,-0.000000,0.000169
12,3,240640,54,gripper,0,"","put plastic bottle on cutting board",-0.168110,0.087679,0.918278,0.058901,-0.759976,0.022056,0.646901
12,3,240640,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.135994,0.032768,0.022936,0.544041,-0.332598,-0.747106,-0.187698
12,3,240640,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.086361,-0.041965,0.887027,0.488849,-0.521913,0.480931,0.507285
12,3,240640,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
12,3,240640,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114925,0.075081,0.870870,1.000000,0.000000,-0.000001,0.000733
12,3,240640,55,gripper,0,"","put plastic bottle on cutting board",-0.047245,-0.041431,0.956762,0.014970,-0.739214,-0.088068,0.667519
12,3,240640,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.200417,-0.008976,0.888112,0.780652,-0.027355,-0.003220,0.624359
12,3,240640,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.179710,0.074261,0.895201,0.380785,-0.623861,0.349183,0.586405
12,3,240640,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.193100,0.064850,0.872199,0.997040,-0.000000,-0.000001,0.076884
12,3,240640,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.080887,0.044331,0.870871,0.999979,-0.000000,-0.000001,-0.006504
12,3,240640,56,gripper,0,"","put hamburger on frying pan",-0.151344,-0.110041,0.976561,-0.032368,-0.767821,0.020785,0.639509
12,3,240640,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.055393,-0.057953,0.909460,0.344852,0.086448,-0.032226,0.934112
12,3,240640,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.255856,-0.024925,0.887027,0.268745,-0.661926,0.256014,0.651220
12,3,240640,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
12,3,240640,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083408,-0.076237,0.870870,0.999996,0.000000,-0.000001,-0.002707
12,3,240640,57,gripper,0,"","put hamburger on frying pan",-0.054079,-0.061909,0.955426,0.049421,-0.803051,-0.007956,0.593805
12,3,240640,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.051506,0.069511,0.888112,0.988114,-0.020901,0.017940,-0.151239
12,3,240640,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.140160,0.076073,0.889793,-0.084013,-0.019944,0.996123,0.016795
12,3,240640,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
12,3,240640,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000039
12,3,240640,58,gripper,0,"","put hamburger on frying pan",-0.195917,-0.042200,0.965633,-0.088786,-0.710072,-0.099209,0.691427
12,3,240640,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.185926,-0.068466,0.891423,0.512303,-0.604470,0.606878,-0.062134
12,3,240640,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.079428,0.038918,0.889656,0.514066,-0.496006,0.506942,0.482414
12,3,240640,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.044998,0.872199,1.000000,0.000001,-0.000000,-0.000115
12,3,240640,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085484,0.075722,0.870884,0.999996,0.000706,0.000721,0.002773
12,3,240640,59,gripper,0,"","put hamburger on frying pan",-0.184791,-0.070889,0.924069,-0.078936,-0.769062,-0.102145,0.626003
12,3,240640,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.193171,-0.004990,0.891130,0.384059,0.048796,0.136786,0.911815
12,3,240640,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.103554,-0.057507,0.887058,0.302249,-0.636872,0.284208,0.649820
12,3,240640,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.207551,-0.074440,0.872199,0.999945,-0.000000,-0.000001,-0.010459
12,3,240640,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
12,3,240640,60,gripper,0,"","put hamburger on cutting board",-0.143500,-0.032434,0.996744,-0.074123,-0.813476,-0.128658,0.562325
12,3,240640,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084829,-0.032799,0.888112,0.409471,-0.022867,-0.015355,0.911907
12,3,240640,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106441,0.095055,0.887026,0.264620,-0.663527,0.251821,0.652912
12,3,240640,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
12,3,240640,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,0.074993,0.870870,1.000000,0.000002,0.000001,0.000041
12,3,240640,61,gripper,0,"","put hamburger on cutting board",-0.088673,-0.028074,1.001616,-0.055871,-0.779088,-0.102759,0.615906
12,3,240640,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085228,-0.073883,0.888112,0.924854,-0.027153,0.004610,0.379323
12,3,240640,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.074047,0.116234,0.889738,0.581345,-0.412872,0.579195,0.395106
12,3,240640,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.157074,0.075989,0.872199,-0.866734,0.000000,0.000001,-0.498770
12,3,240640,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.044308,0.108608,0.870871,0.950833,-0.000005,-0.000008,-0.309703
12,3,240640,62,gripper,0,"","put hamburger on cutting board",-0.081757,0.103558,1.134130,0.214810,-0.762810,0.147533,0.591786
12,3,240640,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.079647,-0.048988,0.896068,0.886017,0.002326,0.002074,0.463643
12,3,240640,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.153629,0.060970,0.891366,-0.084685,-0.654909,0.750516,-0.025472
12,3,240640,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084995,-0.074978,0.872199,1.000000,-0.000000,-0.000001,-0.000381
12,3,240640,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.236237,0.045811,0.870879,0.999983,0.000660,0.000634,-0.005795
12,3,240640,63,gripper,0,"","put hamburger on cutting board",-0.076180,-0.059599,0.991151,-0.015614,-0.755549,-0.017605,0.654670
12,4,245760,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.221397,0.073174,0.879790,-0.532685,0.318144,-0.223704,-0.751657
12,4,245760,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.228157,0.151489,0.874118,-0.088306,-0.962364,0.256836,-0.009577
12,4,245760,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.113525,-0.074219,0.877171,0.993204,0.008042,-0.115956,0.005965
12,4,245760,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.223503,-0.048141,0.871917,0.995784,-0.007259,-0.006977,0.091176
12,4,245760,0,gripper,0,"","put kitchen shovel on cloth",-0.246914,0.062431,0.922385,-0.065546,-0.770387,-0.119127,0.622909
12,4,245760,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.152088,0.090027,0.885770,0.588099,-0.385135,0.525627,0.479090
12,4,245760,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.150021,0.020203,0.886772,0.673993,0.015039,-0.059906,0.736151
12,4,245760,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115025,0.044991,0.869533,0.999999,-0.000003,-0.000001,-0.000989
12,4,245760,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000182
12,4,245760,1,gripper,0,"","put kitchen shovel on cloth",-0.209764,-0.005157,1.020408,0.031181,-0.881787,0.014808,0.470383
12,4,245760,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.159412,-0.073692,0.885675,0.928571,-0.136953,0.244501,0.243349
12,4,245760,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.185383,-0.058563,0.901583,0.619280,-0.150933,0.008734,0.770477
12,4,245760,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.213696,-0.097733,0.869532,0.939993,-0.003177,0.001153,-0.341177
12,4,245760,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000154,-0.001020,0.000026
12,4,245760,2,gripper,0,"","put kitchen shovel on cloth",-0.239233,-0.018848,0.931010,-0.037000,-0.837593,-0.005435,0.545014
12,4,245760,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.062500,0.111168,0.885372,0.688834,-0.189799,0.203580,0.669357
12,4,245760,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.168861,0.075287,0.889071,0.805480,-0.015371,0.026466,0.591832
12,4,245760,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084988,0.074974,0.869532,1.000000,0.000002,-0.000003,0.000487
12,4,245760,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205019,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000244
12,4,245760,3,gripper,0,"","put kitchen shovel on cloth",-0.190147,0.012077,1.089006,0.050584,-0.841980,0.059247,0.533855
12,4,245760,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.098168,-0.025848,0.885122,0.451128,0.542783,-0.550931,0.445359
12,4,245760,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081802,0.080856,0.881638,0.998360,-0.006066,-0.038873,-0.041594
12,4,245760,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114995,-0.044991,0.869532,1.000000,0.000000,-0.000001,-0.000084
12,4,245760,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235006,-0.074982,0.871288,0.999999,-0.000154,-0.001019,0.000043
12,4,245760,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.131168,0.022224,1.144323,0.042875,-0.825835,0.095589,0.554095
12,4,245760,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072279,0.080582,0.879373,0.366790,-0.254921,0.111523,0.887718
12,4,245760,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.119469,0.055595,0.881772,-0.034143,-0.067004,-0.006206,0.997149
12,4,245760,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.080734,-0.079033,0.869532,0.996336,0.000000,-0.000000,-0.085520
12,4,245760,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.233280,-0.083305,0.871288,0.998643,-0.000207,-0.001010,-0.052077
12,4,245760,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.146590,0.074608,0.919913,0.015372,-0.813555,-0.095840,0.573330
12,4,245760,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.176682,0.112770,0.884977,-0.550817,0.442407,-0.477620,-0.522261
12,4,245760,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.103676,0.043739,0.887821,0.815298,0.018323,-0.035415,0.577667
12,4,245760,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205017,0.075005,0.869532,1.000000,0.000001,-0.000001,-0.000136
12,4,245760,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000207
12,4,245760,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.142815,0.028721,1.111356,0.008513,-0.833754,0.143671,0.533048
12,4,245760,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.081299,0.197769,0.879213,-0.224502,-0.565053,0.776695,-0.164495
12,4,245760,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084393,-0.075737,0.881638,0.382280,0.034440,-0.019073,0.923208
12,4,245760,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.074654,0.075195,0.869532,0.999825,0.000000,-0.000002,0.018713
12,4,245760,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.187531,0.042450,0.871288,0.999822,-0.000172,-0.001015,-0.018842
12,4,245760,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.233433,-0.095875,0.916043,-0.105240,-0.767401,-0.072494,0.628303
12,4,245760,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.075851,0.012531,0.879703,-0.286664,-0.690240,-0.548907,0.374290
12,4,245760,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.072716,-0.072495,0.881641,0.948630,0.008318,0.039298,-0.313827
12,4,245760,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.198563,0.089558,0.869532,0.919258,0.000000,-0.000001,0.393656
12,4,245760,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084969,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000217
12,4,245760,8,gripper,0,"","put ketchup bottle on cloth",-0.278038,-0.101381,0.918163,-0.108947,-0.758698,-0.002653,0.642262
12,4,245760,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.137199,-0.171520,0.010575,-0.972626,-0.023779,0.084928,-0.214988
12,4,245760,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.099220,0.029606,0.886538,0.614126,0.105443,-0.087821,0.777186
12,4,245760,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.219486,0.054901,0.869532,0.992917,0.000000,-0.000000,0.118807
12,4,245760,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.077106,0.081932,0.871282,0.996648,-0.000349,-0.001300,0.081801
12,4,245760,9,gripper,0,"","put ketchup bottle on cloth",-0.135265,-0.042753,0.965736,0.019884,-0.732133,0.000432,0.680872
12,4,245760,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.101917,0.039787,0.879116,0.087239,-0.473738,0.875095,0.046585
12,4,245760,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.184334,-0.051968,0.881641,0.926717,0.010811,0.038710,-0.373604
12,4,245760,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.058266,0.087433,0.869532,0.995410,-0.000000,-0.000001,0.095703
12,4,245760,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
12,4,245760,10,gripper,0,"","put ketchup bottle on cloth",-0.153728,0.064398,0.966052,0.074126,-0.741834,0.010958,0.666384
12,4,245760,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.077332,-0.025024,0.879513,0.663272,0.209490,0.693745,-0.186821
12,4,245760,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084591,0.074535,0.881637,0.998289,-0.004086,0.057352,0.010672
12,4,245760,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000002,-0.000021
12,4,245760,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.047029,-0.084572,0.871231,0.987046,-0.003403,-0.002793,-0.160379
12,4,245760,11,gripper,0,"","put ketchup bottle on cloth",-0.093713,0.024754,0.932330,-0.094888,-0.771259,-0.174629,0.604698
12,4,245760,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.202664,0.082245,0.885084,0.669116,0.302443,-0.350623,0.581271
12,4,245760,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084653,-0.069405,0.881638,0.872326,0.015178,-0.036287,0.487339
12,4,245760,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204987,0.075012,0.869532,1.000000,0.000001,-0.000002,-0.000284
12,4,245760,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000042
12,4,245760,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.179281,0.052044,1.113845,0.048657,-0.819742,0.048768,0.568575
12,4,245760,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.002422,0.177715,0.010325,0.359300,-0.637615,-0.437709,-0.522266
12,4,245760,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.151894,-0.058941,0.881618,0.996767,-0.005381,-0.015161,-0.078716
12,4,245760,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234474,0.045456,0.869532,0.999941,-0.000001,-0.000001,0.010857
12,4,245760,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000019
12,4,245760,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.154489,-0.034266,0.931321,-0.101164,-0.775117,-0.070159,0.619707
12,4,245760,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.173798,-0.065590,0.883475,0.628072,0.155847,0.017308,0.762192
12,4,245760,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.119034,0.042698,0.906937,0.719256,0.054557,0.041014,0.691385
12,4,245760,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234997,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000029
12,4,245760,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205719,0.045467,0.871210,0.999984,-0.003906,-0.004130,0.000512
12,4,245760,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.134830,0.041479,0.954027,0.031564,-0.793916,0.007443,0.607162
12,4,245760,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.041092,0.068130,0.885141,-0.549791,-0.375590,0.681888,-0.302804
12,4,245760,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.110386,0.023102,0.887001,0.681190,0.020631,-0.047281,0.730287
12,4,245760,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085007,0.045170,0.869532,1.000000,-0.000001,0.000001,-0.000535
12,4,245760,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000035
12,4,245760,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.189907,0.010611,1.000320,0.060432,-0.733282,-0.014370,0.677081
12,4,245760,16,obj,0,"003_bread_1","put 7up can on carpet",-0.189598,-0.055054,0.884497,0.423175,0.032002,0.014523,0.905366
12,4,245760,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.254021,-0.060246,0.889027,0.602446,-0.074660,0.067479,0.791790
12,4,245760,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234955,-0.074966,0.869490,0.999998,0.000179,0.000875,0.001752
12,4,245760,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.077492,0.870350,0.999976,-0.000089,-0.001456,0.006723
12,4,245760,16,gripper,0,"","put 7up can on carpet",-0.138718,-0.008032,1.119663,-0.007996,-0.809680,0.001096,0.586816
12,4,245760,17,obj,0,"003_bread_1","put 7up can on carpet",-0.065872,-0.027115,0.883544,0.210171,0.012628,-0.000853,0.977582
12,4,245760,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.180119,0.003410,0.887663,0.659165,-0.077076,0.080827,0.743659
12,4,245760,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205521,-0.044769,0.869490,0.999999,0.000181,0.000876,-0.000925
12,4,245760,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
12,4,245760,17,gripper,0,"","put 7up can on carpet",-0.108168,-0.025415,0.985046,-0.006174,-0.790293,-0.023702,0.612239
12,4,245760,18,obj,0,"003_bread_1","put 7up can on carpet",-0.173294,-0.051197,0.885167,0.757767,0.022424,0.009206,0.652075
12,4,245760,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.071877,0.115383,0.888855,-0.412541,-0.591241,0.505898,-0.473614
12,4,245760,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074986,0.869490,1.000000,0.000180,0.000874,0.000133
12,4,245760,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.074345,0.075817,0.870345,0.998958,-0.000780,-0.002054,-0.045591
12,4,245760,18,gripper,0,"","put 7up can on carpet",-0.105892,0.003109,1.044950,-0.109213,-0.775077,-0.010008,0.622276
12,4,245760,19,obj,0,"003_bread_1","put 7up can on carpet",-0.191463,-0.095310,0.886387,0.999867,0.003595,-0.009275,-0.012930
12,4,245760,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.095064,-0.072262,0.885675,0.932139,0.001292,-0.362074,-0.004199
12,4,245760,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000016
12,4,245760,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.205090,-0.075077,0.870367,0.999962,0.000189,-0.001168,-0.008574
12,4,245760,19,gripper,0,"","put 7up can on carpet",-0.099311,0.045408,0.945418,-0.115636,-0.721391,-0.110010,0.673885
12,4,245760,20,obj,0,"003_bread_1","put bread on newspaper",-0.082375,0.097481,0.883544,0.769054,0.009404,-0.008477,0.639058
12,4,245760,20,obj,1,"005_7up can_1","put bread on newspaper",-0.147830,-0.090179,0.888335,0.608713,0.348737,-0.439712,0.560807
12,4,245760,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204993,-0.075024,0.869490,0.999999,0.000548,0.001426,0.000235
12,4,245760,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085344,-0.075329,0.870448,0.999999,-0.000923,-0.000844,0.000354
12,4,245760,20,gripper,0,"","put bread on newspaper",-0.132721,-0.081163,1.090035,0.023331,-0.765802,-0.001942,0.642650
12,4,245760,21,obj,0,"003_bread_1","put bread on newspaper",-0.111341,-0.040024,0.883544,0.361110,0.012337,-0.002830,0.932437
12,4,245760,21,obj,1,"005_7up can_1","put bread on newspaper",-0.206820,-0.196774,0.885799,0.563795,-0.403132,0.366090,0.620965
12,4,245760,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
12,4,245760,21,recep,1,"003_carpet_1","put bread on newspaper",-0.234987,-0.075001,0.870460,1.000000,0.000018,-0.000158,0.000006
12,4,245760,21,gripper,0,"","put bread on newspaper",-0.158267,-0.062969,1.034602,0.083195,-0.771173,0.057941,0.628501
12,4,245760,22,obj,0,"003_bread_1","put bread on newspaper",-0.085476,0.074490,0.883544,0.924796,0.006453,-0.010893,0.380253
12,4,245760,22,obj,1,"005_7up can_1","put bread on newspaper",-0.183636,0.069569,0.888851,0.285424,0.655599,-0.639137,0.283242
12,4,245760,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.115005,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000052
12,4,245760,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205009,0.075001,0.870460,1.000000,0.000018,-0.000158,-0.000269
12,4,245760,22,gripper,0,"","put bread on newspaper",-0.142324,0.039280,1.126611,0.059562,-0.801710,0.008894,0.594671
12,4,245760,23,obj,0,"003_bread_1","put bread on newspaper",-0.065353,0.067196,0.886641,0.770443,0.011075,-0.006780,0.637377
12,4,245760,23,obj,1,"005_7up can_1","put bread on newspaper",-0.101231,0.201218,0.885666,0.605941,0.061166,0.050044,-0.791574
12,4,245760,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.115749,-0.048733,0.869490,0.999752,0.000199,0.000870,-0.022257
12,4,245760,23,recep,1,"003_carpet_1","put bread on newspaper",-0.068714,0.054569,0.870497,0.995141,-0.001498,-0.000747,-0.098444
12,4,245760,23,gripper,0,"","put bread on newspaper",-0.114136,0.196424,0.937734,0.300840,-0.735398,0.083888,0.601372
12,4,245760,24,obj,0,"003_bread_1","put bread on carpet",-0.116287,-0.066313,0.886636,0.524401,0.013878,-0.003378,0.851352
12,4,245760,24,obj,1,"005_7up can_1","put bread on carpet",0.126938,-0.179873,0.016965,0.677348,-0.314961,0.543395,0.383042
12,4,245760,24,recep,0,"004_newspaper_1","put bread on carpet",-0.066673,0.034576,0.869490,0.999988,0.000184,0.000873,-0.004881
12,4,245760,24,recep,1,"003_carpet_1","put bread on carpet",-0.115028,-0.075010,0.870448,0.999999,-0.000922,-0.000845,0.000193
12,4,245760,24,gripper,0,"","put bread on carpet",-0.206078,0.014053,0.955885,0.014073,-0.746089,0.028750,0.665076
12,4,245760,25,obj,0,"003_bread_1","put bread on carpet",-0.171833,-0.033472,0.886454,0.412952,0.015073,-0.003241,0.910622
12,4,245760,25,obj,1,"005_7up can_1","put bread on carpet",-0.085163,-0.084333,0.885636,0.677159,0.197663,-0.204921,0.678522
12,4,245760,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
12,4,245760,25,recep,1,"003_carpet_1","put bread on carpet",-0.204975,-0.072994,0.870368,0.999997,0.000136,-0.001112,-0.002062
12,4,245760,25,gripper,0,"","put bread on carpet",-0.121630,0.087458,0.969598,0.074541,-0.756906,0.036477,0.648233
12,4,245760,26,obj,0,"003_bread_1","put bread on carpet",-0.085480,0.044489,0.883544,0.924697,0.006451,-0.010896,0.380493
12,4,245760,26,obj,1,"005_7up can_1","put bread on carpet",-0.180717,0.015471,0.886001,0.192589,-0.695464,0.660636,0.206879
12,4,245760,26,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000106
12,4,245760,26,recep,1,"003_carpet_1","put bread on carpet",-0.235687,-0.043154,0.870446,0.999890,-0.000714,-0.001058,0.014744
12,4,245760,26,gripper,0,"","put bread on carpet",-0.184946,0.028230,0.945912,0.025378,-0.756643,0.052789,0.651199
12,4,245760,27,obj,0,"003_bread_1","put bread on carpet",-0.158512,-0.025650,0.884413,0.876957,0.021096,0.018122,0.479762
12,4,245760,27,obj,1,"005_7up can_1","put bread on carpet",-0.179892,-0.059023,0.985697,0.518529,0.563190,-0.391806,0.510326
12,4,245760,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204981,-0.074993,0.869490,1.000000,0.000180,0.000874,0.000306
12,4,245760,27,recep,1,"003_carpet_1","put bread on carpet",-0.084942,-0.075005,0.870448,1.000000,-0.000278,-0.000290,0.000419
12,4,245760,27,gripper,0,"","put bread on carpet",-0.191001,-0.061912,1.020291,-0.041590,-0.752276,-0.070242,0.653771
12,4,245760,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.094385,-0.064178,0.886681,0.240838,0.015178,-0.000395,0.970447
12,4,245760,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.190431,-0.060488,0.885685,0.436756,0.339175,-0.177885,0.813979
12,4,245760,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
12,4,245760,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000007
12,4,245760,28,gripper,0,"","put 7up can on newspaper",-0.207664,-0.064218,0.932602,0.040685,-0.782514,0.019578,0.620993
12,4,245760,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.172602,0.089630,0.886427,0.931792,0.007552,-0.008491,0.362814
12,4,245760,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.177221,0.007513,0.885609,0.496939,-0.094461,0.048492,0.861265
12,4,245760,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114983,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000060
12,4,245760,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205238,0.074846,0.870447,0.999998,-0.001347,-0.001208,-0.000896
12,4,245760,29,gripper,0,"","put 7up can on newspaper",-0.134584,0.017020,1.081676,0.025144,-0.795897,-0.021711,0.604520
12,4,245760,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.104633,0.095730,0.886680,0.886199,0.009067,-0.008567,0.463137
12,4,245760,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.174145,0.081392,0.885659,0.787972,-0.197464,0.301139,0.499423
12,4,245760,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
12,4,245760,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085228,0.076040,0.870422,0.999996,-0.000669,-0.001242,-0.002517
12,4,245760,30,gripper,0,"","put 7up can on newspaper",-0.145166,0.086912,1.098327,0.112226,-0.755542,0.055160,0.643054
12,4,245760,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.125225,0.018019,0.883990,0.715735,-0.001200,-0.014136,0.698228
12,4,245760,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.059612,0.039986,0.888850,0.246037,0.734685,-0.547340,0.316421
12,4,245760,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
12,4,245760,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.067928,0.063496,0.870448,0.989287,0.001326,0.001476,0.145970
12,4,245760,31,gripper,0,"","put 7up can on newspaper",-0.137833,0.017797,0.945015,0.162407,-0.763634,0.035001,0.623909
12,4,245760,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.093910,-0.087316,0.887484,0.395493,-0.021734,0.008083,0.918176
12,4,245760,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204689,0.075325,0.878547,0.382234,0.003183,0.013052,0.923968
12,4,245760,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000021
12,4,245760,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
12,4,245760,32,gripper,0,"","put banana on flat bowl",-0.162201,0.087161,1.019192,-0.113085,-0.739152,-0.147810,0.647316
12,4,245760,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088467,-0.071636,0.887534,0.997185,0.000578,0.025500,0.070510
12,4,245760,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
12,4,245760,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001164,0.000000
12,4,245760,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
12,4,245760,33,gripper,0,"","put banana on flat bowl",-0.144655,0.001159,1.037684,0.017756,-0.677011,-0.028988,0.735188
12,4,245760,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.125107,-0.067654,0.887493,0.926049,-0.012398,0.030253,0.375985
12,4,245760,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234680,-0.045306,0.878547,0.923619,0.011482,0.006980,0.383075
12,4,245760,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
12,4,245760,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
12,4,245760,34,gripper,0,"","put banana on flat bowl",-0.185919,-0.007071,0.971405,0.052999,-0.782910,0.021422,0.619503
12,4,245760,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.097322,0.084067,0.887490,0.927435,-0.009188,0.025046,0.373031
12,4,245760,35,obj,1,"013_banana_1","put banana on flat bowl",-0.204697,0.074737,0.878547,0.923942,0.011488,0.006968,0.382296
12,4,245760,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
12,4,245760,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
12,4,245760,35,gripper,0,"","put banana on flat bowl",-0.164785,0.042118,1.035718,-0.333581,-0.736653,-0.309361,0.500361
12,4,245760,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205105,0.079822,0.887175,0.358647,-0.024305,0.019353,0.932956
12,4,245760,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084691,0.075319,0.878547,0.382207,0.003187,0.013067,0.923979
12,4,245760,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
12,4,245760,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000004
12,4,245760,36,gripper,0,"","put carrot on sheet metal",-0.142558,0.059658,1.032779,-0.032109,-0.691593,-0.111492,0.712908
12,4,245760,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205502,0.076779,0.887529,0.708701,-0.030467,0.030661,0.704184
12,4,245760,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234566,-0.044995,0.878547,0.706773,0.007972,0.010873,0.707312
12,4,245760,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
12,4,245760,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
12,4,245760,37,gripper,0,"","put carrot on sheet metal",-0.173056,0.090617,0.979315,0.109989,-0.724551,0.076612,0.676061
12,4,245760,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.129295,-0.077186,0.887379,0.766318,-0.027027,0.026138,0.641360
12,4,245760,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204556,0.075008,0.878547,0.706825,0.007970,0.010881,0.707259
12,4,245760,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
12,4,245760,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000001
12,4,245760,38,gripper,0,"","put carrot on sheet metal",-0.082985,-0.041537,0.962040,0.362795,-0.658941,0.557651,0.351002
12,4,245760,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.209213,-0.033518,0.887552,0.994772,-0.004041,0.043548,0.092276
12,4,245760,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.235001,0.074567,0.878547,0.999909,0.013309,0.002046,-0.000081
12,4,245760,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
12,4,245760,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
12,4,245760,39,gripper,0,"","put carrot on sheet metal",-0.064323,0.026373,1.059579,0.127330,-0.818574,0.075625,0.554982
12,4,245760,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095879,-0.088678,0.887500,0.401621,-0.023403,0.008751,0.915465
12,4,245760,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.114677,0.075333,0.878547,0.383088,0.003217,0.013122,0.923613
12,4,245760,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075008,0.871344,0.999999,-0.000158,0.001164,0.000120
12,4,245760,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000000,-0.000006
12,4,245760,40,gripper,0,"","put carrot on flat bowl",-0.054123,-0.038164,1.016473,-0.011850,-0.713686,-0.004466,0.700352
12,4,245760,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095669,-0.036316,0.887453,0.927287,-0.013063,0.038095,0.372178
12,4,245760,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.114670,0.074692,0.878547,0.924211,0.011522,0.006977,0.381645
12,4,245760,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
12,4,245760,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
12,4,245760,41,gripper,0,"","put carrot on flat bowl",-0.116190,-0.028481,1.034327,-0.269104,-0.747999,-0.260086,0.548120
12,4,245760,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093563,-0.086187,0.887492,0.388395,-0.020802,0.010254,0.921201
12,4,245760,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.114712,0.045338,0.878547,0.384101,0.003214,0.013061,0.923193
12,4,245760,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000007
12,4,245760,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
12,4,245760,42,gripper,0,"","put carrot on flat bowl",-0.050051,-0.024019,0.979905,0.125968,-0.755032,0.119594,0.632263
12,4,245760,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095734,0.061724,0.887190,0.400563,-0.031210,0.004041,0.915728
12,4,245760,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204695,0.075348,0.878547,0.384305,0.003219,0.013067,0.923108
12,4,245760,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.045004,0.871344,0.999999,-0.000158,0.001163,-0.000015
12,4,245760,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
12,4,245760,43,gripper,0,"","put carrot on flat bowl",-0.041036,0.060785,0.998814,0.214558,-0.790901,0.075316,0.568127
12,4,245760,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239229,-0.055567,0.887106,0.276279,0.027060,-0.007784,0.960665
12,4,245760,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084691,0.075325,0.878548,0.382255,0.003186,0.013062,0.923959
12,4,245760,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
12,4,245760,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000000
12,4,245760,44,gripper,0,"","put banana on sheet metal",-0.231119,-0.093033,0.970025,0.245539,-0.696909,0.273002,0.616034
12,4,245760,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.126251,0.053404,0.887560,0.923839,-0.016709,0.040594,0.380256
12,4,245760,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204659,-0.045303,0.878547,0.924440,0.011515,0.006964,0.381091
12,4,245760,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
12,4,245760,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
12,4,245760,45,gripper,0,"","put banana on sheet metal",-0.177242,-0.034257,0.974314,-0.052581,-0.754056,-0.002835,0.654696
12,4,245760,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097263,-0.065550,0.887077,0.926789,-0.019972,0.018792,0.374581
12,4,245760,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234661,-0.075306,0.878547,0.924413,0.011493,0.006953,0.381157
12,4,245760,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
12,4,245760,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000580
12,4,245760,46,gripper,0,"","put banana on sheet metal",-0.159058,-0.022292,1.037550,-0.221665,-0.719380,-0.145239,0.642076
12,4,245760,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095531,-0.055531,0.887282,0.912333,-0.006465,0.029239,0.408352
12,4,245760,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
12,4,245760,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
12,4,245760,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
12,4,245760,47,gripper,0,"","put banana on sheet metal",-0.181551,-0.038559,0.991737,0.040934,-0.739229,0.070792,0.668471
12,4,245760,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.142281,0.003880,0.021919,0.430288,-0.749922,-0.369921,0.340040
12,4,245760,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.079155,-0.055405,0.895222,0.491908,-0.512950,0.453197,0.538072
12,4,245760,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085121,-0.075230,0.872199,0.999999,-0.000000,-0.000001,-0.001399
12,4,245760,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.054871,0.089016,0.870870,-0.074017,-0.000001,0.000000,0.997257
12,4,245760,48,gripper,0,"","put plastic bottle on cutting board",-0.056061,-0.005796,1.018473,0.057986,-0.742858,0.062900,0.663960
12,4,245760,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.070278,-0.054436,0.890507,0.970893,-0.021773,0.019907,-0.237691
12,4,245760,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205631,-0.074211,0.887026,0.704495,-0.016835,0.709509,0.000978
12,4,245760,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083153,0.074734,0.872199,1.000000,-0.000001,-0.000001,0.000668
12,4,245760,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000011
12,4,245760,49,gripper,0,"","put plastic bottle on cutting board",-0.180735,-0.052895,0.957662,0.069581,-0.751086,0.061537,0.653637
12,4,245760,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.149967,0.187889,0.890587,0.018693,0.341967,0.785817,-0.514976
12,4,245760,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.233288,0.105782,0.898157,0.028603,-0.636772,0.770074,0.026246
12,4,245760,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.243706,0.080982,0.872199,0.999540,-0.000000,-0.000000,0.030318
12,4,245760,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084850,-0.080288,0.870870,0.999432,0.000000,-0.000000,-0.033697
12,4,245760,50,gripper,0,"","put plastic bottle on cutting board",-0.226534,0.083557,0.986518,0.108770,-0.783396,0.074196,0.607416
12,4,245760,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.066061,-0.007046,0.890080,0.988206,-0.104383,0.082905,0.075367
12,4,245760,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.167450,-0.054207,0.887026,0.702459,0.038122,0.708683,-0.053544
12,4,245760,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085026,-0.075176,0.872199,1.000000,-0.000001,-0.000001,0.000925
12,4,245760,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
12,4,245760,51,gripper,0,"","put plastic bottle on cutting board",-0.164249,-0.062502,0.980957,0.028078,-0.782528,-0.072623,0.617728
12,4,245760,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.070876,0.108898,0.888138,0.850040,-0.024556,0.006407,0.526106
12,4,245760,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.082157,-0.048454,0.887027,0.553648,-0.451218,0.547802,0.435648
12,4,245760,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
12,4,245760,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000001
12,4,245760,52,gripper,0,"","put hamburger on frying pan",-0.089792,0.104265,0.934937,-0.029217,-0.841334,-0.069125,0.535280
12,4,245760,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235090,0.076042,0.888111,0.952953,-0.026681,0.006831,0.301864
12,4,245760,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.061926,-0.026222,0.887027,0.592620,-0.396997,0.588283,0.380943
12,4,245760,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
12,4,245760,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
12,4,245760,53,gripper,0,"","put hamburger on frying pan",-0.193531,-0.063505,0.925403,-0.112277,-0.734198,-0.100056,0.662069
12,4,245760,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.062416,0.074894,0.890449,0.454251,-0.023997,-0.011667,0.890474
12,4,245760,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.173531,0.007187,0.927567,0.663974,-0.668942,0.246450,0.225650
12,4,245760,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
12,4,245760,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084995,0.045006,0.870870,1.000000,-0.000000,-0.000000,0.000198
12,4,245760,54,gripper,0,"","put hamburger on frying pan",-0.141329,0.005840,0.988888,0.011549,-0.760602,-0.040187,0.647871
12,4,245760,55,obj,0,"014_hamburger_1","put hamburger on frying pan",0.135994,0.032768,0.022936,0.544213,-0.331891,-0.747422,-0.187191
12,4,245760,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.196449,0.164024,0.886092,-0.776074,0.020861,-0.008271,-0.630242
12,4,245760,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235008,0.045006,0.872199,1.000000,-0.000000,-0.000000,0.000014
12,4,245760,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114887,0.075146,0.870870,1.000000,-0.000000,-0.000001,0.000001
12,4,245760,55,gripper,0,"","put hamburger on frying pan",-0.104263,-0.028757,0.982614,-0.063526,-0.756589,-0.042906,0.649382
12,4,245760,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.029953,0.059734,0.897325,0.687219,0.287017,0.503072,0.438486
12,4,245760,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.179718,0.074268,0.895202,0.379666,-0.624768,0.347847,0.586960
12,4,245760,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.193100,0.064850,0.872199,0.997071,-0.000000,-0.000001,0.076476
12,4,245760,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.080887,0.044327,0.870871,0.999979,0.000008,0.000009,-0.006479
12,4,245760,56,gripper,0,"","put hamburger on cutting board",-0.089504,0.049000,1.152588,0.042006,-0.755088,0.049859,0.652373
12,4,245760,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.062115,-0.059479,0.890514,0.349318,-0.021924,-0.014239,0.936640
12,4,245760,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255856,-0.024925,0.887027,0.268709,-0.661939,0.255977,0.651236
12,4,245760,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
12,4,245760,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083405,-0.076237,0.870870,0.999996,-0.000000,-0.000001,-0.002649
12,4,245760,57,gripper,0,"","put hamburger on cutting board",-0.138554,-0.048681,1.012822,0.079306,-0.766263,0.031158,0.636853
12,4,245760,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197762,-0.017834,0.890440,0.988837,-0.023390,0.018293,-0.146010
12,4,245760,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.140160,0.076073,0.889793,-0.084023,-0.019937,0.996123,0.016795
12,4,245760,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
12,4,245760,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235069,-0.044945,0.870871,1.000000,-0.000003,-0.000002,0.000580
12,4,245760,58,gripper,0,"","put hamburger on cutting board",-0.165968,-0.032074,1.029472,0.004474,-0.771677,0.044851,0.634416
12,4,245760,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197073,-0.050701,0.892187,-0.191860,-0.571348,-0.618641,-0.504019
12,4,245760,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.079571,0.039074,0.889658,0.513557,-0.496543,0.506411,0.482962
12,4,245760,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205015,0.045429,0.872199,0.999995,0.000000,-0.000001,0.003113
12,4,245760,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085548,0.075714,0.870884,0.999993,0.000710,0.000722,0.003589
12,4,245760,59,gripper,0,"","put hamburger on cutting board",-0.235539,-0.049347,0.949540,0.010460,-0.736620,-0.002202,0.676223
12,4,245760,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.189463,0.049179,0.890594,-0.820512,0.013152,-0.025575,0.570906
12,4,245760,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.110966,-0.025791,0.889097,0.548167,-0.469753,0.430747,0.541574
12,4,245760,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.232710,-0.069157,0.872199,0.958056,-0.000001,-0.000001,0.286581
12,4,245760,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235127,0.075191,0.870884,0.999999,0.000701,0.000713,-0.000725
12,4,245760,60,gripper,0,"","put plastic bottle on frying pan",-0.069841,-0.024109,0.944862,0.049670,-0.770885,0.065975,0.631598
12,4,245760,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084829,-0.032799,0.888112,0.409436,-0.022866,-0.015356,0.911923
12,4,245760,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.165619,-0.022606,0.892097,0.414861,-0.529292,0.618183,0.406927
12,4,245760,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205048,-0.075214,0.872199,0.999993,0.000001,-0.000001,0.003648
12,4,245760,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236160,0.080189,0.870870,0.998218,0.000000,-0.000001,0.059669
12,4,245760,61,gripper,0,"","put plastic bottle on frying pan",-0.088717,-0.025942,0.956607,-0.064164,-0.785966,-0.069259,0.611018
12,4,245760,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.088337,0.061325,0.891427,0.909026,0.149820,0.005755,0.388834
12,4,245760,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.072502,0.115612,0.889736,0.580570,-0.414088,0.577970,0.396763
12,4,245760,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.157074,0.075989,0.872199,-0.866718,0.000001,0.000002,-0.498799
12,4,245760,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.043762,0.108574,0.870870,0.951470,-0.000005,-0.000005,-0.307743
12,4,245760,62,gripper,0,"","put plastic bottle on frying pan",-0.085062,-0.035591,1.015648,0.102018,-0.729688,0.155875,0.657914
12,4,245760,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.079647,-0.048988,0.896069,0.886035,0.002319,0.002072,0.463608
12,4,245760,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.153610,0.060898,0.891365,-0.084669,-0.655177,0.750282,-0.025517
12,4,245760,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084995,-0.074978,0.872199,1.000000,0.000000,-0.000001,-0.000314
12,4,245760,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236244,0.045776,0.870883,0.999980,0.000692,0.000695,-0.006221
12,4,245760,63,gripper,0,"","put plastic bottle on frying pan",-0.091721,0.006004,1.034608,-0.002647,-0.686782,-0.003887,0.726849
13,1,250880,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.082863,-0.050507,0.885134,0.398439,0.601366,-0.491120,0.488269
13,1,250880,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.187210,-0.085892,0.883068,0.582822,-0.034222,0.009111,0.811827
13,1,250880,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084976,-0.074974,0.869532,1.000000,-0.000002,0.000000,0.000254
13,1,250880,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
13,1,250880,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.240147,-0.090771,0.939886,-0.119132,-0.767747,-0.117560,0.618507
13,1,250880,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.191418,0.088440,0.885121,0.450006,0.544269,-0.548966,0.447105
13,1,250880,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
13,1,250880,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235020,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000077
13,1,250880,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205006,-0.045006,0.871288,0.999999,-0.000155,-0.001021,0.000007
13,1,250880,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.166325,0.064560,1.142862,0.076118,-0.768182,0.037436,0.634588
13,1,250880,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.331203,0.047272,0.879116,-0.097842,0.151805,-0.983448,-0.014533
13,1,250880,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085777,-0.075577,0.881638,0.923195,0.010858,-0.037843,0.382311
13,1,250880,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000003
13,1,250880,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235001,0.075012,0.871288,0.999999,-0.000156,-0.001019,0.000150
13,1,250880,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.170771,-0.115467,0.915153,-0.175977,-0.797504,-0.225243,0.531304
13,1,250880,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072309,-0.087593,0.879125,0.242866,0.714102,-0.297031,0.585531
13,1,250880,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115438,0.079483,0.881638,0.372619,0.034606,-0.018700,0.927150
13,1,250880,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000003
13,1,250880,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235010,0.045021,0.871288,0.999999,-0.000154,-0.001019,0.000041
13,1,250880,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.114520,0.016621,1.019095,-0.033182,-0.742414,-0.155444,0.650812
13,1,250880,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.186787,-0.066193,0.921380,0.550245,0.528981,-0.401424,0.506230
13,1,250880,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.110838,0.076675,0.883886,0.709568,0.013390,0.032694,0.703750
13,1,250880,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
13,1,250880,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235009,0.045013,0.871288,1.000000,-0.000153,-0.001019,0.000041
13,1,250880,4,gripper,0,"","put ketchup bottle on cloth",-0.204526,-0.067722,0.970171,-0.048262,-0.746271,-0.070678,0.660117
13,1,250880,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.095837,0.052391,0.879054,-0.466803,0.514839,-0.421022,-0.582903
13,1,250880,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234413,0.074257,0.881638,0.382524,0.034436,-0.019082,0.923106
13,1,250880,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,-0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000016
13,1,250880,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
13,1,250880,5,gripper,0,"","put ketchup bottle on cloth",-0.106532,0.041054,0.949420,-0.047520,-0.871193,-0.000062,0.488636
13,1,250880,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205296,0.021568,0.885371,0.688284,0.066041,-0.056305,0.720232
13,1,250880,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205109,-0.075974,0.881638,0.706780,0.024487,-0.030793,0.706338
13,1,250880,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234989,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000072
13,1,250880,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
13,1,250880,6,gripper,0,"","put ketchup bottle on cloth",-0.218948,0.040939,1.078372,0.017335,-0.750906,-0.031919,0.659409
13,1,250880,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.096672,0.074753,0.879675,0.833420,-0.000362,-0.552638,0.001465
13,1,250880,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205963,0.075119,0.881638,0.999225,-0.004454,-0.039119,-0.000259
13,1,250880,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,-0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000025
13,1,250880,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
13,1,250880,7,gripper,0,"","put ketchup bottle on cloth",-0.115992,0.089451,0.932032,-0.038138,-0.767666,-0.093068,0.632908
13,1,250880,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097321,0.063358,0.879437,0.621857,0.271657,-0.692304,0.245380
13,1,250880,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204155,-0.064289,0.881643,0.992953,0.001731,-0.051779,0.106588
13,1,250880,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.178940,0.060215,0.869532,0.979194,0.000000,-0.000002,0.202929
13,1,250880,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.075001,0.871289,1.000000,-0.000157,-0.001019,-0.000013
13,1,250880,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.227921,-0.074982,0.930282,-0.057353,-0.785080,-0.018420,0.616459
13,1,250880,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204323,0.063023,0.885209,0.231441,0.530797,-0.800493,0.154599
13,1,250880,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085110,-0.075958,0.881638,0.706708,0.024489,-0.030784,0.706411
13,1,250880,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235016,0.075008,0.869532,1.000000,-0.000001,-0.000000,-0.000192
13,1,250880,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.045006,0.871289,1.000000,-0.000154,-0.001019,0.000008
13,1,250880,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.215256,0.052395,1.083325,0.145185,-0.712036,0.190016,0.660167
13,1,250880,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094730,-0.044983,0.879089,0.886320,-0.001356,-0.463071,0.000511
13,1,250880,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.198814,0.048492,0.881638,0.989010,0.001176,-0.039321,0.142517
13,1,250880,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000018
13,1,250880,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
13,1,250880,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.239044,0.019852,0.917726,-0.049370,-0.725145,-0.045026,0.685346
13,1,250880,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.039190,-0.006950,0.879184,-0.186736,-0.731971,0.224461,-0.615602
13,1,250880,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235952,-0.074890,0.881637,0.999225,-0.004449,-0.039120,-0.000122
13,1,250880,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000006
13,1,250880,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000007
13,1,250880,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.058010,-0.008753,0.931739,-0.111635,-0.804656,-0.088061,0.576465
13,1,250880,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078053,0.038151,0.879089,0.338127,0.427434,-0.178161,0.819286
13,1,250880,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.184112,0.062263,0.881638,0.418541,0.033660,-0.020422,0.907344
13,1,250880,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,-0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000000
13,1,250880,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.232822,-0.052963,0.871288,0.999823,-0.000173,-0.001016,-0.018798
13,1,250880,12,gripper,0,"","put kitchen shovel on cloth",-0.281529,0.088028,0.914204,-0.052473,-0.813667,-0.077918,0.573691
13,1,250880,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078188,0.171947,0.879088,0.061889,0.461842,-0.033955,0.884148
13,1,250880,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.221243,0.002769,0.885622,0.783040,0.014847,-0.062184,0.618677
13,1,250880,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.041851,0.075737,0.869532,0.951115,-0.000000,0.000000,-0.308836
13,1,250880,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205294,0.045139,0.871288,0.999997,-0.000156,-0.001018,-0.002226
13,1,250880,13,gripper,0,"","put kitchen shovel on cloth",-0.279573,0.014849,0.959402,0.146297,-0.773389,0.024223,0.616344
13,1,250880,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198093,0.068123,0.879088,0.339399,0.427147,-0.178821,0.818766
13,1,250880,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.063526,0.078194,0.881638,0.175940,0.037697,-0.011258,0.983614
13,1,250880,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
13,1,250880,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
13,1,250880,14,gripper,0,"","put kitchen shovel on cloth",-0.207607,-0.025454,0.975600,-0.018709,-0.839780,-0.106325,0.532085
13,1,250880,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.096916,0.065186,0.879126,0.599283,0.251366,-0.731424,0.206625
13,1,250880,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.227406,-0.038254,0.890059,0.737974,-0.003267,-0.075606,0.670572
13,1,250880,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
13,1,250880,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000003
13,1,250880,15,gripper,0,"","put kitchen shovel on cloth",-0.254440,-0.042454,0.966235,0.056387,-0.796464,0.076213,0.597208
13,1,250880,16,obj,0,"003_bread_1","put bread on newspaper",-0.228348,0.075874,0.886083,0.994644,-0.000414,0.004124,-0.103278
13,1,250880,16,obj,1,"005_7up can_1","put bread on newspaper",-0.242599,-0.074821,0.885626,0.972478,-0.005194,-0.232935,0.000615
13,1,250880,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075008,0.869490,1.000000,0.000181,0.000875,-0.000034
13,1,250880,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
13,1,250880,16,gripper,0,"","put bread on newspaper",-0.224823,-0.036245,0.989799,0.083685,-0.749680,0.025757,0.655982
13,1,250880,17,obj,0,"003_bread_1","put bread on newspaper",-0.085129,0.074444,0.883544,0.709180,0.010119,-0.007601,0.704914
13,1,250880,17,obj,1,"005_7up can_1","put bread on newspaper",-0.223652,-0.044209,0.889227,0.480252,0.518277,-0.588218,0.393379
13,1,250880,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204941,-0.044998,0.869489,1.000000,0.000181,0.000877,-0.000027
13,1,250880,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
13,1,250880,17,gripper,0,"","put bread on newspaper",-0.135477,0.000549,1.024779,0.108227,-0.716671,0.107953,0.680452
13,1,250880,18,obj,0,"003_bread_1","put bread on newspaper",-0.218857,0.018009,0.885707,0.735311,0.022508,0.002017,0.677352
13,1,250880,18,obj,1,"005_7up can_1","put bread on newspaper",-0.085178,-0.054340,0.885636,0.677435,0.197579,-0.205001,0.678247
13,1,250880,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.234966,0.045025,0.869489,0.999999,0.000536,0.001410,0.000336
13,1,250880,18,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075813,0.870367,0.999979,0.000176,-0.001151,-0.006406
13,1,250880,18,gripper,0,"","put bread on newspaper",-0.131483,0.090343,1.000640,0.213529,-0.735362,0.166837,0.621139
13,1,250880,19,obj,0,"003_bread_1","put bread on newspaper",-0.107965,0.072472,0.886563,0.968123,0.005406,-0.006270,0.250338
13,1,250880,19,obj,1,"005_7up can_1","put bread on newspaper",-0.207317,-0.054314,0.924270,0.706358,0.133027,-0.106199,0.687084
13,1,250880,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
13,1,250880,19,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,0.075005,0.870448,0.999998,-0.001391,-0.001248,0.000016
13,1,250880,19,gripper,0,"","put bread on newspaper",-0.208444,-0.055841,0.957673,0.021943,-0.741822,-0.009294,0.670173
13,1,250880,20,obj,0,"003_bread_1","put bread on carpet",-0.158295,0.008614,0.978230,0.640489,0.068917,0.051396,0.763140
13,1,250880,20,obj,1,"005_7up can_1","put bread on carpet",-0.079741,-0.050495,0.885626,0.370372,0.213345,-0.093655,0.899187
13,1,250880,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.044998,0.869490,1.000000,0.000179,0.000874,0.000000
13,1,250880,20,recep,1,"003_carpet_1","put bread on carpet",-0.115002,0.075001,0.870448,0.999999,-0.000923,-0.000844,-0.000000
13,1,250880,20,gripper,0,"","put bread on carpet",-0.165865,0.011845,1.011915,-0.024972,-0.752399,0.031071,0.657501
13,1,250880,21,obj,0,"003_bread_1","put bread on carpet",-0.128479,-0.054356,0.951392,0.997068,0.051322,-0.031552,-0.047188
13,1,250880,21,obj,1,"005_7up can_1","put bread on carpet",-0.047136,0.212524,0.885687,0.742278,0.238202,-0.325247,0.535255
13,1,250880,21,recep,0,"004_newspaper_1","put bread on carpet",-0.082495,0.075470,0.869490,0.999985,0.000185,0.000873,-0.005454
13,1,250880,21,recep,1,"003_carpet_1","put bread on carpet",-0.115007,-0.044998,0.870448,0.999999,-0.000923,-0.000846,-0.000021
13,1,250880,21,gripper,0,"","put bread on carpet",-0.143368,-0.053701,0.986849,0.035384,-0.751687,0.021669,0.658214
13,1,250880,22,obj,0,"003_bread_1","put bread on carpet",-0.205479,-0.075523,0.883544,0.924220,0.006475,-0.010879,0.381650
13,1,250880,22,obj,1,"005_7up can_1","put bread on carpet",-0.061077,0.097214,0.888611,0.680087,0.170929,-0.170128,0.692331
13,1,250880,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
13,1,250880,22,recep,1,"003_carpet_1","put bread on carpet",-0.083660,0.076061,0.870461,1.000000,0.000019,-0.000158,0.000518
13,1,250880,22,gripper,0,"","put bread on carpet",-0.088951,0.101452,0.983825,0.010350,-0.773710,-0.011670,0.633348
13,1,250880,23,obj,0,"003_bread_1","put bread on carpet",-0.232826,0.079460,0.883544,0.374227,0.012298,-0.002999,0.927251
13,1,250880,23,obj,1,"005_7up can_1","put bread on carpet",-0.081001,0.072193,0.885686,0.393837,0.177029,-0.079075,0.898499
13,1,250880,23,recep,0,"004_newspaper_1","put bread on carpet",-0.115009,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000038
13,1,250880,23,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000025
13,1,250880,23,gripper,0,"","put bread on carpet",-0.093870,0.021418,0.927650,0.210136,-0.714725,0.189395,0.639641
13,1,250880,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.210983,-0.034498,0.898355,0.260375,0.074341,0.007349,0.962613
13,1,250880,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.109795,-0.080481,0.885626,0.371398,0.213250,-0.093903,0.898760
13,1,250880,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
13,1,250880,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000029
13,1,250880,24,gripper,0,"","put 7up can on newspaper",-0.218796,-0.035979,0.936202,-0.080974,-0.744101,-0.080596,0.658225
13,1,250880,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
13,1,250880,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.171089,-0.009066,0.885750,0.617837,-0.388345,0.476995,0.489838
13,1,250880,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235249,-0.075058,0.869490,0.999997,0.000178,0.000875,0.002122
13,1,250880,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
13,1,250880,25,gripper,0,"","put 7up can on newspaper",-0.170835,0.019610,0.935597,0.114318,-0.711392,0.105876,0.685305
13,1,250880,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.085541,0.075125,0.883544,0.999916,0.001783,-0.012535,-0.002815
13,1,250880,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.125038,0.009859,0.886003,-0.095471,0.587626,0.800949,0.063722
13,1,250880,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.083019,-0.073666,0.869490,0.999849,0.000195,0.000871,-0.017371
13,1,250880,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
13,1,250880,26,gripper,0,"","put 7up can on newspaper",-0.156340,0.002302,0.947830,0.040118,-0.786747,-0.027192,0.615370
13,1,250880,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.085516,-0.074898,0.883544,0.999917,0.001780,-0.012532,-0.002558
13,1,250880,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.098665,0.079552,0.885687,0.915148,0.004230,-0.403087,0.002844
13,1,250880,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204967,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000041
13,1,250880,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000022
13,1,250880,27,gripper,0,"","put 7up can on newspaper",-0.089815,-0.058711,0.965796,-0.065038,-0.759418,-0.042835,0.645925
13,1,250880,28,obj,0,"003_bread_1","put 7up can on carpet",-0.235125,-0.075546,0.883544,0.709230,0.010126,-0.007600,0.704863
13,1,250880,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.078723,0.065987,0.885627,0.628057,0.174402,-0.154527,0.742462
13,1,250880,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
13,1,250880,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
13,1,250880,28,gripper,0,"","put 7up can on carpet",-0.083089,0.063227,0.994977,-0.062818,-0.763302,-0.102701,0.634725
13,1,250880,29,obj,0,"003_bread_1","put 7up can on carpet",-0.085516,-0.074898,0.883544,0.999917,0.001780,-0.012532,-0.002558
13,1,250880,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.035959,0.058031,0.886074,0.088760,0.339478,0.935745,-0.035466
13,1,250880,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
13,1,250880,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.205000,-0.045000,0.870404,1.000000,0.000065,-0.000723,-0.000143
13,1,250880,29,gripper,0,"","put 7up can on carpet",-0.060866,0.041021,0.931228,-0.202632,-0.730454,-0.172099,0.629094
13,1,250880,30,obj,0,"003_bread_1","put 7up can on carpet",-0.234482,0.074512,0.883544,0.383696,0.012265,-0.003128,0.923373
13,1,250880,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.102310,0.067911,0.885636,0.604656,0.217474,-0.183761,0.743860
13,1,250880,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
13,1,250880,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,-0.044981,0.870447,0.999999,-0.000922,-0.000845,-0.000020
13,1,250880,30,gripper,0,"","put 7up can on carpet",-0.114677,0.060665,0.935916,-0.031599,-0.799361,-0.086437,0.593762
13,1,250880,31,obj,0,"003_bread_1","put 7up can on carpet",-0.080700,0.090979,0.883544,0.397443,0.012223,-0.003300,0.917540
13,1,250880,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.079742,-0.080498,0.885626,0.371169,0.213270,-0.093847,0.898856
13,1,250880,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
13,1,250880,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
13,1,250880,31,gripper,0,"","put 7up can on carpet",-0.078028,0.084137,0.950038,-0.048025,-0.795825,-0.119225,0.591728
13,1,250880,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204033,0.045269,0.887252,0.999428,-0.007398,0.032517,0.005619
13,1,250880,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.235001,-0.075438,0.878547,0.999910,0.013276,0.002054,0.000318
13,1,250880,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000025
13,1,250880,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
13,1,250880,32,gripper,0,"","put carrot on sheet metal",-0.185047,0.016864,1.001067,0.014669,-0.756610,0.048599,0.651893
13,1,250880,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087170,-0.071604,0.887344,0.911017,-0.010026,0.034827,0.410773
13,1,250880,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.045306,0.878547,0.923641,0.011493,0.006984,0.383022
13,1,250880,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
13,1,250880,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000000
13,1,250880,33,gripper,0,"","put carrot on sheet metal",-0.091717,-0.053641,1.037058,-0.063734,-0.697657,-0.039463,0.712499
13,1,250880,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204605,0.046440,0.887529,0.717322,-0.030084,0.031034,0.695400
13,1,250880,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007934,0.010839,0.707296
13,1,250880,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
13,1,250880,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
13,1,250880,34,gripper,0,"","put carrot on sheet metal",-0.157053,0.038867,0.993715,0.054268,-0.724282,0.000775,0.687364
13,1,250880,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087812,0.077872,0.887502,0.911411,-0.009858,0.015804,0.411076
13,1,250880,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.234680,-0.075307,0.878547,0.923646,0.011497,0.006985,0.383010
13,1,250880,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
13,1,250880,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000001,-0.000000
13,1,250880,35,gripper,0,"","put carrot on sheet metal",-0.062469,0.109982,0.973605,0.053703,-0.788110,0.034450,0.612219
13,1,250880,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235710,0.040982,0.887129,0.936452,0.004299,0.008875,0.350657
13,1,250880,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204682,-0.075307,0.878547,0.923621,0.011478,0.006977,0.383071
13,1,250880,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000016
13,1,250880,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
13,1,250880,36,gripper,0,"","put carrot on flat bowl",-0.217193,0.046683,0.952787,-0.034607,-0.703599,-0.111210,0.700987
13,1,250880,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087242,-0.075974,0.887278,0.346486,-0.029144,0.017877,0.937432
13,1,250880,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.114689,0.045314,0.878547,0.382259,0.003182,0.013046,0.923958
13,1,250880,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
13,1,250880,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
13,1,250880,37,gripper,0,"","put carrot on flat bowl",-0.054794,-0.018717,1.018242,0.052340,-0.757270,0.193989,0.621426
13,1,250880,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238800,0.045210,0.887622,0.741815,-0.030305,0.033597,0.669076
13,1,250880,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007934,0.010839,0.707296
13,1,250880,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
13,1,250880,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
13,1,250880,38,gripper,0,"","put carrot on flat bowl",-0.195381,0.052705,1.021761,0.107706,-0.655410,0.031149,0.746905
13,1,250880,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087540,0.079131,0.887258,0.996658,0.004777,0.033152,0.074502
13,1,250880,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013273,0.002050,0.000284
13,1,250880,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
13,1,250880,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
13,1,250880,39,gripper,0,"","put carrot on flat bowl",-0.020210,0.024863,1.025385,-0.079691,-0.731800,-0.111443,0.667606
13,1,250880,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086441,-0.075325,0.887417,0.734727,-0.024112,0.030603,0.677243
13,1,250880,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234581,0.075012,0.878547,0.707177,0.007946,0.010836,0.706909
13,1,250880,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000025
13,1,250880,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000062
13,1,250880,40,gripper,0,"","put banana on sheet metal",-0.170692,0.101380,1.007919,0.088563,-0.711299,0.043932,0.695902
13,1,250880,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204369,0.046307,0.887529,0.716104,-0.030138,0.030982,0.696654
13,1,250880,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
13,1,250880,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
13,1,250880,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
13,1,250880,41,gripper,0,"","put banana on sheet metal",-0.069849,0.092941,1.018953,0.225725,-0.665475,0.173430,0.690009
13,1,250880,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243641,0.070253,0.887352,0.251805,-0.033944,0.013751,0.967085
13,1,250880,42,obj,1,"013_banana_1","put banana on sheet metal",-0.114708,0.045322,0.878547,0.382741,0.003196,0.013070,0.923758
13,1,250880,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
13,1,250880,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
13,1,250880,42,gripper,0,"","put banana on sheet metal",-0.073692,0.072333,0.979845,0.185296,-0.705484,0.183765,0.658930
13,1,250880,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
13,1,250880,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,-0.074673,0.878547,0.382709,0.003198,0.013078,0.923771
13,1,250880,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000003
13,1,250880,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000060
13,1,250880,43,gripper,0,"","put banana on sheet metal",-0.050483,-0.024578,0.980878,0.109951,-0.770846,0.173934,0.602872
13,1,250880,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118403,0.042332,0.887526,0.355097,-0.028106,0.009000,0.934364
13,1,250880,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,-0.074678,0.878547,0.382231,0.003191,0.013080,0.923969
13,1,250880,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000001
13,1,250880,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
13,1,250880,44,gripper,0,"","put banana on flat bowl",-0.039647,0.014064,1.055382,0.056204,-0.757123,0.173944,0.627176
13,1,250880,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
13,1,250880,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234982,-0.075432,0.878547,0.999910,0.013286,0.002049,0.000015
13,1,250880,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,-0.045010,0.871344,0.999999,-0.000157,0.001163,-0.000052
13,1,250880,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,-0.000001,0.000096
13,1,250880,45,gripper,0,"","put banana on flat bowl",-0.216897,-0.030604,0.985449,0.050756,-0.752806,0.025001,0.655806
13,1,250880,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
13,1,250880,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234680,0.074686,0.878547,0.923800,0.011561,0.007013,0.382637
13,1,250880,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
13,1,250880,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
13,1,250880,46,gripper,0,"","put banana on flat bowl",-0.176226,0.024103,1.015678,-0.322739,-0.733529,-0.404768,0.440383
13,1,250880,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118217,0.049088,0.887477,0.913362,-0.011498,0.025060,0.406213
13,1,250880,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
13,1,250880,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
13,1,250880,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
13,1,250880,47,gripper,0,"","put banana on flat bowl",-0.041819,0.024747,1.044946,-0.077912,-0.816797,-0.202879,0.534428
13,1,250880,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121292,0.036518,0.948407,0.779713,-0.015681,0.003187,0.625933
13,1,250880,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.194603,0.000729,0.886092,0.666913,-0.021909,0.004878,0.744797
13,1,250880,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000009
13,1,250880,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
13,1,250880,48,gripper,0,"","put hamburger on frying pan",-0.137283,0.034601,0.992613,-0.019952,-0.753440,-0.023843,0.656781
13,1,250880,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115246,-0.043896,0.888112,0.925398,-0.027146,0.004649,0.377996
13,1,250880,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215427,-0.053761,0.887026,0.630985,-0.329766,0.628437,0.313335
13,1,250880,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,1,250880,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.044991,0.870870,1.000000,0.000000,-0.000000,-0.000040
13,1,250880,49,gripper,0,"","put hamburger on frying pan",-0.172159,-0.028614,0.990371,0.030657,-0.739312,0.104612,0.664481
13,1,250880,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.209354,0.049870,0.888112,0.930287,-0.027063,0.005040,0.365799
13,1,250880,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
13,1,250880,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
13,1,250880,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
13,1,250880,50,gripper,0,"","put hamburger on frying pan",-0.224928,0.049501,0.967786,0.066027,-0.731087,-0.003403,0.679073
13,1,250880,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083303,-0.050583,0.895735,0.280345,0.025688,-0.045611,0.958471
13,1,250880,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256369,0.094902,0.887027,0.266344,-0.662863,0.253574,0.652207
13,1,250880,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000004
13,1,250880,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
13,1,250880,51,gripper,0,"","put hamburger on frying pan",-0.098612,-0.030188,1.088651,-0.061179,-0.715790,-0.119939,0.685213
13,1,250880,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.138853,0.214066,0.892100,-0.515468,-0.760723,-0.314823,-0.237655
13,1,250880,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.095036,-0.053490,0.887026,0.649773,-0.288794,0.648295,0.272226
13,1,250880,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
13,1,250880,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000000
13,1,250880,52,gripper,0,"","put hamburger on cutting board",-0.145056,-0.076851,0.948025,-0.115009,-0.715725,-0.137364,0.675013
13,1,250880,53,obj,0,"014_hamburger_1","put hamburger on cutting board",0.269983,-0.049564,0.022801,0.231704,0.825430,-0.188548,-0.478987
13,1,250880,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256102,-0.055088,0.887026,0.267377,-0.662462,0.254623,0.651783
13,1,250880,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085005,0.075005,0.872199,1.000000,0.000001,-0.000000,-0.000120
13,1,250880,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204992,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000004
13,1,250880,53,gripper,0,"","put hamburger on cutting board",-0.076563,0.017702,1.035546,-0.041196,-0.720699,-0.105861,0.683878
13,1,250880,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.098934,-0.063606,0.890597,0.668997,-0.027494,-0.005274,0.742737
13,1,250880,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235748,0.104263,0.887026,0.497362,-0.513701,0.489691,0.498944
13,1,250880,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
13,1,250880,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084991,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000084
13,1,250880,54,gripper,0,"","put hamburger on cutting board",-0.113077,-0.078819,1.027740,-0.073777,-0.784832,-0.074591,0.610764
13,1,250880,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.109066,0.048813,0.890795,0.997858,-0.026543,0.014117,0.058093
13,1,250880,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205795,0.075733,0.887026,0.704497,-0.018860,0.709450,0.002990
13,1,250880,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
13,1,250880,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084991,0.074997,0.870870,1.000000,-0.000000,-0.000000,-0.000006
13,1,250880,55,gripper,0,"","put hamburger on cutting board",-0.149546,0.010767,0.982083,0.059987,-0.766489,-0.136361,0.624741
13,1,250880,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206070,0.074787,0.888112,0.402357,-0.022752,-0.015531,0.915068
13,1,250880,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.230553,-0.054619,0.887026,0.285938,-0.654896,0.273496,0.643856
13,1,250880,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
13,1,250880,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
13,1,250880,56,gripper,0,"","put plastic bottle on frying pan",-0.230011,-0.013227,0.958418,0.008763,-0.737868,0.043950,0.673455
13,1,250880,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.050613,0.135567,0.888112,0.996213,-0.024494,0.012593,0.082468
13,1,250880,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.190674,0.198509,0.889935,0.027129,0.838628,-0.543635,0.020693
13,1,250880,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236191,0.096531,0.872199,0.985968,-0.000001,-0.000001,0.166937
13,1,250880,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.070118,-0.072575,0.870870,0.997594,0.000000,-0.000000,-0.069320
13,1,250880,57,gripper,0,"","put plastic bottle on frying pan",-0.163588,-0.001810,0.964408,0.134869,-0.783273,0.122031,0.594477
13,1,250880,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.121243,0.144459,0.892100,-0.538216,-0.769681,0.292255,0.180285
13,1,250880,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.123272,-0.078934,0.890038,-0.023318,-0.567446,0.823076,-0.002564
13,1,250880,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234997,0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000046
13,1,250880,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
13,1,250880,58,gripper,0,"","put plastic bottle on frying pan",-0.179333,-0.059370,0.915301,0.204805,-0.725106,0.132359,0.644016
13,1,250880,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.227209,-0.006176,0.891507,-0.546969,0.271098,-0.785852,-0.098826
13,1,250880,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094772,0.052395,0.887026,0.698184,0.079038,0.705296,-0.094074
13,1,250880,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,1,250880,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000017
13,1,250880,59,gripper,0,"","put plastic bottle on frying pan",-0.072631,0.024998,1.014858,0.141517,-0.748024,0.134175,0.634373
13,1,250880,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235954,0.045605,0.888112,0.711920,-0.026874,-0.006031,0.701721
13,1,250880,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078611,0.122509,0.887026,0.532395,-0.476655,0.525820,0.461377
13,1,250880,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
13,1,250880,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
13,1,250880,60,gripper,0,"","put plastic bottle on cutting board",-0.071976,0.099661,0.969609,0.116529,-0.777116,0.014122,0.618315
13,1,250880,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206095,-0.075230,0.888112,0.388540,-0.022510,-0.015871,0.921020
13,1,250880,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256483,0.064980,0.887026,0.267742,-0.662317,0.254994,0.651635
13,1,250880,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
13,1,250880,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
13,1,250880,61,gripper,0,"","put plastic bottle on cutting board",-0.245854,0.082150,0.971749,0.152440,-0.676407,0.125442,0.709577
13,1,250880,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205959,0.075634,0.888112,0.712259,-0.026883,-0.006014,0.701376
13,1,250880,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235798,-0.004742,0.887026,0.540439,-0.467321,0.534116,0.451948
13,1,250880,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,1,250880,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000013
13,1,250880,62,gripper,0,"","put plastic bottle on cutting board",-0.233749,-0.007166,0.932492,0.091052,-0.715234,0.031171,0.692227
13,1,250880,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086105,-0.075253,0.888112,0.387303,-0.022486,-0.015901,0.921541
13,1,250880,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256359,0.094978,0.887026,0.266407,-0.662833,0.253635,0.652188
13,1,250880,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114906,0.045113,0.872199,1.000000,-0.000001,-0.000001,0.000012
13,1,250880,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205330,-0.045391,0.870870,1.000000,0.000001,-0.000000,-0.000873
13,1,250880,63,gripper,0,"","put plastic bottle on cutting board",-0.211151,0.084911,0.999668,0.017100,-0.723016,-0.093537,0.684256
13,2,256000,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.116226,0.011154,0.879600,-0.491605,-0.434733,0.312592,-0.686744
13,2,256000,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.159546,-0.117485,0.882251,0.118098,-0.098210,0.006501,0.988112
13,2,256000,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.081879,-0.068336,0.869532,0.999893,0.000000,-0.000001,0.014616
13,2,256000,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000155,-0.001019,0.000048
13,2,256000,0,gripper,0,"","put ketchup bottle on cloth",0.169136,0.027065,0.736599,0.861302,0.000011,0.508092,0.000000
13,2,256000,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.191418,0.088448,0.885121,0.449920,0.544367,-0.548954,0.447087
13,2,256000,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382451,0.034408,-0.019069,0.923138
13,2,256000,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235020,0.074997,0.869532,1.000000,-0.000000,0.000000,-0.000035
13,2,256000,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205006,-0.045006,0.871288,0.999999,-0.000155,-0.001021,0.000021
13,2,256000,1,gripper,0,"","put ketchup bottle on cloth",-0.162878,0.119152,1.109021,0.102855,-0.832546,0.144559,0.524777
13,2,256000,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.331203,0.047272,0.879116,-0.097844,0.151792,-0.983450,-0.014533
13,2,256000,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085777,-0.075577,0.881638,0.923170,0.010863,-0.037847,0.382370
13,2,256000,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000006
13,2,256000,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235001,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000270
13,2,256000,2,gripper,0,"","put ketchup bottle on cloth",-0.229622,-0.112904,0.926210,0.136255,-0.761109,0.123520,0.622005
13,2,256000,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.201155,-0.062111,0.885085,0.617298,0.331162,-0.323687,0.636004
13,2,256000,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115442,0.079491,0.881638,0.372487,0.034631,-0.018703,0.927202
13,2,256000,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205004,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000018
13,2,256000,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000053
13,2,256000,3,gripper,0,"","put ketchup bottle on cloth",-0.217408,-0.059464,1.029208,0.085196,-0.807050,0.033503,0.583343
13,2,256000,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191808,-0.065559,0.885085,0.613642,0.333007,-0.321771,0.639541
13,2,256000,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.110822,0.076782,0.883880,0.708485,0.007572,0.038536,0.704632
13,2,256000,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,-0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
13,2,256000,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235009,0.045013,0.871288,0.999999,-0.000153,-0.001018,0.000041
13,2,256000,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.123544,0.083115,1.007080,-0.050722,-0.782522,-0.106698,0.611312
13,2,256000,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.095751,0.052048,0.878982,-0.474146,0.503638,-0.412628,-0.592683
13,2,256000,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.223280,0.003159,0.886585,0.659983,-0.023101,-0.023162,0.750568
13,2,256000,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203764,-0.046173,0.869532,0.999956,0.000000,-0.000001,0.009354
13,2,256000,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
13,2,256000,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.242169,0.032516,0.963334,-0.032789,-0.791982,0.005406,0.609640
13,2,256000,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.156952,-0.035294,0.879382,-0.385824,-0.377160,0.177396,-0.823056
13,2,256000,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.217407,0.102470,0.881444,-0.282292,-0.587330,0.706466,-0.276152
13,2,256000,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235012,0.045746,0.869532,0.999807,0.000001,-0.000001,-0.019626
13,2,256000,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084824,-0.074524,0.871288,0.999990,-0.000158,-0.001019,-0.004287
13,2,256000,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.226866,0.050976,0.958242,-0.025002,-0.798691,-0.009964,0.601139
13,2,256000,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.102699,0.074745,0.879125,0.633919,-0.000275,-0.773399,0.000414
13,2,256000,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.206013,0.075562,0.881638,0.999225,-0.004510,-0.039082,-0.001647
13,2,256000,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.074997,0.869532,1.000000,0.000001,0.000000,-0.000010
13,2,256000,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000171
13,2,256000,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.234533,0.067791,0.945723,-0.089955,-0.719386,-0.028732,0.688162
13,2,256000,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097321,0.063358,0.879437,0.621885,0.271650,-0.692276,0.245395
13,2,256000,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.193542,-0.089848,0.881641,0.993087,-0.008830,0.039214,0.110281
13,2,256000,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.178940,0.060215,0.869532,0.979217,-0.000000,-0.000001,0.202815
13,2,256000,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.075001,0.871289,0.999999,-0.000153,-0.001019,-0.000035
13,2,256000,8,gripper,0,"","put kitchen shovel on cloth",-0.223087,-0.067596,0.930654,0.024032,-0.706398,0.111389,0.698582
13,2,256000,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.205742,0.051960,0.885112,-0.082531,0.553262,-0.827114,-0.054527
13,2,256000,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085110,-0.075958,0.881638,0.706718,0.024492,-0.030787,0.706400
13,2,256000,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234100,0.072948,0.869532,0.999899,0.000000,-0.000002,-0.014193
13,2,256000,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.045006,0.871289,0.999999,-0.000154,-0.001019,0.000008
13,2,256000,9,gripper,0,"","put kitchen shovel on cloth",-0.227112,0.049564,0.947443,0.117467,-0.765044,0.118928,0.621904
13,2,256000,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094730,-0.044983,0.879089,0.886320,-0.001352,-0.463070,0.000518
13,2,256000,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.196991,0.049042,0.881641,0.988964,-0.010104,0.038909,0.142597
13,2,256000,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000014
13,2,256000,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
13,2,256000,10,gripper,0,"","put kitchen shovel on cloth",-0.191650,0.087942,0.959943,0.027848,-0.740831,0.031033,0.670396
13,2,256000,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.039034,-0.007160,0.879125,-0.184555,-0.739668,0.225910,-0.606461
13,2,256000,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.131006,-0.105190,0.881638,0.888189,-0.021869,-0.032736,-0.457788
13,2,256000,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000011
13,2,256000,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000003
13,2,256000,11,gripper,0,"","put kitchen shovel on cloth",-0.163534,-0.084946,0.914503,-0.033896,-0.799521,-0.063360,0.596324
13,2,256000,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078053,0.038151,0.879089,0.338124,0.427443,-0.178166,0.819281
13,2,256000,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.132980,0.067230,0.881638,0.206838,0.037313,-0.012437,0.977584
13,2,256000,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.113913,-0.076839,0.869556,0.999166,0.000169,0.000366,0.040827
13,2,256000,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.230926,-0.080170,0.871288,0.984977,-0.000326,-0.000977,-0.172680
13,2,256000,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.188535,-0.028816,0.936276,-0.032224,-0.802627,-0.091088,0.588604
13,2,256000,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078190,0.171947,0.879088,0.061890,0.461834,-0.033954,0.884153
13,2,256000,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.165144,0.053230,0.888521,0.707259,0.019142,-0.005848,0.706671
13,2,256000,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.041851,0.075737,0.869532,0.951115,0.000000,0.000000,-0.308836
13,2,256000,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205101,0.045319,0.871211,0.999981,-0.003919,-0.004118,-0.002482
13,2,256000,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.232721,-0.001495,0.975909,0.160424,-0.811526,0.213532,0.519705
13,2,256000,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.101257,-0.014519,0.879784,0.638663,-0.008669,0.008089,0.769395
13,2,256000,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.062069,0.082523,0.881638,0.190971,0.037518,-0.011836,0.980807
13,2,256000,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084995,-0.075008,0.869532,1.000000,0.000000,-0.000000,0.000026
13,2,256000,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000096
13,2,256000,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.140736,-0.028273,0.942056,-0.091775,-0.819833,-0.124939,0.551219
13,2,256000,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.089642,-0.043247,0.885210,-0.146744,-0.814453,0.509089,-0.236561
13,2,256000,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.227432,-0.038322,0.890059,0.739442,-0.003266,-0.075793,0.668932
13,2,256000,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085049,-0.075027,0.869532,1.000000,0.000001,-0.000002,0.000026
13,2,256000,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205040,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000038
13,2,256000,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.105902,-0.041420,1.038162,-0.156396,-0.763994,-0.177909,0.600168
13,2,256000,16,obj,0,"003_bread_1","put bread on carpet",-0.228348,0.075905,0.886083,0.994648,-0.000412,0.004106,-0.103239
13,2,256000,16,obj,1,"005_7up can_1","put bread on carpet",-0.240639,-0.071159,0.885637,0.988312,0.002591,-0.152420,-0.001167
13,2,256000,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.075043,0.869490,1.000000,0.000180,0.000874,-0.000060
13,2,256000,16,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075027,0.870448,0.999999,-0.000923,-0.000845,-0.000049
13,2,256000,16,gripper,0,"","put bread on carpet",-0.239334,-0.037277,0.968067,0.069189,-0.715075,-0.004448,0.695601
13,2,256000,17,obj,0,"003_bread_1","put bread on carpet",-0.085129,0.074444,0.883544,0.709064,0.010121,-0.007602,0.705030
13,2,256000,17,obj,1,"005_7up can_1","put bread on carpet",-0.223537,-0.043896,0.889211,0.485992,0.514235,-0.583895,0.398046
13,2,256000,17,recep,0,"004_newspaper_1","put bread on carpet",-0.204876,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000207
13,2,256000,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
13,2,256000,17,gripper,0,"","put bread on carpet",-0.118881,-0.019873,1.013455,0.020757,-0.741516,0.004663,0.670598
13,2,256000,18,obj,0,"003_bread_1","put bread on carpet",-0.218872,0.018002,0.885708,0.735507,0.022448,0.002222,0.677141
13,2,256000,18,obj,1,"005_7up can_1","put bread on carpet",-0.170662,-0.076168,0.888450,0.568578,0.129543,-0.084870,0.807920
13,2,256000,18,recep,0,"004_newspaper_1","put bread on carpet",-0.234989,0.045025,0.869489,0.999999,0.000538,0.001413,0.000333
13,2,256000,18,recep,1,"003_carpet_1","put bread on carpet",-0.205025,-0.076099,0.870418,0.999969,0.000050,-0.000582,-0.007810
13,2,256000,18,gripper,0,"","put bread on carpet",-0.165668,-0.054375,1.002048,-0.035579,-0.771784,0.022077,0.634504
13,2,256000,19,obj,0,"003_bread_1","put bread on carpet",-0.108074,0.072422,0.886577,0.968095,0.005713,-0.009268,0.250345
13,2,256000,19,obj,1,"005_7up can_1","put bread on carpet",-0.177574,-0.007538,0.886124,0.022403,-0.710022,0.703294,0.027283
13,2,256000,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
13,2,256000,19,recep,1,"003_carpet_1","put bread on carpet",-0.115011,0.075005,0.870448,0.999998,-0.001343,-0.001208,-0.000083
13,2,256000,19,gripper,0,"","put bread on carpet",-0.215631,-0.023550,0.918872,0.102164,-0.763287,-0.033759,0.637037
13,2,256000,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.155252,0.003014,0.883544,0.330884,0.012422,-0.002427,0.943587
13,2,256000,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.079741,-0.050495,0.885626,0.370372,0.213347,-0.093656,0.899187
13,2,256000,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.044998,0.869490,1.000000,0.000179,0.000874,0.000000
13,2,256000,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115011,0.075008,0.870447,0.999991,-0.003111,-0.002730,-0.000015
13,2,256000,20,gripper,0,"","put 7up can on newspaper",-0.155809,0.009583,0.947023,-0.066079,-0.773134,-0.064379,0.627497
13,2,256000,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.116285,-0.052521,0.886490,0.994860,0.003899,-0.006593,0.100969
13,2,256000,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.047136,0.212521,0.885687,0.742265,0.238209,-0.325238,0.535275
13,2,256000,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.082512,0.075474,0.869490,0.999985,0.000185,0.000873,-0.005420
13,2,256000,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.113585,-0.044655,0.870355,0.999999,0.000026,-0.001286,-0.000777
13,2,256000,21,gripper,0,"","put 7up can on newspaper",-0.158732,-0.079651,0.996468,-0.013488,-0.767527,-0.043991,0.639363
13,2,256000,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.138809,-0.037823,0.883986,0.865456,0.006218,-0.029301,0.500089
13,2,256000,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.061142,0.095707,0.888617,0.672464,0.202877,-0.201685,0.682609
13,2,256000,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.082607,-0.073292,0.869490,0.999782,0.000198,0.000871,-0.020877
13,2,256000,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083660,0.076088,0.870461,1.000000,0.000019,-0.000158,0.000431
13,2,256000,22,gripper,0,"","put 7up can on newspaper",-0.172392,-0.025908,0.952154,0.052511,-0.785308,-0.007730,0.616826
13,2,256000,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.232826,0.079460,0.883544,0.374632,0.012296,-0.003004,0.927087
13,2,256000,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.180859,0.043186,0.979833,0.337249,-0.572842,0.607839,0.434335
13,2,256000,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115025,-0.044994,0.869490,1.000000,0.000179,0.000874,0.000055
13,2,256000,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.075005,0.870460,1.000000,0.000018,-0.000158,-0.000053
13,2,256000,23,gripper,0,"","put 7up can on newspaper",-0.179058,0.039383,1.023793,0.045092,-0.739313,-0.013591,0.671713
13,2,256000,24,obj,0,"003_bread_1","put 7up can on carpet",-0.138809,-0.064856,0.883483,0.187426,0.014546,-0.003769,0.982164
13,2,256000,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.105728,-0.083675,0.885675,0.351369,0.336467,-0.133775,0.863385
13,2,256000,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,0.075003,0.869490,1.000000,0.000180,0.000874,0.000082
13,2,256000,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075037,0.870447,0.999999,-0.000923,-0.000846,-0.000065
13,2,256000,24,gripper,0,"","put 7up can on carpet",-0.141266,-0.094389,0.937978,-0.118322,-0.737824,-0.149768,0.647445
13,2,256000,25,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.075518,0.883544,0.924574,0.006456,-0.010890,0.380791
13,2,256000,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.176678,-0.018753,0.885723,0.726154,-0.255478,0.335083,0.543278
13,2,256000,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235874,-0.075308,0.869490,0.999991,0.000177,0.000877,0.004079
13,2,256000,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.239307,0.076904,0.870461,0.999743,-0.000086,-0.000245,-0.022646
13,2,256000,25,gripper,0,"","put 7up can on carpet",-0.154476,-0.023540,0.989426,-0.067762,-0.730927,-0.114107,0.669428
13,2,256000,26,obj,0,"003_bread_1","put 7up can on carpet",-0.076237,0.080404,0.883544,0.999742,0.001592,-0.012560,-0.018867
13,2,256000,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.107246,0.047693,0.885848,0.081638,0.770466,0.109358,-0.622703
13,2,256000,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.083019,-0.073664,0.869490,0.999850,0.000195,0.000871,-0.017303
13,2,256000,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,0.075020,0.870447,0.999991,-0.003114,-0.002733,-0.000024
13,2,256000,26,gripper,0,"","put 7up can on carpet",-0.097027,0.013157,0.979145,-0.091847,-0.735606,-0.151822,0.653757
13,2,256000,27,obj,0,"003_bread_1","put 7up can on carpet",-0.159512,-0.028248,0.884389,0.999035,-0.000691,0.022437,-0.037760
13,2,256000,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.098665,0.079552,0.885687,0.915144,0.004221,-0.403096,0.002825
13,2,256000,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204973,-0.075006,0.869490,1.000000,0.000180,0.000875,0.000221
13,2,256000,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000047
13,2,256000,27,gripper,0,"","put 7up can on carpet",-0.100803,0.048874,0.976552,-0.051442,-0.780096,-0.142885,0.606950
13,2,256000,28,obj,0,"003_bread_1","put bread on newspaper",-0.229025,-0.065035,0.883544,0.801125,0.009419,-0.009682,0.598344
13,2,256000,28,obj,1,"005_7up can_1","put bread on newspaper",-0.108881,-0.202236,0.885609,0.673957,-0.081610,0.068149,0.731080
13,2,256000,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.115202,-0.045046,0.869490,1.000000,0.000180,0.000874,-0.000116
13,2,256000,28,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
13,2,256000,28,gripper,0,"","put bread on newspaper",-0.246152,-0.079032,0.929684,-0.009233,-0.764944,-0.051199,0.641992
13,2,256000,29,obj,0,"003_bread_1","put bread on newspaper",-0.086647,-0.064575,0.883544,0.990864,0.003488,-0.012172,0.134271
13,2,256000,29,obj,1,"005_7up can_1","put bread on newspaper",0.249718,0.109015,0.017055,-0.010927,0.778073,0.017900,0.627824
13,2,256000,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234987,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000021
13,2,256000,29,recep,1,"003_carpet_1","put bread on newspaper",-0.205000,-0.044998,0.870448,1.000000,-0.000373,-0.000373,-0.000262
13,2,256000,29,gripper,0,"","put bread on newspaper",-0.076242,-0.055938,0.963547,0.007932,-0.738610,0.036248,0.673111
13,2,256000,30,obj,0,"003_bread_1","put bread on newspaper",-0.234482,0.074512,0.883544,0.383613,0.012262,-0.003125,0.923407
13,2,256000,30,obj,1,"005_7up can_1","put bread on newspaper",12.404755,-42.709278,-668.028809,0.027410,-0.413184,0.722195,-0.554042
13,2,256000,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000027
13,2,256000,30,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.044966,0.870447,0.999999,-0.000923,-0.000845,-0.000057
13,2,256000,30,gripper,0,"","put bread on newspaper",-0.188650,-0.045929,0.968547,0.063927,-0.731860,0.067623,0.675071
13,2,256000,31,obj,0,"003_bread_1","put bread on newspaper",-0.191654,0.074442,0.886482,0.525854,0.017727,-0.004471,0.850378
13,2,256000,31,obj,1,"005_7up can_1","put bread on newspaper",-0.050369,-0.093641,0.885711,0.798212,0.177539,-0.282989,0.501253
13,2,256000,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
13,2,256000,31,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.074989,0.870452,0.999998,0.001568,0.001266,0.000009
13,2,256000,31,gripper,0,"","put bread on newspaper",-0.092073,-0.081275,0.914787,0.075832,-0.798504,0.077674,0.592121
13,2,256000,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204033,0.045269,0.887252,0.999428,-0.007397,0.032518,0.005618
13,2,256000,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.235001,-0.075438,0.878547,0.999910,0.013277,0.002054,0.000318
13,2,256000,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000025
13,2,256000,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
13,2,256000,32,gripper,0,"","put carrot on flat bowl",-0.056778,0.075547,1.020994,0.136692,-0.736497,0.025171,0.662008
13,2,256000,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091125,-0.070103,0.887323,0.916838,-0.003458,0.014009,0.398999
13,2,256000,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.204685,-0.045306,0.878547,0.923642,0.011476,0.006976,0.383022
13,2,256000,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
13,2,256000,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874362,1.000000,0.000001,0.000000,0.000000
13,2,256000,33,gripper,0,"","put carrot on flat bowl",-0.086351,-0.009720,1.036022,0.210411,-0.701014,0.245535,0.635625
13,2,256000,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204628,0.046605,0.887529,0.718534,-0.030030,0.031087,0.694148
13,2,256000,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007929,0.010833,0.707296
13,2,256000,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
13,2,256000,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
13,2,256000,34,gripper,0,"","put carrot on flat bowl",-0.169395,0.023037,1.006417,0.010318,-0.625384,-0.026429,0.779801
13,2,256000,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090780,0.079490,0.887428,0.915546,-0.006481,0.015706,0.401854
13,2,256000,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.234680,-0.075307,0.878547,0.923646,0.011502,0.006988,0.383010
13,2,256000,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
13,2,256000,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000001,0.000001,-0.000000
13,2,256000,35,gripper,0,"","put carrot on flat bowl",-0.091619,0.087898,1.028541,0.058553,-0.767274,0.066352,0.635184
13,2,256000,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.235107,0.039303,0.887384,0.925148,-0.006155,0.013413,0.379320
13,2,256000,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204682,-0.075307,0.878547,0.923621,0.011485,0.006980,0.383071
13,2,256000,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000016
13,2,256000,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000000
13,2,256000,36,gripper,0,"","put banana on sheet metal",-0.146424,-0.054488,1.027037,-0.095753,-0.715621,-0.043809,0.690506
13,2,256000,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088514,-0.078746,0.887216,0.363661,-0.024973,0.018520,0.931012
13,2,256000,37,obj,1,"013_banana_1","put banana on sheet metal",-0.114689,0.045315,0.878547,0.382258,0.003187,0.013063,0.923958
13,2,256000,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
13,2,256000,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
13,2,256000,37,gripper,0,"","put banana on sheet metal",-0.069560,0.080313,0.974245,0.273197,-0.761948,0.283208,0.514386
13,2,256000,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242237,0.043889,0.887476,0.750261,-0.020350,0.023434,0.660413
13,2,256000,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007929,0.010833,0.707296
13,2,256000,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
13,2,256000,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
13,2,256000,38,gripper,0,"","put banana on sheet metal",-0.037415,0.094125,1.010989,0.338408,-0.686864,0.196417,0.612468
13,2,256000,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088318,0.078505,0.887473,0.997025,-0.000507,0.021380,0.074052
13,2,256000,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,-0.075440,0.878547,0.999910,0.013280,0.002051,0.000284
13,2,256000,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
13,2,256000,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
13,2,256000,39,gripper,0,"","put banana on sheet metal",-0.157255,-0.058718,0.982607,-0.040558,-0.738935,-0.090294,0.666466
13,2,256000,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089088,-0.076008,0.887434,0.740254,-0.021706,0.021784,0.671624
13,2,256000,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234573,0.075018,0.878547,0.707575,0.007953,0.010832,0.706511
13,2,256000,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074974,0.871344,0.999999,-0.000157,0.001164,-0.000050
13,2,256000,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000141
13,2,256000,40,gripper,0,"","put banana on flat bowl",-0.190857,0.101029,0.987415,-0.016393,-0.768254,-0.035861,0.638930
13,2,256000,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204391,0.046309,0.887529,0.717354,-0.030082,0.031036,0.695367
13,2,256000,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
13,2,256000,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
13,2,256000,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
13,2,256000,41,gripper,0,"","put banana on flat bowl",-0.066578,0.090968,1.021948,0.128818,-0.704755,0.144119,0.682610
13,2,256000,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243439,0.068392,0.887465,0.248073,-0.020885,0.006152,0.968497
13,2,256000,42,obj,1,"013_banana_1","put banana on flat bowl",-0.114712,0.045328,0.878547,0.383184,0.003197,0.013053,0.923575
13,2,256000,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
13,2,256000,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
13,2,256000,42,gripper,0,"","put banana on flat bowl",-0.089800,0.063497,1.007989,0.139830,-0.708745,0.038056,0.690420
13,2,256000,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
13,2,256000,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,-0.074667,0.878547,0.383193,0.003198,0.013055,0.923571
13,2,256000,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.074995,0.871344,0.999999,-0.000157,0.001164,0.000005
13,2,256000,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000002,0.000160
13,2,256000,43,gripper,0,"","put banana on flat bowl",-0.042282,-0.017565,0.992110,0.040742,-0.755573,0.089752,0.647607
13,2,256000,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120348,0.039639,0.887478,0.363628,-0.038876,0.013667,0.930632
13,2,256000,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074678,0.878547,0.382232,0.003182,0.013050,0.923969
13,2,256000,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001164,0.000001
13,2,256000,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000001
13,2,256000,44,gripper,0,"","put carrot on sheet metal",-0.090057,0.066565,1.000811,0.201256,-0.774153,0.163990,0.577314
13,2,256000,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
13,2,256000,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234980,-0.075432,0.878546,0.999910,0.013284,0.002045,-0.000274
13,2,256000,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,-0.045017,0.871344,0.999999,-0.000157,0.001164,-0.000066
13,2,256000,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000186
13,2,256000,45,gripper,0,"","put carrot on sheet metal",-0.080900,0.086862,1.026085,-0.059011,-0.797418,-0.047863,0.598625
13,2,256000,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091896,0.080746,0.887091,0.917644,-0.020425,0.019122,0.396417
13,2,256000,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,0.074686,0.878547,0.923977,0.011546,0.006999,0.382210
13,2,256000,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
13,2,256000,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
13,2,256000,46,gripper,0,"","put carrot on sheet metal",-0.060251,0.106533,0.988125,0.031755,-0.797505,0.051353,0.600284
13,2,256000,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.121220,0.050482,0.887533,0.918490,-0.006525,0.022013,0.394776
13,2,256000,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
13,2,256000,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
13,2,256000,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
13,2,256000,47,gripper,0,"","put carrot on sheet metal",-0.102240,0.073580,1.020746,0.061751,-0.802760,0.133701,0.577830
13,2,256000,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.120316,0.034843,0.896062,0.763601,-0.039907,0.049802,0.642526
13,2,256000,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.194687,0.000717,0.886092,0.666184,-0.021914,0.004857,0.745450
13,2,256000,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084991,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000284
13,2,256000,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000031
13,2,256000,48,gripper,0,"","put hamburger on cutting board",-0.174000,-0.001335,0.973278,-0.175157,-0.761363,-0.122487,0.612081
13,2,256000,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.196781,0.115902,0.891171,-0.403498,-0.612439,-0.541091,0.411495
13,2,256000,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.216084,-0.052315,0.887026,0.627663,-0.336337,0.624949,0.319929
13,2,256000,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
13,2,256000,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,0.044983,0.870870,1.000000,-0.000001,-0.000002,-0.000062
13,2,256000,49,gripper,0,"","put hamburger on cutting board",-0.214561,-0.071039,0.958217,0.126901,-0.695406,0.036496,0.706382
13,2,256000,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.078541,-0.040504,0.890453,0.954915,-0.028714,0.008490,0.295365
13,2,256000,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
13,2,256000,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000015
13,2,256000,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
13,2,256000,50,gripper,0,"","put hamburger on cutting board",-0.112677,-0.067724,1.037399,-0.059524,-0.783180,-0.029793,0.618223
13,2,256000,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.042929,0.071426,0.890596,0.329783,-0.019104,-0.014671,0.943749
13,2,256000,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256369,0.094898,0.887026,0.266335,-0.662865,0.253563,0.652212
13,2,256000,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085028,-0.075382,0.872199,1.000000,-0.000000,-0.000001,-0.000223
13,2,256000,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084993,0.074997,0.870883,1.000000,0.000699,0.000713,-0.000021
13,2,256000,51,gripper,0,"","put hamburger on cutting board",-0.067533,0.080463,1.148631,0.059098,-0.754718,0.097544,0.646060
13,2,256000,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.138854,0.214066,0.892100,-0.515465,-0.760725,-0.314819,-0.237661
13,2,256000,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.181882,0.032082,0.885738,-0.574975,-0.417871,0.562142,-0.422829
13,2,256000,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234999,-0.044987,0.872199,1.000000,-0.000000,-0.000000,0.000057
13,2,256000,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084637,0.075199,0.870870,1.000000,0.000000,-0.000001,0.000668
13,2,256000,52,gripper,0,"","put plastic bottle on frying pan",-0.164025,-0.016476,1.004439,0.107971,-0.763748,0.063434,0.633251
13,2,256000,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.269991,-0.049644,0.022801,0.231964,0.825525,-0.188107,-0.478871
13,2,256000,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.260586,-0.051933,0.887026,0.246286,-0.670303,0.233195,0.660043
13,2,256000,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085005,0.075005,0.872199,1.000000,-0.000000,-0.000000,-0.000170
13,2,256000,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,0.074993,0.870870,1.000000,0.000002,0.000002,0.000004
13,2,256000,53,gripper,0,"","put plastic bottle on frying pan",-0.242156,-0.074413,0.960661,0.036374,-0.737286,-0.018228,0.674355
13,2,256000,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.098934,-0.063614,0.890597,0.668670,-0.027490,-0.005293,0.743032
13,2,256000,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206112,0.068035,0.887035,0.430434,-0.570004,0.418800,0.560739
13,2,256000,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.040298,0.064007,0.875253,-0.000055,-0.727812,-0.685777,-0.000146
13,2,256000,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084991,-0.075005,0.870870,1.000000,0.000000,-0.000001,0.000165
13,2,256000,54,gripper,0,"","put plastic bottle on frying pan",-0.200058,0.044964,0.990603,-0.084941,-0.788327,-0.124744,0.596461
13,2,256000,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.096420,0.047573,0.890794,0.998032,-0.026502,0.014203,0.055038
13,2,256000,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.148861,0.089054,0.887027,0.704389,-0.003463,0.709699,-0.012298
13,2,256000,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
13,2,256000,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.072186,0.073608,0.870870,0.999996,-0.000000,-0.000001,-0.002657
13,2,256000,55,gripper,0,"","put plastic bottle on frying pan",-0.163837,0.071167,0.973363,0.041825,-0.752921,-0.105845,0.648195
13,2,256000,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206070,0.074802,0.888112,0.411639,-0.022903,-0.015297,0.910931
13,2,256000,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.231033,-0.055225,0.887026,0.285678,-0.655005,0.273230,0.643974
13,2,256000,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
13,2,256000,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000006
13,2,256000,56,gripper,0,"","put plastic bottle on cutting board",-0.225227,-0.063246,0.972466,0.056404,-0.695502,0.096753,0.709743
13,2,256000,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.018173,0.126751,0.927158,0.995356,-0.032411,0.090049,-0.010336
13,2,256000,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.189854,0.195724,0.889773,-0.019119,0.838823,-0.543063,-0.033068
13,2,256000,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236191,0.096531,0.872199,0.985964,-0.000001,-0.000000,0.166957
13,2,256000,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.070118,-0.072575,0.870870,0.997596,0.000000,-0.000000,-0.069295
13,2,256000,57,gripper,0,"","put plastic bottle on cutting board",-0.017813,0.124525,0.979404,0.024595,-0.832927,0.010428,0.552738
13,2,256000,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.121231,0.144459,0.892100,-0.539059,-0.771042,0.288641,0.177752
13,2,256000,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.065117,0.081856,0.892362,0.026260,-0.587490,0.808435,0.024488
13,2,256000,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234997,0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000033
13,2,256000,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084972,0.074928,0.870884,0.999999,0.000705,0.000714,-0.000084
13,2,256000,58,gripper,0,"","put plastic bottle on cutting board",-0.075506,0.024240,1.043858,0.049169,-0.757193,0.011038,0.651244
13,2,256000,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.227207,-0.006176,0.891507,-0.547043,0.270651,-0.785987,-0.098567
13,2,256000,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.094749,0.052406,0.887026,0.698145,0.079358,0.705256,-0.094390
13,2,256000,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,2,256000,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000047
13,2,256000,59,gripper,0,"","put plastic bottle on cutting board",-0.101908,0.029659,1.019579,-0.038250,-0.742194,-0.081533,0.664107
13,2,256000,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235954,0.045605,0.888112,0.711919,-0.026876,-0.006029,0.701721
13,2,256000,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.119261,0.014904,0.889856,0.493364,-0.524384,0.466537,0.513767
13,2,256000,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
13,2,256000,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
13,2,256000,60,gripper,0,"","put hamburger on frying pan",-0.129516,0.014959,0.932805,0.005315,-0.824637,-0.017251,0.565374
13,2,256000,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.177446,-0.018219,0.975963,0.339413,0.048125,0.049897,0.938079
13,2,256000,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256483,0.064980,0.887026,0.267761,-0.662310,0.255013,0.651627
13,2,256000,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
13,2,256000,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
13,2,256000,61,gripper,0,"","put hamburger on frying pan",-0.170509,-0.016035,1.023365,-0.047563,-0.736685,-0.040306,0.673356
13,2,256000,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205959,0.075634,0.888112,0.712181,-0.026879,-0.006013,0.701455
13,2,256000,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.097023,0.057404,0.895326,0.525266,-0.484953,0.521887,0.465349
13,2,256000,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085003,0.074997,0.872199,1.000000,-0.000000,-0.000001,-0.000012
13,2,256000,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000028
13,2,256000,62,gripper,0,"","put hamburger on frying pan",-0.108677,0.036955,1.087917,0.079458,-0.740501,0.027190,0.666787
13,2,256000,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.087803,0.029598,0.896381,0.519758,-0.027079,-0.014804,0.853756
13,2,256000,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256359,0.094982,0.887026,0.266408,-0.662834,0.253636,0.652186
13,2,256000,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114895,0.045113,0.872199,1.000000,-0.000001,-0.000001,-0.000071
13,2,256000,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205330,-0.045391,0.870870,1.000000,0.000000,-0.000001,-0.000878
13,2,256000,63,gripper,0,"","put hamburger on frying pan",-0.107067,-0.089268,0.985607,0.086746,-0.728307,0.067437,0.676385
13,3,261120,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.090813,-0.000412,0.878982,-0.424528,0.535441,-0.370443,-0.629167
13,3,261120,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.159340,-0.117393,0.882253,0.115072,-0.098292,0.006204,0.988463
13,3,261120,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.081863,-0.068367,0.869532,0.999894,-0.000000,-0.000001,0.014522
13,3,261120,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000155,-0.001020,0.000120
13,3,261120,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.172722,-0.034184,0.933154,-0.153300,-0.735867,-0.168234,0.637727
13,3,261120,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191418,0.088455,0.885121,0.449953,0.544334,-0.548871,0.447195
13,3,261120,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084393,-0.075737,0.881638,0.382367,0.034443,-0.019078,0.923171
13,3,261120,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235020,0.074997,0.869532,1.000000,0.000000,0.000000,-0.000011
13,3,261120,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205006,-0.045006,0.871288,0.999999,-0.000156,-0.001021,0.000021
13,3,261120,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.157425,0.077759,1.123833,0.064725,-0.824680,0.100970,0.552738
13,3,261120,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.331203,0.047272,0.879116,-0.097806,0.151801,-0.983453,-0.014522
13,3,261120,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085773,-0.075577,0.881638,0.923141,0.010854,-0.037821,0.382443
13,3,261120,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.110291,0.044991,0.869532,0.999979,0.000000,0.000000,-0.006479
13,3,261120,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.222763,0.073189,0.871288,0.998544,-0.000098,-0.001026,0.053936
13,3,261120,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.222614,0.082417,0.971907,-0.090789,-0.681152,-0.095017,0.720251
13,3,261120,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.201157,-0.062111,0.885085,0.617342,0.331119,-0.323668,0.635994
13,3,261120,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.108295,0.082916,0.881638,0.512178,0.031292,-0.023856,0.857978
13,3,261120,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205009,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000110
13,3,261120,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.243017,0.051460,0.871288,0.998788,-0.000104,-0.001026,0.049197
13,3,261120,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.100077,0.080727,0.929908,-0.060879,-0.822794,-0.088660,0.558070
13,3,261120,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.191808,-0.065559,0.885085,0.613630,0.333012,-0.321763,0.639554
13,3,261120,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115166,0.063980,0.884016,0.651951,0.019910,0.028262,0.757472
13,3,261120,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,-0.074997,0.869532,1.000000,0.000001,-0.000000,-0.000000
13,3,261120,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235009,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000041
13,3,261120,4,gripper,0,"","put kitchen shovel on cloth",-0.183905,0.041096,0.998345,-0.088500,-0.745384,-0.109338,0.651626
13,3,261120,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.093792,0.057205,0.878982,-0.518861,0.469978,-0.450624,-0.553933
13,3,261120,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.232414,-0.045914,0.887029,0.636879,0.010286,-0.035287,0.770087
13,3,261120,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.203730,-0.046242,0.869532,0.999961,-0.000000,-0.000001,0.008790
13,3,261120,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
13,3,261120,5,gripper,0,"","put kitchen shovel on cloth",-0.272962,-0.066990,0.940498,-0.089901,-0.738633,-0.088881,0.662147
13,3,261120,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.096500,-0.056404,0.888417,-0.675498,-0.068544,0.064078,-0.731367
13,3,261120,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.217266,0.099274,0.880429,-0.252259,-0.604533,0.719139,-0.231827
13,3,261120,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235477,0.045433,0.874562,0.996796,0.075929,-0.023978,-0.007541
13,3,261120,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084545,-0.074509,0.871288,0.999984,-0.000159,-0.001018,-0.005575
13,3,261120,6,gripper,0,"","put kitchen shovel on cloth",-0.196836,-0.064995,0.935896,-0.114224,-0.777693,-0.059334,0.615326
13,3,261120,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.069618,0.074699,0.879023,0.715775,-0.225067,0.600312,0.276834
13,3,261120,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.206013,0.075562,0.881638,0.999224,-0.004510,-0.039102,-0.001687
13,3,261120,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000001
13,3,261120,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000366
13,3,261120,7,gripper,0,"","put kitchen shovel on cloth",-0.083769,0.100422,0.939260,0.270761,-0.785851,0.165817,0.530689
13,3,261120,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.097321,0.063358,0.879437,0.621879,0.271652,-0.692282,0.245392
13,3,261120,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.192528,-0.091805,0.881641,0.995813,-0.007715,0.039443,0.082108
13,3,261120,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.178940,0.060215,0.869532,0.979237,-0.000001,-0.000002,0.202720
13,3,261120,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.075001,0.871289,1.000000,-0.000153,-0.001019,-0.000057
13,3,261120,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.163860,-0.027973,0.968190,-0.095428,-0.774384,-0.082111,0.620065
13,3,261120,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205742,0.051956,0.885112,-0.082568,0.552871,-0.827374,-0.054488
13,3,261120,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085110,-0.075958,0.881638,0.706727,0.024487,-0.030783,0.706392
13,3,261120,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234100,0.072948,0.869532,0.999898,0.000000,-0.000001,-0.014293
13,3,261120,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.045006,0.871289,0.999999,-0.000153,-0.001019,0.000008
13,3,261120,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.158632,0.053514,1.132628,0.027621,-0.828411,0.143239,0.540791
13,3,261120,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094730,-0.044983,0.879089,0.886321,-0.001360,-0.463069,0.000502
13,3,261120,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.196987,0.049046,0.881641,0.988956,-0.010104,0.038877,0.142664
13,3,261120,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000027
13,3,261120,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205566,-0.075596,0.871288,0.999986,-0.000148,-0.001021,0.005195
13,3,261120,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.203747,-0.052536,0.934944,-0.101747,-0.831174,-0.095696,0.538182
13,3,261120,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.033548,-0.003536,0.879088,-0.101578,-0.459827,0.054682,-0.880483
13,3,261120,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.131004,-0.105194,0.881638,0.888233,-0.021855,-0.032714,-0.457705
13,3,261120,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000016
13,3,261120,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000003
13,3,261120,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.121181,0.053541,1.004292,0.039265,-0.785119,0.066354,0.614527
13,3,261120,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078053,0.038151,0.879089,0.338124,0.427445,-0.178167,0.819280
13,3,261120,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.132980,0.067230,0.881638,0.206838,0.037338,-0.012441,0.977583
13,3,261120,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.113913,-0.076839,0.869556,0.999166,0.000169,0.000367,0.040827
13,3,261120,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.230926,-0.080170,0.871288,0.984978,-0.000327,-0.000977,-0.172680
13,3,261120,12,gripper,0,"","put ketchup bottle on cloth",-0.179160,0.062536,0.959471,0.067533,-0.799112,0.054381,0.594896
13,3,261120,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078190,0.171947,0.879088,0.061890,0.461829,-0.033955,0.884155
13,3,261120,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.160873,0.054276,0.888355,0.742768,0.029489,-0.013614,0.668761
13,3,261120,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.041851,0.075737,0.869532,0.951115,0.000000,0.000001,-0.308836
13,3,261120,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.201635,0.048698,0.871288,0.999403,-0.000190,-0.001013,-0.034531
13,3,261120,13,gripper,0,"","put ketchup bottle on cloth",-0.183403,0.081282,0.996828,0.045876,-0.835996,0.062968,0.543177
13,3,261120,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.127285,0.051239,0.879703,-0.419752,0.415792,-0.777719,-0.214660
13,3,261120,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.056435,0.093384,0.881638,0.198089,0.037429,-0.012103,0.979394
13,3,261120,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084976,-0.075005,0.869532,1.000000,0.000000,-0.000001,-0.000468
13,3,261120,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074963,0.871288,0.999999,-0.000154,-0.001020,0.000111
13,3,261120,14,gripper,0,"","put ketchup bottle on cloth",-0.183081,0.054157,0.916125,-0.108706,-0.818558,-0.168420,0.538313
13,3,261120,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.089516,-0.043072,0.885209,-0.147600,-0.812569,0.512113,-0.235976
13,3,261120,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.227459,-0.038383,0.890060,0.740611,-0.003281,-0.075927,0.667622
13,3,261120,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085049,-0.075027,0.869532,1.000000,0.000002,-0.000002,0.000037
13,3,261120,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205059,-0.074989,0.871282,0.999999,-0.000452,-0.001265,0.000090
13,3,261120,15,gripper,0,"","put ketchup bottle on cloth",-0.180527,-0.024715,0.994658,-0.050373,-0.731563,-0.045454,0.678389
13,3,261120,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.228348,0.075886,0.886083,0.994668,-0.000416,0.004068,-0.103044
13,3,261120,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.191315,-0.066082,0.885954,0.364063,0.021958,0.931007,-0.014166
13,3,261120,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075047,0.869490,1.000000,0.000180,0.000874,0.000269
13,3,261120,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075043,0.870448,0.999999,-0.000923,-0.000845,-0.000084
13,3,261120,16,gripper,0,"","put 7up can on newspaper",-0.221760,-0.072973,0.921292,-0.043839,-0.763933,-0.043519,0.642332
13,3,261120,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.055847,0.082928,0.883544,0.590286,0.011185,-0.005925,0.807095
13,3,261120,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.223396,-0.043892,0.889211,0.486093,0.514130,-0.583887,0.398070
13,3,261120,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204735,-0.045002,0.869490,1.000000,0.000181,0.000874,-0.000305
13,3,261120,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074959,0.870447,0.999999,-0.000923,-0.000845,-0.000102
13,3,261120,17,gripper,0,"","put 7up can on newspaper",-0.176537,0.020693,0.989245,0.041094,-0.741028,0.008920,0.670156
13,3,261120,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.218876,0.018009,0.885709,0.735301,0.022440,0.002228,0.677365
13,3,261120,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.169647,-0.069382,0.888451,0.588548,0.126875,-0.088242,0.793553
13,3,261120,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234985,0.045025,0.869489,0.999999,0.000532,0.001407,0.000446
13,3,261120,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205029,-0.076099,0.870368,0.999966,0.000137,-0.001116,-0.008218
13,3,261120,18,gripper,0,"","put 7up can on newspaper",-0.128134,0.055662,1.150758,0.073736,-0.795850,0.139656,0.584536
13,3,261120,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.107918,0.072422,0.886558,0.967731,0.005361,-0.009392,0.251752
13,3,261120,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.168737,0.004375,0.888627,-0.546794,0.392069,0.480682,0.562355
13,3,261120,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
13,3,261120,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115009,0.075005,0.870448,0.999998,-0.001378,-0.001236,-0.000073
13,3,261120,19,gripper,0,"","put 7up can on newspaper",-0.196010,0.001890,0.932534,-0.005745,-0.766818,-0.025137,0.641346
13,3,261120,20,obj,0,"003_bread_1","put 7up can on carpet",-0.110103,0.061230,0.886594,0.392903,0.015378,-0.002337,0.919448
13,3,261120,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.079268,-0.051048,0.885645,0.347034,0.257439,-0.105576,0.895626
13,3,261120,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.044998,0.869490,1.000000,0.000179,0.000874,0.000000
13,3,261120,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.115014,0.074993,0.870448,0.999998,-0.001340,-0.001206,-0.000030
13,3,261120,20,gripper,0,"","put 7up can on carpet",-0.097177,-0.062149,0.924794,-0.357749,-0.681543,-0.277477,0.574910
13,3,261120,21,obj,0,"003_bread_1","put 7up can on carpet",-0.109243,-0.052299,0.886572,0.989194,0.005433,-0.010325,0.146147
13,3,261120,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.047136,0.212521,0.885687,0.742276,0.238203,-0.325245,0.535258
13,3,261120,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.082521,0.075474,0.869490,0.999985,0.000185,0.000874,-0.005402
13,3,261120,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.112236,-0.043900,0.870461,0.999998,0.000018,-0.000158,-0.001714
13,3,261120,21,gripper,0,"","put 7up can on carpet",-0.219822,-0.018715,0.919808,0.018786,-0.708413,0.004249,0.705536
13,3,261120,22,obj,0,"003_bread_1","put 7up can on carpet",-0.138817,-0.037827,0.883982,0.866598,0.006184,-0.029175,0.498115
13,3,261120,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.061195,0.095711,0.888592,0.672727,0.202275,-0.202047,0.682423
13,3,261120,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.082607,-0.073288,0.869489,0.999785,0.000198,0.000871,-0.020738
13,3,261120,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.083660,0.076099,0.870461,1.000000,0.000019,-0.000158,0.000419
13,3,261120,22,gripper,0,"","put 7up can on carpet",-0.156166,-0.036692,1.008044,0.014399,-0.783992,-0.018260,0.620335
13,3,261120,23,obj,0,"003_bread_1","put 7up can on carpet",-0.231979,0.082447,0.883544,0.304732,0.012490,-0.002081,0.952354
13,3,261120,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.179020,0.026646,0.885733,0.521727,-0.383071,0.286862,0.706235
13,3,261120,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115025,-0.044994,0.869490,1.000000,0.000179,0.000874,0.000068
13,3,261120,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000071
13,3,261120,23,gripper,0,"","put 7up can on carpet",-0.224815,0.082392,0.946493,-0.050792,-0.726103,-0.030115,0.685046
13,3,261120,24,obj,0,"003_bread_1","put bread on newspaper",-0.223000,-0.151628,0.885234,-0.417988,-0.014363,-0.061371,-0.906263
13,3,261120,24,obj,1,"005_7up can_1","put bread on newspaper",-0.184555,0.087074,0.887896,0.473215,-0.506168,0.493854,0.525328
13,3,261120,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.205223,0.074989,0.869490,0.999998,0.000551,0.001433,-0.000972
13,3,261120,24,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.074631,0.870448,0.999999,-0.000819,-0.000758,0.000142
13,3,261120,24,gripper,0,"","put bread on newspaper",-0.229248,-0.147448,0.938952,-0.217723,-0.741654,-0.174560,0.609979
13,3,261120,25,obj,0,"003_bread_1","put bread on newspaper",-0.085476,-0.075518,0.883544,0.924685,0.006453,-0.010892,0.380521
13,3,261120,25,obj,1,"005_7up can_1","put bread on newspaper",-0.184635,-0.004448,0.885747,0.654523,-0.350656,0.473442,0.473807
13,3,261120,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.236561,-0.075048,0.869489,0.999954,0.000172,0.000877,0.009544
13,3,261120,25,recep,1,"003_carpet_1","put bread on newspaper",-0.239414,0.076948,0.870461,0.999729,-0.000084,-0.000244,-0.023265
13,3,261120,25,gripper,0,"","put bread on newspaper",-0.200951,-0.000849,0.980928,0.167029,-0.743643,0.104934,0.638816
13,3,261120,26,obj,0,"003_bread_1","put bread on newspaper",-0.074875,0.081411,0.883576,0.999845,0.001244,-0.017148,-0.003890
13,3,261120,26,obj,1,"005_7up can_1","put bread on newspaper",-0.107925,0.040142,0.885945,-0.018743,0.921487,-0.030545,-0.386752
13,3,261120,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.083019,-0.073664,0.869490,0.999851,0.000195,0.000871,-0.017235
13,3,261120,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000036
13,3,261120,26,gripper,0,"","put bread on newspaper",-0.111160,0.048620,0.945645,0.077660,-0.768913,0.098867,0.626871
13,3,261120,27,obj,0,"003_bread_1","put bread on newspaper",-0.159290,-0.028206,0.884454,0.999021,-0.000331,0.026025,-0.035768
13,3,261120,27,obj,1,"005_7up can_1","put bread on newspaper",-0.068201,0.059757,0.885675,0.823773,0.172024,-0.318600,0.436233
13,3,261120,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204987,-0.075005,0.869490,1.000000,0.000179,0.000874,0.000303
13,3,261120,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000068
13,3,261120,27,gripper,0,"","put bread on newspaper",-0.102184,0.059821,0.934881,-0.042859,-0.797930,-0.013418,0.601075
13,3,261120,28,obj,0,"003_bread_1","put bread on carpet",-0.171879,-0.038862,0.883701,0.869168,0.008548,-0.018859,0.494083
13,3,261120,28,obj,1,"005_7up can_1","put bread on carpet",-0.108881,-0.202242,0.885609,0.673947,-0.081621,0.068157,0.731087
13,3,261120,28,recep,0,"004_newspaper_1","put bread on carpet",-0.113852,-0.044168,0.869490,0.999944,0.000189,0.000872,-0.010512
13,3,261120,28,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
13,3,261120,28,gripper,0,"","put bread on carpet",-0.174426,-0.059808,0.961802,-0.053796,-0.769102,-0.030724,0.636116
13,3,261120,29,obj,0,"003_bread_1","put bread on carpet",-0.063641,-0.025475,0.883544,0.998297,0.002533,-0.012396,0.056954
13,3,261120,29,obj,1,"005_7up can_1","put bread on carpet",0.249718,0.109015,0.017055,-0.010917,0.778090,0.017889,0.627803
13,3,261120,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234983,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000033
13,3,261120,29,recep,1,"003_carpet_1","put bread on carpet",-0.205000,-0.044996,0.870447,0.999999,-0.000868,-0.000797,-0.000370
13,3,261120,29,gripper,0,"","put bread on carpet",-0.074377,-0.013054,0.998855,0.037670,-0.768903,0.142776,0.622080
13,3,261120,30,obj,0,"003_bread_1","put bread on carpet",-0.185596,-0.041937,0.884721,0.227500,0.016107,0.013834,0.973546
13,3,261120,30,obj,1,"005_7up can_1","put bread on carpet",12.404755,-42.709278,-1939.666504,0.027410,-0.413184,0.722195,-0.554042
13,3,261120,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235123,-0.075071,0.869490,0.999999,0.000195,0.000895,0.000658
13,3,261120,30,recep,1,"003_carpet_1","put bread on carpet",-0.115005,-0.045109,0.870449,0.999999,-0.000888,-0.000824,0.000459
13,3,261120,30,gripper,0,"","put bread on carpet",-0.177715,-0.013815,1.039060,0.015730,-0.730091,0.023341,0.682770
13,3,261120,31,obj,0,"003_bread_1","put bread on carpet",-0.191654,0.074446,0.886482,0.525403,0.017729,-0.004468,0.850657
13,3,261120,31,obj,1,"005_7up can_1","put bread on carpet",-0.189751,-0.010042,0.885850,0.496822,-0.499368,0.524838,0.477854
13,3,261120,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205112,-0.075008,0.869490,1.000000,0.000180,0.000875,0.000357
13,3,261120,31,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074989,0.870452,0.999998,0.001568,0.001266,-0.000074
13,3,261120,31,gripper,0,"","put bread on carpet",-0.157204,-0.020902,1.009293,0.083611,-0.765088,0.066589,0.634992
13,3,261120,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204033,0.045269,0.887252,0.999428,-0.007397,0.032517,0.005618
13,3,261120,32,obj,1,"013_banana_1","put banana on sheet metal",-0.235001,-0.075438,0.878547,0.999910,0.013278,0.002054,0.000318
13,3,261120,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000025
13,3,261120,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
13,3,261120,32,gripper,0,"","put banana on sheet metal",-0.193714,-0.036264,0.984626,0.008476,-0.753150,0.092555,0.651251
13,3,261120,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.094692,-0.066694,0.887578,0.921077,-0.010339,0.031508,0.387965
13,3,261120,33,obj,1,"013_banana_1","put banana on sheet metal",-0.204685,-0.045306,0.878547,0.923641,0.011487,0.006981,0.383022
13,3,261120,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
13,3,261120,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000000
13,3,261120,33,gripper,0,"","put banana on sheet metal",-0.170933,-0.000623,0.987846,-0.087362,-0.723131,-0.018120,0.684924
13,3,261120,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204201,0.046531,0.887528,0.722145,-0.029868,0.031243,0.690390
13,3,261120,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007943,0.010849,0.707296
13,3,261120,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
13,3,261120,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
13,3,261120,34,gripper,0,"","put banana on sheet metal",-0.064663,0.130897,1.011492,0.430478,-0.590918,0.394971,0.556330
13,3,261120,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093237,0.081241,0.887145,0.919223,-0.020517,0.022121,0.392579
13,3,261120,35,obj,1,"013_banana_1","put banana on sheet metal",-0.234680,-0.075307,0.878547,0.923646,0.011476,0.006974,0.383010
13,3,261120,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
13,3,261120,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
13,3,261120,35,gripper,0,"","put banana on sheet metal",-0.186356,-0.022854,0.998176,-0.060607,-0.706124,0.026826,0.704979
13,3,261120,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236284,0.039031,0.887303,0.913331,-0.012554,0.017936,0.406630
13,3,261120,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204683,-0.075307,0.878547,0.923621,0.011474,0.006974,0.383071
13,3,261120,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000016
13,3,261120,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
13,3,261120,36,gripper,0,"","put banana on flat bowl",-0.168908,-0.074981,0.978809,-0.275710,-0.616383,-0.282096,0.681526
13,3,261120,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089666,-0.081909,0.887230,0.373406,-0.011558,0.010477,0.927537
13,3,261120,37,obj,1,"013_banana_1","put banana on flat bowl",-0.114689,0.045314,0.878547,0.382259,0.003180,0.013043,0.923958
13,3,261120,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
13,3,261120,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
13,3,261120,37,gripper,0,"","put banana on flat bowl",-0.095068,0.089721,1.011710,0.107251,-0.795028,0.190627,0.565764
13,3,261120,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244850,0.043162,0.887449,0.757039,-0.021909,0.023649,0.652574
13,3,261120,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007943,0.010849,0.707296
13,3,261120,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
13,3,261120,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
13,3,261120,38,gripper,0,"","put banana on flat bowl",-0.046497,0.087517,1.027616,0.184697,-0.741410,-0.040304,0.643874
13,3,261120,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088352,0.079861,0.887501,0.996857,-0.002409,0.037241,0.069886
13,3,261120,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,-0.075441,0.878547,0.999909,0.013303,0.002052,0.000284
13,3,261120,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
13,3,261120,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
13,3,261120,39,gripper,0,"","put banana on flat bowl",-0.145817,-0.041083,1.030788,-0.317280,-0.675953,-0.194941,0.635939
13,3,261120,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090988,-0.076385,0.887333,0.746660,-0.027523,0.023196,0.664232
13,3,261120,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234573,0.075022,0.878547,0.707967,0.007982,0.010857,0.706116
13,3,261120,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000073
13,3,261120,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000220
13,3,261120,40,gripper,0,"","put carrot on sheet metal",-0.131741,-0.036695,0.971646,0.191272,-0.740553,0.239609,0.597984
13,3,261120,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204414,0.046310,0.887529,0.718560,-0.030029,0.031089,0.694121
13,3,261120,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
13,3,261120,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
13,3,261120,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
13,3,261120,41,gripper,0,"","put carrot on sheet metal",-0.161333,0.057934,0.982806,0.181991,-0.725080,0.112971,0.654504
13,3,261120,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243492,0.067064,0.887277,0.243037,-0.031848,0.001472,0.969493
13,3,261120,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.114712,0.045332,0.878547,0.383646,0.003203,0.013050,0.923382
13,3,261120,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
13,3,261120,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
13,3,261120,42,gripper,0,"","put carrot on sheet metal",-0.189005,0.077479,0.997217,0.028121,-0.709582,-0.021251,0.703741
13,3,261120,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093090,0.065413,0.887383,0.386505,-0.024386,0.013103,0.921872
13,3,261120,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074663,0.878547,0.383676,0.003200,0.013039,0.923370
13,3,261120,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.074993,0.871344,0.999999,-0.000157,0.001164,0.000012
13,3,261120,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000259
13,3,261120,43,gripper,0,"","put carrot on sheet metal",-0.125089,-0.041985,1.015524,0.112582,-0.688938,0.136606,0.702872
13,3,261120,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.121900,0.036263,0.887145,0.378452,-0.022495,0.020196,0.925127
13,3,261120,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074678,0.878547,0.382231,0.003189,0.013072,0.923969
13,3,261120,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001163,0.000001
13,3,261120,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000003
13,3,261120,44,gripper,0,"","put carrot on flat bowl",-0.084034,0.057869,0.961656,0.328899,-0.729859,0.318961,0.507340
13,3,261120,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
13,3,261120,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234978,-0.075434,0.878547,0.999909,0.013313,0.002044,-0.000565
13,3,261120,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,-0.045025,0.871344,0.999999,-0.000158,0.001164,-0.000077
13,3,261120,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000275
13,3,261120,45,gripper,0,"","put carrot on flat bowl",-0.158708,0.064692,1.020855,-0.069412,-0.712042,-0.056366,0.696420
13,3,261120,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095116,0.082588,0.887537,0.922637,-0.012573,0.024377,0.384693
13,3,261120,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234669,0.074686,0.878547,0.924154,0.011545,0.006992,0.381781
13,3,261120,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
13,3,261120,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
13,3,261120,46,gripper,0,"","put carrot on flat bowl",-0.108921,0.050342,1.046484,0.013921,-0.737387,-0.029620,0.674677
13,3,261120,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.124989,0.053097,0.887213,0.923302,-0.019489,0.025582,0.382725
13,3,261120,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
13,3,261120,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
13,3,261120,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
13,3,261120,47,gripper,0,"","put carrot on flat bowl",-0.061346,0.059073,1.006355,-0.007573,-0.736275,-0.017418,0.676416
13,3,261120,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.120621,0.034706,0.896058,0.765400,-0.042643,0.041928,0.640771
13,3,261120,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.194687,0.000717,0.886092,0.666272,-0.021914,0.004859,0.745371
13,3,261120,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084991,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000389
13,3,261120,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000001,-0.000028
13,3,261120,48,gripper,0,"","put plastic bottle on frying pan",-0.075535,0.006365,1.152943,0.124432,-0.790578,0.149952,0.580533
13,3,261120,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.189499,0.123314,0.891560,-0.390255,-0.555492,-0.581582,0.448210
13,3,261120,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.207676,-0.012318,0.893288,0.565467,-0.492896,0.453611,0.481184
13,3,261120,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084900,0.075027,0.872199,0.999999,0.000001,-0.000001,-0.001379
13,3,261120,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.198124,0.058018,0.870882,0.999582,0.000698,0.000663,-0.028896
13,3,261120,49,gripper,0,"","put plastic bottle on frying pan",-0.188900,-0.019669,0.937311,0.083778,-0.767494,-0.039768,0.634313
13,3,261120,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.078548,-0.040478,0.890453,0.955358,-0.028696,0.008533,0.293930
13,3,261120,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.178650,0.052757,0.887030,0.517117,-0.493035,0.506489,0.482677
13,3,261120,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
13,3,261120,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075005,0.870870,1.000000,0.000000,-0.000001,0.000017
13,3,261120,50,gripper,0,"","put plastic bottle on frying pan",-0.179396,0.051456,0.918460,0.066680,-0.776756,0.005235,0.626241
13,3,261120,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.042940,0.071423,0.890596,0.330337,-0.019115,-0.014656,0.943555
13,3,261120,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.258528,0.100597,0.887020,0.286520,-0.654575,0.274399,0.643540
13,3,261120,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085028,-0.075382,0.872199,1.000000,-0.000000,-0.000001,-0.000239
13,3,261120,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.074997,0.870883,0.999999,0.000699,0.000713,0.000041
13,3,261120,51,gripper,0,"","put plastic bottle on frying pan",-0.251597,0.087866,0.946258,0.328795,-0.591374,0.222017,0.702054
13,3,261120,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.138853,0.214066,0.892100,-0.515465,-0.760725,-0.314821,-0.237657
13,3,261120,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.073377,0.110729,0.888250,-0.556170,-0.448734,0.523411,-0.464061
13,3,261120,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234999,-0.044987,0.872199,1.000000,0.000000,-0.000001,0.000057
13,3,261120,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.078455,0.075981,0.870870,0.999898,0.000000,0.000000,0.014263
13,3,261120,52,gripper,0,"","put plastic bottle on cutting board",-0.070928,0.104813,1.012848,0.125626,-0.710737,0.020554,0.691844
13,3,261120,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.269991,-0.049717,0.022801,0.231927,0.825514,-0.188168,-0.478883
13,3,261120,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.290876,-0.055531,0.887026,0.192680,-0.686813,0.178811,0.677634
13,3,261120,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085007,0.075005,0.872199,1.000000,-0.000000,-0.000000,-0.000232
13,3,261120,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204992,0.074993,0.870870,1.000000,-0.000001,-0.000002,0.000015
13,3,261120,53,gripper,0,"","put plastic bottle on cutting board",-0.242733,-0.011721,1.009313,0.048444,-0.718491,0.060573,0.691199
13,3,261120,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.098938,-0.063614,0.890597,0.668480,-0.027487,-0.005298,0.743203
13,3,261120,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.178280,0.058792,0.957779,0.351399,-0.646371,0.361708,0.572618
13,3,261120,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.040298,0.064007,0.875253,-0.000055,-0.727733,-0.685860,-0.000146
13,3,261120,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084991,-0.075005,0.870870,1.000000,0.000000,-0.000000,0.000242
13,3,261120,54,gripper,0,"","put plastic bottle on cutting board",-0.176317,0.061478,1.001153,-0.152154,-0.741291,-0.189015,0.625788
13,3,261120,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.096420,0.047573,0.890794,0.998027,-0.026510,0.014198,0.055112
13,3,261120,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.148861,0.089054,0.887027,0.704388,-0.003443,0.709700,-0.012317
13,3,261120,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
13,3,261120,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.072186,0.073608,0.870870,0.999996,-0.000000,-0.000001,-0.002667
13,3,261120,55,gripper,0,"","put plastic bottle on cutting board",-0.186775,-0.068470,1.025853,0.147514,-0.743699,0.142169,0.636349
13,3,261120,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.135704,0.057384,0.891131,0.089082,0.026570,-0.022193,0.995422
13,3,261120,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.231033,-0.055225,0.887026,0.285631,-0.655026,0.273183,0.643993
13,3,261120,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
13,3,261120,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084694,0.075100,0.870870,1.000000,0.000000,0.000002,0.000084
13,3,261120,56,gripper,0,"","put hamburger on frying pan",-0.179001,0.048916,0.914898,-0.008266,-0.801490,-0.047011,0.596101
13,3,261120,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.007610,0.144657,0.921545,0.986957,-0.088614,0.053813,-0.123154
13,3,261120,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.189854,0.195724,0.889773,-0.019126,0.838703,-0.543248,-0.033063
13,3,261120,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236191,0.096531,0.872199,0.985961,-0.000000,-0.000000,0.166974
13,3,261120,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.070118,-0.072575,0.870870,0.997598,0.000000,-0.000001,-0.069270
13,3,261120,57,gripper,0,"","put hamburger on frying pan",-0.023399,0.142904,0.960055,0.254940,-0.744397,0.159596,0.596161
13,3,261120,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121220,0.144455,0.892100,-0.539917,-0.772447,0.284865,0.175123
13,3,261120,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.110275,0.142380,0.020993,-0.049937,0.665339,0.741609,0.069620
13,3,261120,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234997,0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000021
13,3,261120,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.091408,0.066166,0.870870,0.999165,0.000001,-0.000000,-0.040846
13,3,261120,58,gripper,0,"","put hamburger on frying pan",-0.159065,0.110926,1.037706,0.204140,-0.748389,0.106470,0.622016
13,3,261120,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.227201,-0.006176,0.891507,-0.547063,0.270517,-0.786030,-0.098487
13,3,261120,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.097563,0.034714,0.885720,0.371346,-0.589700,-0.361122,-0.619635
13,3,261120,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,3,261120,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000070
13,3,261120,59,gripper,0,"","put hamburger on frying pan",-0.030964,0.033182,1.008287,0.274637,-0.705195,-0.011362,0.653564
13,3,261120,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235954,0.045605,0.888112,0.711919,-0.026874,-0.006031,0.701721
13,3,261120,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.117481,0.013451,0.887026,0.471383,-0.537905,0.462972,0.523558
13,3,261120,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
13,3,261120,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
13,3,261120,60,gripper,0,"","put hamburger on cutting board",-0.196843,-0.021044,0.975445,-0.055382,-0.708597,-0.165933,0.683586
13,3,261120,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.069193,-0.091988,0.893658,0.242762,-0.211548,-0.830290,0.454899
13,3,261120,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256483,0.064980,0.887026,0.267782,-0.662302,0.255035,0.651618
13,3,261120,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
13,3,261120,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085001,-0.075001,0.870883,1.000000,0.000699,0.000713,-0.000001
13,3,261120,61,gripper,0,"","put hamburger on cutting board",-0.097167,-0.080566,1.051362,-0.142535,-0.756829,-0.121894,0.626128
13,3,261120,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.230534,0.061665,0.969709,0.670438,0.062795,0.006979,0.739271
13,3,261120,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.097019,0.057404,0.895327,0.524854,-0.485413,0.521477,0.465795
13,3,261120,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085003,0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000065
13,3,261120,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000044
13,3,261120,62,gripper,0,"","put hamburger on cutting board",-0.233822,0.055849,1.001860,-0.007013,-0.700834,-0.106552,0.705287
13,3,261120,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.151718,-0.012390,0.891489,0.515831,0.045803,-0.077009,0.851992
13,3,261120,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256359,0.094982,0.887026,0.266412,-0.662831,0.253640,0.652185
13,3,261120,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114063,0.048935,0.872200,0.999060,-0.000001,-0.000001,0.043355
13,3,261120,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205330,-0.045395,0.870871,1.000000,0.000042,0.000042,-0.000911
13,3,261120,63,gripper,0,"","put hamburger on cutting board",-0.154442,-0.025305,1.091580,0.008919,-0.759662,0.041382,0.648939
13,4,266240,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.090813,-0.000412,0.878981,-0.424533,0.535440,-0.370456,-0.629156
13,4,266240,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.159348,-0.117393,0.882251,0.114726,-0.098157,0.006160,0.988517
13,4,266240,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.081863,-0.068413,0.869532,0.999895,-0.000000,-0.000000,0.014452
13,4,266240,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000123
13,4,266240,0,gripper,0,"","put kitchen shovel on cloth",-0.218445,-0.115536,0.915487,-0.164669,-0.728874,-0.113161,0.654844
13,4,266240,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.191422,0.088448,0.885121,0.449919,0.544371,-0.548922,0.447122
13,4,266240,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084393,-0.075737,0.881638,0.382280,0.034440,-0.019073,0.923208
13,4,266240,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235023,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000043
13,4,266240,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205006,-0.045006,0.871288,0.999999,-0.000157,-0.001022,0.000021
13,4,266240,1,gripper,0,"","put kitchen shovel on cloth",-0.219120,0.070972,0.958946,-0.062513,-0.749616,-0.076487,0.654460
13,4,266240,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.331203,0.047272,0.879116,-0.097842,0.151829,-0.983445,-0.014536
13,4,266240,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.086441,-0.072655,0.881638,0.909242,0.012180,-0.037438,0.414403
13,4,266240,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078083,0.044426,0.869532,0.999943,-0.000001,-0.000001,-0.010707
13,4,266240,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.183002,0.085144,0.871252,0.998304,-0.002041,-0.002351,-0.058139
13,4,266240,2,gripper,0,"","put kitchen shovel on cloth",-0.092390,-0.070923,0.966540,-0.134916,-0.734202,-0.136036,0.651337
13,4,266240,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.201159,-0.062111,0.885085,0.617338,0.331142,-0.323707,0.635966
13,4,266240,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.104948,0.072166,0.881639,0.558948,0.029918,-0.025559,0.828268
13,4,266240,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205013,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000250
13,4,266240,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.243017,0.051460,0.871288,0.998786,-0.000104,-0.001026,0.049246
13,4,266240,3,gripper,0,"","put kitchen shovel on cloth",-0.179372,0.073349,1.001771,-0.034546,-0.771037,-0.017638,0.635608
13,4,266240,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.191808,-0.065559,0.885085,0.613649,0.333004,-0.321775,0.639534
13,4,266240,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115166,0.063980,0.884016,0.651951,0.019906,0.028265,0.757473
13,4,266240,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,-0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
13,4,266240,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235009,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000041
13,4,266240,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.194588,0.063931,1.016101,0.035704,-0.825089,0.094196,0.555949
13,4,266240,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.093792,0.057205,0.878982,-0.518865,0.469972,-0.450602,-0.553953
13,4,266240,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.232523,-0.046143,0.887027,0.636212,0.010366,-0.035423,0.770631
13,4,266240,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.203724,-0.046242,0.869532,0.999961,0.000001,-0.000001,0.008854
13,4,266240,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
13,4,266240,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.205315,-0.019550,1.109154,0.043016,-0.813302,0.015949,0.580030
13,4,266240,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.174023,-0.029785,0.879116,-0.072128,0.684994,-0.721804,-0.067671
13,4,266240,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.212524,0.108231,0.873649,-0.065936,-0.701228,0.706704,0.067088
13,4,266240,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234127,0.033798,0.869532,0.999619,0.000001,-0.000001,0.027589
13,4,266240,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084496,-0.074516,0.871288,0.999982,-0.000160,-0.001018,-0.005849
13,4,266240,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.222410,0.107513,0.915089,0.034758,-0.772892,-0.014764,0.633412
13,4,266240,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.088440,-0.016579,0.952384,0.480214,-0.432630,0.462212,0.607113
13,4,266240,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.161278,0.065132,0.881638,0.989634,-0.009806,-0.038106,-0.138118
13,4,266240,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000008
13,4,266240,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000554
13,4,266240,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.137850,-0.021088,0.998634,-0.053379,-0.770648,-0.036406,0.633977
13,4,266240,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.097321,0.063358,0.879438,0.621970,0.271630,-0.692191,0.245441
13,4,266240,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.189041,-0.091057,0.881641,0.997846,-0.006513,0.039633,0.051863
13,4,266240,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.178940,0.060215,0.869532,0.979256,-0.000000,-0.000001,0.202626
13,4,266240,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.075001,0.871289,0.999999,-0.000154,-0.001019,-0.000069
13,4,266240,8,gripper,0,"","put ketchup bottle on cloth",-0.247887,-0.074205,0.932947,0.076220,-0.776286,0.136455,0.610696
13,4,266240,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205753,0.051941,0.885112,-0.082511,0.552427,-0.827684,-0.054363
13,4,266240,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085110,-0.075958,0.881638,0.706732,0.024484,-0.030781,0.706387
13,4,266240,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234108,0.072948,0.869532,0.999896,0.000001,-0.000002,-0.014396
13,4,266240,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.045006,0.871289,0.999999,-0.000154,-0.001019,0.000008
13,4,266240,9,gripper,0,"","put ketchup bottle on cloth",-0.164131,0.034052,1.134685,0.058637,-0.817978,0.106394,0.562276
13,4,266240,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.094730,-0.044983,0.879089,0.886319,-0.001356,-0.463073,0.000511
13,4,266240,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.190586,0.051113,0.881564,0.991889,-0.009600,0.055600,0.113895
13,4,266240,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000040
13,4,266240,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205563,-0.075596,0.871288,0.999986,-0.000152,-0.001020,0.005141
13,4,266240,10,gripper,0,"","put ketchup bottle on cloth",-0.218170,0.082111,0.933259,0.107794,-0.697136,0.147579,0.693254
13,4,266240,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.033545,-0.003536,0.879088,-0.101580,-0.459823,0.054682,-0.880485
13,4,266240,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131002,-0.105194,0.881638,0.888284,-0.021864,-0.032745,-0.457605
13,4,266240,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000002,-0.000021
13,4,266240,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000003
13,4,266240,11,gripper,0,"","put ketchup bottle on cloth",-0.256790,-0.110245,0.945408,-0.040785,-0.788075,-0.061777,0.611112
13,4,266240,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078053,0.038151,0.879089,0.338125,0.427441,-0.178165,0.819282
13,4,266240,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.132979,0.067230,0.881638,0.206838,0.037346,-0.012442,0.977583
13,4,266240,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.113920,-0.076805,0.869532,0.999180,0.000000,-0.000001,0.040493
13,4,266240,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.232040,-0.081291,0.871288,0.986314,-0.000320,-0.000980,-0.164873
13,4,266240,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.264658,-0.052301,0.929830,0.005815,-0.746465,0.008594,0.665344
13,4,266240,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078190,0.171947,0.879088,0.061889,0.461818,-0.033952,0.884161
13,4,266240,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.147337,0.048161,0.888217,0.546768,-0.023374,0.032841,0.836313
13,4,266240,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.041834,0.075745,0.869532,0.951139,0.000000,-0.000002,-0.308763
13,4,266240,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.201536,0.048695,0.871288,0.999385,-0.000189,-0.001013,-0.035059
13,4,266240,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.261955,-0.008207,0.950901,-0.027651,-0.738847,-0.063796,0.670277
13,4,266240,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.071621,-0.008938,0.879125,0.511271,0.456599,-0.624242,0.374755
13,4,266240,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.058815,0.093391,0.881641,0.196174,-0.040050,0.003486,0.979745
13,4,266240,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085003,-0.075047,0.869532,0.999999,-0.000000,-0.000001,0.000964
13,4,266240,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.074944,0.871288,0.999999,-0.000154,-0.001020,0.000133
13,4,266240,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.141497,-0.003319,0.914611,-0.003716,-0.783070,-0.030712,0.621164
13,4,266240,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.065250,-0.076405,0.885371,0.426211,0.081623,-0.033225,0.900321
13,4,266240,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.182430,-0.060734,0.889856,0.581624,0.028446,-0.030364,0.812393
13,4,266240,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085049,-0.075027,0.869532,1.000000,0.000001,-0.000001,0.000062
13,4,266240,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.207561,-0.077900,0.871288,0.999648,-0.000126,-0.001023,0.026508
13,4,266240,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.225462,-0.036459,0.964391,-0.086885,-0.824257,-0.114090,0.547755
13,4,266240,16,obj,0,"003_bread_1","put 7up can on carpet",-0.228348,0.075878,0.886083,0.994685,-0.000417,0.004077,-0.102883
13,4,266240,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.203217,-0.064568,0.885854,0.709418,-0.005827,0.704694,0.009905
13,4,266240,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075050,0.869490,1.000000,0.000180,0.000875,0.000461
13,4,266240,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.077492,0.870350,0.999976,-0.000089,-0.001456,0.006723
13,4,266240,16,gripper,0,"","put 7up can on carpet",-0.219467,-0.067083,0.928234,-0.017473,-0.721078,-0.048710,0.690919
13,4,266240,17,obj,0,"003_bread_1","put 7up can on carpet",-0.055847,0.082928,0.883544,0.590090,0.011186,-0.005921,0.807238
13,4,266240,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.223351,-0.043892,0.889211,0.486051,0.514177,-0.583904,0.398037
13,4,266240,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204689,-0.045002,0.869489,1.000000,0.000181,0.000876,-0.000257
13,4,266240,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.082912,-0.072876,0.870350,0.999998,-0.000674,-0.002014,-0.000040
13,4,266240,17,gripper,0,"","put 7up can on carpet",-0.197145,-0.004078,0.978610,0.079127,-0.783534,0.119731,0.604547
13,4,266240,18,obj,0,"003_bread_1","put 7up can on carpet",-0.218876,0.018013,0.885709,0.735195,0.022435,0.002236,0.677481
13,4,266240,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.165627,-0.061916,0.888467,0.656060,0.119542,-0.098314,0.738667
13,4,266240,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234978,0.045029,0.869489,0.999999,0.000532,0.001406,0.000645
13,4,266240,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.205074,-0.076099,0.870448,0.999969,-0.000443,-0.000427,-0.007896
13,4,266240,18,gripper,0,"","put 7up can on carpet",-0.119612,0.016174,1.131393,0.148932,-0.796266,0.163057,0.563198
13,4,266240,19,obj,0,"003_bread_1","put 7up can on carpet",-0.107794,0.072475,0.886557,0.966336,0.005465,-0.009360,0.257054
13,4,266240,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.166523,0.003319,0.885746,-0.583111,0.414735,0.429684,0.550771
13,4,266240,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
13,4,266240,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.115009,0.075005,0.870448,0.999998,-0.001355,-0.001217,-0.000075
13,4,266240,19,gripper,0,"","put 7up can on carpet",-0.197892,-0.021923,1.041920,-0.051790,-0.817473,-0.038764,0.572323
13,4,266240,20,obj,0,"003_bread_1","put bread on newspaper",-0.110104,0.061230,0.886593,0.392909,0.015397,-0.002354,0.919445
13,4,266240,20,obj,1,"005_7up can_1","put bread on newspaper",-0.077563,-0.036804,0.934044,0.672480,0.084508,0.003416,0.735267
13,4,266240,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.044998,0.869490,1.000000,0.000179,0.000875,0.000000
13,4,266240,20,recep,1,"003_carpet_1","put bread on newspaper",-0.115014,0.074993,0.870447,0.999998,-0.001336,-0.001202,-0.000030
13,4,266240,20,gripper,0,"","put bread on newspaper",-0.097612,-0.041044,0.965625,0.009056,-0.767941,-0.051506,0.638383
13,4,266240,21,obj,0,"003_bread_1","put bread on newspaper",-0.109215,-0.052242,0.886603,0.989121,0.004164,-0.009798,0.146719
13,4,266240,21,obj,1,"005_7up can_1","put bread on newspaper",-0.047136,0.212517,0.885687,0.742277,0.238201,-0.325238,0.535262
13,4,266240,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.082531,0.075474,0.869490,0.999985,0.000184,0.000873,-0.005381
13,4,266240,21,recep,1,"003_carpet_1","put bread on newspaper",-0.112204,-0.043896,0.870447,0.999997,-0.001364,-0.001220,-0.001864
13,4,266240,21,gripper,0,"","put bread on newspaper",-0.201419,-0.063288,0.950011,-0.048873,-0.786190,-0.004011,0.616037
13,4,266240,22,obj,0,"003_bread_1","put bread on newspaper",-0.138870,-0.037823,0.883951,0.867231,0.006418,-0.028034,0.497074
13,4,266240,22,obj,1,"005_7up can_1","put bread on newspaper",-0.061195,0.095703,0.888592,0.672681,0.202373,-0.202111,0.682419
13,4,266240,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.082603,-0.073288,0.869489,0.999787,0.000198,0.000871,-0.020606
13,4,266240,22,recep,1,"003_carpet_1","put bread on newspaper",-0.083660,0.076092,0.870461,1.000000,0.000018,-0.000159,0.000456
13,4,266240,22,gripper,0,"","put bread on newspaper",-0.187208,-0.028494,0.962706,-0.022594,-0.751409,-0.020204,0.659140
13,4,266240,23,obj,0,"003_bread_1","put bread on newspaper",-0.229984,0.089939,0.883544,0.184258,0.012651,-0.000517,0.982796
13,4,266240,23,obj,1,"005_7up can_1","put bread on newspaper",-0.193474,0.044411,0.885636,-0.667261,-0.200642,0.202069,-0.688240
13,4,266240,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.115025,-0.044994,0.869490,1.000000,0.000179,0.000874,0.000062
13,4,266240,23,recep,1,"003_carpet_1","put bread on newspaper",-0.234985,-0.075031,0.870447,0.999999,-0.000782,-0.000723,-0.000305
13,4,266240,23,gripper,0,"","put bread on newspaper",-0.222185,0.065443,0.970737,0.096722,-0.761047,0.102306,0.633234
13,4,266240,24,obj,0,"003_bread_1","put bread on carpet",-0.178032,-0.146873,0.883544,-0.504619,-0.011722,0.004762,-0.863250
13,4,266240,24,obj,1,"005_7up can_1","put bread on carpet",-0.184624,0.087765,0.887921,0.463048,-0.517541,0.503219,0.514304
13,4,266240,24,recep,0,"004_newspaper_1","put bread on carpet",-0.205223,0.074993,0.869491,0.999999,0.000557,0.001443,-0.000647
13,4,266240,24,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.072926,0.870418,0.999999,-0.000217,-0.000845,0.001156
13,4,266240,24,gripper,0,"","put bread on carpet",-0.169250,-0.126433,0.980794,-0.103463,-0.745987,-0.093967,0.651129
13,4,266240,25,obj,0,"003_bread_1","put bread on carpet",-0.294338,0.016710,0.883615,-0.087039,-0.600569,-0.794590,-0.019191
13,4,266240,25,obj,1,"005_7up can_1","put bread on carpet",-0.184143,-0.002909,0.885766,0.631685,-0.372174,0.505940,0.454406
13,4,266240,25,recep,0,"004_newspaper_1","put bread on carpet",-0.236549,-0.075010,0.869490,0.999956,0.000172,0.000876,0.009381
13,4,266240,25,recep,1,"003_carpet_1","put bread on carpet",-0.239414,0.076946,0.870461,0.999729,-0.000086,-0.000245,-0.023272
13,4,266240,25,gripper,0,"","put bread on carpet",-0.210287,-0.056931,0.955477,0.042173,-0.757156,0.039997,0.650644
13,4,266240,26,obj,0,"003_bread_1","put bread on carpet",-0.071461,0.083447,0.883544,0.999888,0.001926,-0.012510,0.007948
13,4,266240,26,obj,1,"005_7up can_1","put bread on carpet",-0.195068,-0.001358,0.963269,0.008551,0.904954,-0.421863,0.054925
13,4,266240,26,recep,0,"004_newspaper_1","put bread on carpet",-0.083015,-0.073662,0.869490,0.999852,0.000195,0.000871,-0.017171
13,4,266240,26,recep,1,"003_carpet_1","put bread on carpet",-0.235008,0.075029,0.870447,0.999991,-0.003114,-0.002734,-0.000044
13,4,266240,26,gripper,0,"","put bread on carpet",-0.189453,0.003375,0.994575,-0.228998,-0.703664,-0.260300,0.620210
13,4,266240,27,obj,0,"003_bread_1","put bread on carpet",-0.172951,-0.073360,0.885108,0.993489,-0.000525,0.008016,-0.113642
13,4,266240,27,obj,1,"005_7up can_1","put bread on carpet",-0.068201,0.059761,0.885675,0.823866,0.171955,-0.318636,0.436059
13,4,266240,27,recep,0,"004_newspaper_1","put bread on carpet",-0.206867,-0.078333,0.869489,0.999975,0.000554,0.001415,-0.006962
13,4,266240,27,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000094
13,4,266240,27,gripper,0,"","put bread on carpet",-0.163549,-0.084486,0.962071,-0.098613,-0.750811,-0.073810,0.648930
13,4,266240,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.171879,-0.038862,0.883701,0.869168,0.008548,-0.018858,0.494083
13,4,266240,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.108881,-0.202257,0.885609,0.673911,-0.081616,0.068145,0.731122
13,4,266240,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.113852,-0.044168,0.869490,0.999944,0.000189,0.000872,-0.010512
13,4,266240,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000004
13,4,266240,28,gripper,0,"","put 7up can on newspaper",-0.144233,0.002330,1.050260,0.057016,-0.800916,0.035316,0.595009
13,4,266240,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.080084,0.001177,0.944918,0.998718,0.003985,-0.024058,0.044351
13,4,266240,29,obj,1,"005_7up can_1","put 7up can on newspaper",0.249718,0.109015,0.017055,-0.010926,0.778089,0.017900,0.627804
13,4,266240,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234976,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000048
13,4,266240,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205000,-0.044981,0.870447,0.999999,-0.000869,-0.000797,-0.000402
13,4,266240,29,gripper,0,"","put 7up can on newspaper",-0.097717,-0.001317,0.983440,-0.147445,-0.757625,-0.107944,0.626588
13,4,266240,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.178703,-0.039492,0.885114,0.030695,-0.053852,-0.003918,0.998069
13,4,266240,30,obj,1,"005_7up can_1","put 7up can on newspaper",12.404755,-42.709278,-3211.304199,0.027410,-0.413184,0.722195,-0.554042
13,4,266240,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235123,-0.075075,0.869489,0.999999,0.000179,0.000874,0.000667
13,4,266240,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115662,-0.045822,0.870418,0.999989,-0.000560,-0.001189,0.004439
13,4,266240,30,gripper,0,"","put 7up can on newspaper",-0.181347,0.076305,1.109322,0.037958,-0.831440,0.111068,0.543076
13,4,266240,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.191654,0.074446,0.886482,0.524915,0.017732,-0.004465,0.850958
13,4,266240,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.189751,-0.010042,0.885849,0.497007,-0.499164,0.524750,0.477972
13,4,266240,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205112,-0.075008,0.869490,1.000000,0.000180,0.000874,0.000358
13,4,266240,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074989,0.870452,0.999998,0.001568,0.001266,-0.000149
13,4,266240,31,gripper,0,"","put 7up can on newspaper",-0.106009,0.016647,1.134255,0.141622,-0.800385,0.083390,0.576518
13,4,266240,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204033,0.045269,0.887252,0.999428,-0.007400,0.032517,0.005618
13,4,266240,32,obj,1,"013_banana_1","put banana on flat bowl",-0.235001,-0.075438,0.878547,0.999910,0.013282,0.002055,0.000319
13,4,266240,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000025
13,4,266240,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
13,4,266240,32,gripper,0,"","put banana on flat bowl",-0.045601,0.101769,1.067757,0.276095,-0.682009,0.239044,0.633635
13,4,266240,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.098537,-0.064481,0.887327,0.927301,-0.006898,0.029959,0.373051
13,4,266240,33,obj,1,"013_banana_1","put banana on flat bowl",-0.204685,-0.045306,0.878547,0.923642,0.011476,0.006976,0.383022
13,4,266240,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
13,4,266240,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
13,4,266240,33,gripper,0,"","put banana on flat bowl",-0.174803,-0.004905,1.010645,-0.135593,-0.764279,-0.074936,0.626001
13,4,266240,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204201,0.046531,0.887528,0.722145,-0.029869,0.031243,0.690390
13,4,266240,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007923,0.010826,0.707296
13,4,266240,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
13,4,266240,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
13,4,266240,34,gripper,0,"","put banana on flat bowl",-0.045803,0.102684,0.972703,0.317246,-0.696651,0.347102,0.541805
13,4,266240,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.097322,0.084067,0.887490,0.927435,-0.009188,0.025046,0.373031
13,4,266240,35,obj,1,"013_banana_1","put banana on flat bowl",-0.234680,-0.075307,0.878547,0.923646,0.011505,0.006990,0.383010
13,4,266240,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
13,4,266240,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
13,4,266240,35,gripper,0,"","put banana on flat bowl",-0.190022,-0.025144,1.008609,0.077045,-0.740788,0.050371,0.665402
13,4,266240,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238431,0.040543,0.887081,0.915673,-0.021067,0.019352,0.400904
13,4,266240,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204682,-0.075308,0.878547,0.923621,0.011500,0.006988,0.383071
13,4,266240,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000016
13,4,266240,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000001
13,4,266240,36,gripper,0,"","put carrot on sheet metal",-0.125987,0.064182,1.023273,-0.164225,-0.728366,-0.096560,0.658171
13,4,266240,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092047,-0.085362,0.887420,0.386899,-0.013744,0.006265,0.921998
13,4,266240,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.114689,0.045314,0.878547,0.382259,0.003181,0.013045,0.923958
13,4,266240,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
13,4,266240,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
13,4,266240,37,gripper,0,"","put carrot on sheet metal",-0.058093,-0.042380,0.963182,0.306425,-0.722902,0.427138,0.448407
13,4,266240,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.247738,0.042238,0.887538,0.766590,-0.017717,0.016978,0.641668
13,4,266240,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007923,0.010826,0.707296
13,4,266240,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
13,4,266240,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
13,4,266240,38,gripper,0,"","put carrot on sheet metal",-0.212782,0.036478,1.008972,0.058853,-0.721453,0.092420,0.683740
13,4,266240,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088707,0.080049,0.887304,0.996977,0.003597,0.034827,0.069357
13,4,266240,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.075440,0.878547,0.999910,0.013271,0.002049,0.000284
13,4,266240,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
13,4,266240,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
13,4,266240,39,gripper,0,"","put carrot on sheet metal",-0.043499,0.038641,0.997310,-0.209685,-0.723854,-0.134873,0.643333
13,4,266240,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091789,-0.077398,0.887478,0.750889,-0.020723,0.023899,0.659670
13,4,266240,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234566,0.075026,0.878547,0.708335,0.007968,0.010829,0.705749
13,4,266240,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000107
13,4,266240,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000298
13,4,266240,40,gripper,0,"","put carrot on flat bowl",-0.108208,-0.020087,1.018278,0.137957,-0.710055,0.149597,0.674100
13,4,266240,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204441,0.046312,0.887529,0.719747,-0.029975,0.031139,0.692890
13,4,266240,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075020,0.878547,0.707910,0.007968,0.010844,0.706174
13,4,266240,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
13,4,266240,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
13,4,266240,41,gripper,0,"","put carrot on flat bowl",-0.185205,0.071348,1.020280,0.069898,-0.664139,0.066010,0.741402
13,4,266240,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242847,0.066183,0.887477,0.240975,-0.027612,0.006663,0.970115
13,4,266240,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.114712,0.045338,0.878547,0.384101,0.003214,0.013061,0.923193
13,4,266240,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
13,4,266240,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
13,4,266240,42,gripper,0,"","put carrot on flat bowl",-0.217443,0.038126,0.963749,-0.152259,-0.671801,-0.219195,0.690981
13,4,266240,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095734,0.061724,0.887190,0.400563,-0.031210,0.004041,0.915728
13,4,266240,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074657,0.878547,0.384161,0.003216,0.013065,0.923168
13,4,266240,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.074991,0.871344,0.999999,-0.000158,0.001164,0.000020
13,4,266240,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000359
13,4,266240,43,gripper,0,"","put carrot on flat bowl",-0.057640,0.065916,0.984648,0.401493,-0.643087,0.344096,0.553931
13,4,266240,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123914,0.033306,0.887233,0.389051,-0.032327,0.005295,0.920633
13,4,266240,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074678,0.878547,0.382231,0.003191,0.013079,0.923969
13,4,266240,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.045002,0.871344,0.999999,-0.000158,0.001163,0.000001
13,4,266240,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000003
13,4,266240,44,gripper,0,"","put banana on sheet metal",-0.045260,-0.051226,0.960281,0.056173,-0.735140,0.110669,0.666458
13,4,266240,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
13,4,266240,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234976,-0.075436,0.878547,0.999909,0.013308,0.002039,-0.000862
13,4,266240,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,-0.045031,0.871344,0.999999,-0.000157,0.001164,-0.000094
13,4,266240,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000365
13,4,266240,45,gripper,0,"","put banana on sheet metal",-0.189940,-0.034408,1.004620,-0.018784,-0.716534,-0.050468,0.695471
13,4,266240,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097481,0.082937,0.887422,0.926375,-0.005859,0.012539,0.376347
13,4,266240,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234665,0.074688,0.878547,0.924330,0.011560,0.006992,0.381355
13,4,266240,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
13,4,266240,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
13,4,266240,46,gripper,0,"","put banana on sheet metal",-0.154442,0.066923,1.003050,-0.084071,-0.783305,-0.035447,0.614905
13,4,266240,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.128139,0.054564,0.887432,0.929312,-0.009543,0.027686,0.368132
13,4,266240,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
13,4,266240,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
13,4,266240,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
13,4,266240,47,gripper,0,"","put banana on sheet metal",-0.059669,-0.017312,1.022026,-0.438021,-0.533515,-0.286625,0.664338
13,4,266240,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.160042,0.076294,0.890592,0.773245,-0.027473,-0.000325,0.633512
13,4,266240,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.194687,0.000713,0.886092,0.666358,-0.021912,0.004861,0.745295
13,4,266240,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084984,0.044846,0.872199,0.999992,-0.000000,-0.000000,0.004084
13,4,266240,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074997,0.870850,1.000000,0.000185,-0.000005,-0.000019
13,4,266240,48,gripper,0,"","put plastic bottle on cutting board",-0.167149,0.089209,1.121514,0.125797,-0.778340,0.039378,0.613850
13,4,266240,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.189301,0.123329,0.891464,-0.381596,-0.566978,-0.574447,0.450479
13,4,266240,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205441,-0.013157,0.887026,0.519957,-0.490448,0.512978,0.475351
13,4,266240,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084900,0.075027,0.872199,0.999998,0.000000,-0.000001,-0.001735
13,4,266240,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.198128,0.058014,0.870880,0.999601,0.000557,0.000534,-0.028220
13,4,266240,49,gripper,0,"","put plastic bottle on cutting board",-0.133156,0.052637,1.131246,0.167814,-0.808739,0.150680,0.543208
13,4,266240,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.078560,-0.040428,0.890453,0.955760,-0.028698,0.008560,0.292618
13,4,266240,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.152008,0.035934,0.986401,0.468985,-0.491383,0.573401,0.458047
13,4,266240,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
13,4,266240,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075005,0.870871,1.000000,0.000000,-0.000001,0.000013
13,4,266240,50,gripper,0,"","put plastic bottle on cutting board",-0.161161,0.039783,1.019592,0.032461,-0.732252,0.055729,0.677973
13,4,266240,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.042940,0.071426,0.890596,0.330581,-0.019084,-0.014686,0.943470
13,4,266240,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.253199,0.083149,0.886092,0.504105,-0.022445,0.000388,0.863351
13,4,266240,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085028,-0.075382,0.872199,1.000000,-0.000000,-0.000001,-0.000251
13,4,266240,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,0.074997,0.870883,1.000000,0.000699,0.000713,0.000108
13,4,266240,51,gripper,0,"","put plastic bottle on cutting board",-0.134531,0.049395,1.049811,0.024736,-0.805962,-0.062925,0.588094
13,4,266240,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.138853,0.214066,0.892100,-0.515465,-0.760725,-0.314827,-0.237649
13,4,266240,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.054429,0.143166,0.891101,-0.638277,-0.217632,0.662993,-0.325084
13,4,266240,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234999,-0.044987,0.872199,1.000000,0.000001,-0.000000,0.000058
13,4,266240,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.076326,0.080601,0.870870,0.999969,0.000000,-0.000001,-0.007870
13,4,266240,52,gripper,0,"","put hamburger on frying pan",-0.040312,0.122911,0.935591,0.232154,-0.784493,0.273418,0.505884
13,4,266240,53,obj,0,"014_hamburger_1","put hamburger on frying pan",0.270000,-0.049648,0.022801,0.233379,0.826077,-0.185665,-0.478183
13,4,266240,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.286901,-0.062386,0.887026,0.177467,-0.690643,0.163396,0.681777
13,4,266240,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085007,0.075005,0.872199,1.000000,-0.000000,-0.000001,-0.000293
13,4,266240,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,0.074993,0.870870,1.000000,-0.000000,-0.000000,0.000019
13,4,266240,53,gripper,0,"","put hamburger on frying pan",-0.261131,-0.054630,0.985160,-0.055840,-0.733590,-0.036479,0.676311
13,4,266240,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.031200,0.061001,0.896643,0.712297,-0.016282,0.017573,0.701470
13,4,266240,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.176460,0.055809,0.887026,0.359774,-0.618128,0.348716,0.605705
13,4,266240,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.040298,0.064003,0.875253,-0.000052,-0.727640,-0.685959,-0.000146
13,4,266240,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.081802,-0.079983,0.870870,0.999999,-0.000000,-0.000001,0.001067
13,4,266240,54,gripper,0,"","put hamburger on frying pan",-0.054750,0.063658,1.055456,0.125305,-0.792579,0.098740,0.588529
13,4,266240,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.051735,0.039902,0.890787,0.999116,-0.023247,0.014539,0.031856
13,4,266240,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.107899,0.076904,0.886092,0.999748,-0.010991,0.019563,0.000588
13,4,266240,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
13,4,266240,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.031895,0.066978,0.870870,0.999885,0.000556,0.000719,0.015163
13,4,266240,55,gripper,0,"","put hamburger on frying pan",-0.127897,0.012518,0.995159,-0.066404,-0.722005,-0.071705,0.684951
13,4,266240,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.136902,0.056446,0.890720,0.059252,-0.019806,-0.022679,0.997789
13,4,266240,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.231041,-0.055233,0.887026,0.285587,-0.655044,0.273139,0.644013
13,4,266240,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
13,4,266240,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084694,0.075077,0.870870,1.000000,0.000000,0.000000,0.000137
13,4,266240,56,gripper,0,"","put hamburger on cutting board",-0.187046,-0.035320,0.964147,-0.181104,-0.726873,-0.121031,0.651313
13,4,266240,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.008068,0.143063,0.888113,0.993465,-0.021614,0.017066,-0.110766
13,4,266240,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.189854,0.195724,0.889773,-0.019134,0.838586,-0.543429,-0.033060
13,4,266240,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.236191,0.096531,0.872199,0.985958,-0.000000,-0.000001,0.166993
13,4,266240,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.070118,-0.072575,0.870870,0.997600,0.000000,-0.000000,-0.069245
13,4,266240,57,gripper,0,"","put hamburger on cutting board",-0.184660,0.099495,0.955830,0.019023,-0.750670,0.026648,0.659865
13,4,266240,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.121208,0.144451,0.892100,-0.540789,-0.773851,0.281020,0.172424
13,4,266240,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.110275,0.142380,0.020993,-0.049940,0.665298,0.741645,0.069617
13,4,266240,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.233292,0.074329,0.872199,0.999689,-0.000000,-0.000001,0.024944
13,4,266240,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.091408,0.066166,0.870870,0.999166,0.000000,-0.000000,-0.040826
13,4,266240,58,gripper,0,"","put hamburger on cutting board",-0.258821,-0.027740,0.962176,-0.067945,-0.720820,0.007049,0.689748
13,4,266240,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.227200,-0.006176,0.891507,-0.547108,0.270229,-0.786119,-0.098313
13,4,266240,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.097591,0.034550,0.885720,0.370526,-0.590178,-0.360341,-0.620125
13,4,266240,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
13,4,266240,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000093
13,4,266240,59,gripper,0,"","put hamburger on cutting board",-0.070182,-0.039042,0.951886,-0.304122,-0.726392,-0.256134,0.560589
13,4,266240,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.243887,0.073223,0.888218,0.596245,-0.021293,0.040264,0.801509
13,4,266240,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.230425,0.032856,0.889832,-0.063215,-0.738413,0.669941,-0.043919
13,4,266240,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204824,-0.074955,0.872198,0.999997,0.000001,-0.000001,-0.002551
13,4,266240,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
13,4,266240,60,gripper,0,"","put plastic bottle on frying pan",-0.206678,0.028975,0.943984,0.079359,-0.761326,0.022234,0.643110
13,4,266240,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.069195,-0.092041,0.893658,0.237748,-0.202211,-0.832560,0.457637
13,4,266240,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.246260,0.054764,0.888264,0.352975,-0.365691,0.127380,0.851735
13,4,266240,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
13,4,266240,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870883,0.999999,0.000700,0.000713,0.000005
13,4,266240,61,gripper,0,"","put plastic bottle on frying pan",-0.217381,0.080416,0.959127,0.241846,-0.724855,0.248234,0.595378
13,4,266240,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234123,0.061951,0.888112,0.581388,-0.025446,-0.010533,0.813160
13,4,266240,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.097015,0.057407,0.895327,0.524478,-0.485836,0.521049,0.466255
13,4,266240,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085003,0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000128
13,4,266240,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
13,4,266240,62,gripper,0,"","put plastic bottle on frying pan",-0.132170,0.022711,1.109510,0.141558,-0.782423,0.153319,0.586745
13,4,266240,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.125298,-0.030479,0.888647,0.374286,0.054377,-0.045335,0.924607
13,4,266240,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256359,0.094990,0.887026,0.266414,-0.662830,0.253642,0.652185
13,4,266240,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.113876,0.048874,0.872199,0.998946,-0.000001,-0.000000,0.045897
13,4,266240,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204060,-0.051037,0.870870,0.999247,0.000001,-0.000000,-0.038791
13,4,266240,63,gripper,0,"","put plastic bottle on frying pan",-0.122913,-0.029589,0.980937,-0.062171,-0.789381,-0.150386,0.591943
14,1,271360,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.121658,-0.017654,0.885085,0.665189,0.304793,-0.348581,0.585761
14,1,271360,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.193573,0.032890,0.881638,0.166962,0.037783,-0.010912,0.985179
14,1,271360,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,-0.000000,-0.000002,0.000158
14,1,271360,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
14,1,271360,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.247726,-0.003605,0.916466,0.017371,-0.759969,0.104602,0.641252
14,1,271360,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078110,-0.081787,0.879088,0.338842,0.427268,-0.178530,0.818996
14,1,271360,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.206005,0.081535,0.881638,0.432501,0.033333,-0.020938,0.900774
14,1,271360,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
14,1,271360,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
14,1,271360,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.245783,0.024948,0.950484,-0.046504,-0.730643,0.008806,0.681117
14,1,271360,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.153038,-0.051430,0.879213,-0.278292,0.015231,0.960369,0.003470
14,1,271360,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084011,-0.076004,0.883211,0.998746,0.023029,0.044423,0.001550
14,1,271360,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114784,0.044815,0.869532,0.999992,0.000000,-0.000002,-0.003944
14,1,271360,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
14,1,271360,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.169964,-0.023663,0.991545,-0.018477,-0.730968,0.047166,0.680529
14,1,271360,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.211191,-0.067307,0.885085,0.678118,0.296902,-0.355265,0.570782
14,1,271360,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205755,0.074417,0.881638,0.923143,0.010852,-0.037811,0.382439
14,1,271360,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074989,0.869532,1.000000,0.000001,-0.000000,-0.000217
14,1,271360,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
14,1,271360,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.254284,-0.014057,1.069438,0.046637,-0.777084,0.142163,0.611355
14,1,271360,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091858,0.068024,0.879089,0.818667,0.175945,-0.428337,0.339639
14,1,271360,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.079839,-0.065895,0.881638,0.922948,0.010870,-0.037801,0.382909
14,1,271360,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000019
14,1,271360,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235006,-0.074982,0.871288,1.000000,-0.000154,-0.001019,0.000044
14,1,271360,4,gripper,0,"","put ketchup bottle on cloth",-0.163533,-0.228516,0.911611,0.342634,-0.420736,0.174084,0.821753
14,1,271360,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.113907,0.071762,0.884978,0.552562,-0.440810,0.479188,0.520328
14,1,271360,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205112,-0.045959,0.881638,0.706799,0.024500,-0.030807,0.706319
14,1,271360,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115005,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000088
14,1,271360,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000137
14,1,271360,5,gripper,0,"","put ketchup bottle on cloth",-0.163779,0.057552,1.059706,0.051701,-0.787227,0.069865,0.610507
14,1,271360,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085026,0.065262,0.879089,0.626447,0.326434,-0.328437,0.627004
14,1,271360,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234974,0.074913,0.881638,0.709722,0.024372,-0.030905,0.703381
14,1,271360,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
14,1,271360,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
14,1,271360,6,gripper,0,"","put ketchup bottle on cloth",-0.229836,0.004238,0.969507,0.062711,-0.788624,-0.019929,0.611344
14,1,271360,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.191582,0.074837,0.885083,0.685400,0.292049,-0.358501,0.562505
14,1,271360,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205109,-0.075974,0.881638,0.706780,0.024487,-0.030793,0.706338
14,1,271360,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235023,0.075012,0.869532,1.000000,0.000000,-0.000000,0.000530
14,1,271360,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
14,1,271360,7,gripper,0,"","put ketchup bottle on cloth",-0.193739,0.068989,1.123265,0.141597,-0.734045,0.126242,0.652067
14,1,271360,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.160721,0.017811,0.884266,0.390251,-0.630344,0.593036,0.314133
14,1,271360,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083229,-0.073994,0.883288,0.704642,-0.008555,0.042351,0.708246
14,1,271360,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075035,0.869532,1.000000,0.000001,-0.000001,0.000392
14,1,271360,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235001,0.075016,0.871320,0.999999,0.001370,0.000248,0.000110
14,1,271360,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.222836,0.024643,0.921325,-0.075493,-0.758675,-0.082059,0.641856
14,1,271360,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.066952,0.093048,0.885084,0.506472,0.379082,-0.265936,0.727366
14,1,271360,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.176804,-0.023895,0.883677,0.655469,-0.051452,0.024088,0.753082
14,1,271360,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084988,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000288
14,1,271360,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000005
14,1,271360,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.203459,-0.029263,0.921988,-0.114390,-0.716585,-0.128037,0.676038
14,1,271360,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.179588,0.051075,0.885085,0.643231,0.317408,-0.337187,0.609764
14,1,271360,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.114395,-0.045757,0.881637,0.382597,0.034430,-0.019082,0.923076
14,1,271360,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.044998,0.869532,1.000000,0.000000,-0.000001,-0.000015
14,1,271360,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
14,1,271360,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.200140,0.050421,0.999167,-0.070705,-0.764204,0.001064,0.641087
14,1,271360,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.065084,0.016762,0.880774,0.483590,-0.471164,0.509523,0.533415
14,1,271360,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.116026,0.075504,0.881636,0.927124,0.015024,-0.047836,0.371384
14,1,271360,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085003,-0.045044,0.869532,1.000000,-0.000000,-0.000001,0.000400
14,1,271360,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205013,-0.074989,0.871282,0.999999,-0.000451,-0.001266,0.000026
14,1,271360,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.091227,-0.001617,0.971570,-0.180922,-0.706328,-0.078020,0.679912
14,1,271360,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.189350,0.196495,0.879089,0.670465,0.301633,-0.351343,0.579700
14,1,271360,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085101,0.074036,0.881638,0.706833,0.024487,-0.030795,0.706285
14,1,271360,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
14,1,271360,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235013,0.075027,0.871210,0.999984,-0.003908,-0.004129,0.000111
14,1,271360,12,gripper,0,"","put kitchen shovel on cloth",-0.202415,0.051731,0.988761,0.054695,-0.770672,0.020500,0.634549
14,1,271360,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.187590,-0.093178,0.879125,0.174662,0.743247,-0.213843,0.609384
14,1,271360,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084406,-0.075760,0.881638,0.382547,0.034409,-0.019074,0.923098
14,1,271360,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000016
14,1,271360,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,0.045017,0.871288,1.000000,-0.000154,-0.001020,0.000045
14,1,271360,13,gripper,0,"","put kitchen shovel on cloth",-0.253388,-0.107347,0.913986,0.003530,-0.762382,0.006230,0.647088
14,1,271360,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.223072,0.098686,0.879088,0.853562,0.123174,-0.446383,0.238753
14,1,271360,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085964,-0.074886,0.881638,0.999225,-0.004456,-0.039112,-0.000281
14,1,271360,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
14,1,271360,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
14,1,271360,14,gripper,0,"","put kitchen shovel on cloth",-0.244696,0.070272,0.946580,0.036633,-0.734177,-0.068322,0.674518
14,1,271360,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.178135,0.053894,0.884533,0.772314,0.337664,-0.251655,0.475589
14,1,271360,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085762,-0.045609,0.881638,0.923206,0.010847,-0.037810,0.382287
14,1,271360,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
14,1,271360,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001028,0.000094
14,1,271360,15,gripper,0,"","put kitchen shovel on cloth",-0.241194,0.029379,0.923220,-0.024216,-0.803317,-0.040348,0.593689
14,1,271360,16,obj,0,"003_bread_1","put bread on newspaper",-0.161263,0.008240,0.883544,0.893969,0.007240,-0.010386,0.447949
14,1,271360,16,obj,1,"005_7up can_1","put bread on newspaper",-0.178665,0.005131,0.975180,0.499311,0.500116,-0.449030,0.546758
14,1,271360,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000042
14,1,271360,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074989,0.870448,0.999999,-0.000923,-0.000844,-0.000023
14,1,271360,16,gripper,0,"","put bread on newspaper",-0.175251,0.002392,1.014384,-0.006649,-0.751570,-0.062234,0.656677
14,1,271360,17,obj,0,"003_bread_1","put bread on newspaper",-0.084480,0.074528,0.883544,0.383856,0.012261,-0.003132,0.923306
14,1,271360,17,obj,1,"005_7up can_1","put bread on newspaper",-0.187569,-0.069981,0.888167,0.694709,0.136780,-0.171048,0.685137
14,1,271360,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235016,-0.075001,0.869489,0.999999,0.000549,0.001423,-0.000072
14,1,271360,17,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,-0.045002,0.870447,0.999999,-0.000922,-0.000842,0.000044
14,1,271360,17,gripper,0,"","put bread on newspaper",-0.123751,0.020432,1.011002,0.134414,-0.711376,0.128051,0.677849
14,1,271360,18,obj,0,"003_bread_1","put bread on newspaper",-0.084480,0.074528,0.883544,0.383856,0.012261,-0.003132,0.923306
14,1,271360,18,obj,1,"005_7up can_1","put bread on newspaper",-0.270428,-0.103302,0.885798,0.071497,-0.508181,0.044601,0.857118
14,1,271360,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
14,1,271360,18,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000068
14,1,271360,18,gripper,0,"","put bread on newspaper",-0.279423,-0.102758,0.942684,0.075903,-0.738781,0.059207,0.667035
14,1,271360,19,obj,0,"003_bread_1","put bread on newspaper",-0.085514,0.075104,0.883544,0.999917,0.001785,-0.012530,-0.002519
14,1,271360,19,obj,1,"005_7up can_1","put bread on newspaper",-0.171440,-0.085793,0.886004,-0.125663,0.082165,0.988651,0.005192
14,1,271360,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114998,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000010
14,1,271360,19,recep,1,"003_carpet_1","put bread on newspaper",-0.234997,0.075008,0.870447,0.999991,-0.003111,-0.002730,-0.000013
14,1,271360,19,gripper,0,"","put bread on newspaper",-0.209359,-0.114050,0.916610,-0.053389,-0.775276,-0.105347,0.620483
14,1,271360,20,obj,0,"003_bread_1","put bread on carpet",-0.135074,0.047222,0.886742,0.983864,-0.001137,-0.010032,-0.178630
14,1,271360,20,obj,1,"005_7up can_1","put bread on carpet",-0.248845,0.075272,0.885694,0.912836,0.002423,-0.408319,-0.000437
14,1,271360,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
14,1,271360,20,recep,1,"003_carpet_1","put bread on carpet",-0.115003,0.044998,0.870447,0.999999,-0.000923,-0.000845,0.000000
14,1,271360,20,gripper,0,"","put bread on carpet",-0.246911,0.059893,0.945928,0.194744,-0.668136,0.227093,0.681248
14,1,271360,21,obj,0,"003_bread_1","put bread on carpet",-0.163702,0.085587,0.886254,0.425031,0.021221,-0.005612,0.904912
14,1,271360,21,obj,1,"005_7up can_1","put bread on carpet",-0.079758,0.069496,0.885626,0.371115,0.213271,-0.093832,0.898880
14,1,271360,21,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000017
14,1,271360,21,recep,1,"003_carpet_1","put bread on carpet",-0.205000,0.074993,0.870452,0.999998,0.001568,0.001266,0.000024
14,1,271360,21,gripper,0,"","put bread on carpet",-0.148966,0.044523,0.989535,0.040844,-0.784695,0.085748,0.612562
14,1,271360,22,obj,0,"003_bread_1","put bread on carpet",-0.115479,0.044479,0.883544,0.924235,0.006457,-0.010886,0.381613
14,1,271360,22,obj,1,"005_7up can_1","put bread on carpet",-0.238541,0.078350,0.885662,0.807142,-0.128636,0.196779,0.541528
14,1,271360,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
14,1,271360,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.044998,0.870404,1.000000,0.000065,-0.000723,-0.000050
14,1,271360,22,gripper,0,"","put bread on carpet",-0.171249,0.050634,1.013483,0.068821,-0.732530,0.103031,0.669364
14,1,271360,23,obj,0,"003_bread_1","put bread on carpet",-0.085476,0.074490,0.883544,0.924442,0.006464,-0.010893,0.381113
14,1,271360,23,obj,1,"005_7up can_1","put bread on carpet",-0.197186,0.005836,0.907791,0.798238,0.127149,-0.100145,0.580190
14,1,271360,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
14,1,271360,23,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
14,1,271360,23,gripper,0,"","put bread on carpet",-0.214485,0.003962,0.940992,0.177457,-0.771293,0.049462,0.609237
14,1,271360,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.172050,0.023199,0.885238,0.748162,0.020975,-0.070276,0.659450
14,1,271360,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.205154,-0.082594,0.885626,0.686893,0.161111,-0.168305,0.688400
14,1,271360,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000875,-0.000002
14,1,271360,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115013,0.075010,0.870447,0.999999,-0.000912,-0.000835,-0.000022
14,1,271360,24,gripper,0,"","put 7up can on newspaper",-0.219791,-0.055376,0.991459,0.013043,-0.714655,0.017627,0.699133
14,1,271360,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.178474,0.076414,0.885629,0.936353,0.005237,-0.013683,0.350753
14,1,271360,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090485,-0.080244,0.885627,0.897925,0.084508,-0.217117,0.373428
14,1,271360,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
14,1,271360,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000039
14,1,271360,25,gripper,0,"","put 7up can on newspaper",-0.196041,0.070951,0.925004,0.068532,-0.736822,-0.034566,0.671716
14,1,271360,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
14,1,271360,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.164928,0.022400,0.996079,0.719586,0.144042,-0.207990,0.646675
14,1,271360,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000874,0.000047
14,1,271360,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
14,1,271360,26,gripper,0,"","put 7up can on newspaper",-0.190872,0.021519,1.023600,-0.015518,-0.765336,-0.049821,0.641512
14,1,271360,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.091522,-0.065922,0.883544,0.917754,0.006650,-0.010773,0.396946
14,1,271360,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.210493,-0.080248,0.885626,0.898000,0.084470,-0.217150,0.373238
14,1,271360,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
14,1,271360,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000022
14,1,271360,27,gripper,0,"","put 7up can on newspaper",-0.101443,-0.044193,0.989020,-0.058827,-0.763578,-0.066086,0.639626
14,1,271360,28,obj,0,"003_bread_1","put 7up can on carpet",-0.112610,-0.061148,0.886771,0.629937,0.013379,-0.005796,0.776509
14,1,271360,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.205176,-0.082598,0.885627,0.686743,0.161155,-0.168281,0.688545
14,1,271360,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.045000,0.869490,1.000000,0.000179,0.000874,0.000000
14,1,271360,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085000,-0.075001,0.870447,0.999999,-0.000923,-0.000846,0.000022
14,1,271360,28,gripper,0,"","put 7up can on carpet",-0.206401,-0.077136,0.931554,-0.056756,-0.714721,-0.002559,0.697099
14,1,271360,29,obj,0,"003_bread_1","put 7up can on carpet",-0.088886,0.025526,0.886358,0.999932,0.003699,-0.008257,0.007329
14,1,271360,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092607,-0.074833,0.885626,0.972479,-0.004969,-0.232933,0.001557
14,1,271360,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
14,1,271360,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.114996,0.045013,0.870462,1.000000,0.000036,-0.000158,-0.000034
14,1,271360,29,gripper,0,"","put 7up can on carpet",-0.109550,-0.074424,0.964267,-0.036072,-0.756797,-0.004450,0.652638
14,1,271360,30,obj,0,"003_bread_1","put 7up can on carpet",-0.102921,0.066236,0.883544,0.999514,0.002178,-0.012473,0.028492
14,1,271360,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.242611,0.045177,0.885627,0.972467,-0.005038,-0.232983,0.001265
14,1,271360,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000052
14,1,271360,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
14,1,271360,30,gripper,0,"","put 7up can on carpet",-0.112761,0.077630,0.972902,0.009408,-0.778896,0.043323,0.625584
14,1,271360,31,obj,0,"003_bread_1","put 7up can on carpet",-0.105183,0.059877,0.886734,0.691611,0.012534,-0.005090,0.722144
14,1,271360,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.115562,-0.157333,0.885747,-0.576389,0.417462,-0.415761,-0.566254
14,1,271360,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
14,1,271360,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075014,0.870448,0.999999,-0.000923,-0.000845,-0.000015
14,1,271360,31,gripper,0,"","put 7up can on carpet",-0.161629,-0.028255,0.977051,-0.027355,-0.723729,-0.042784,0.688213
14,1,271360,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238220,0.078840,0.887226,0.912579,-0.018797,0.023502,0.407792
14,1,271360,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.075307,0.878547,0.923688,0.011486,0.006978,0.382910
14,1,271360,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
14,1,271360,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000000,0.000001,0.000000
14,1,271360,32,gripper,0,"","put carrot on sheet metal",-0.193710,0.082316,0.988597,0.184060,-0.715495,0.174597,0.650926
14,1,271360,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204880,0.081060,0.887171,0.368649,-0.023890,0.019662,0.929053
14,1,271360,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
14,1,271360,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,1,271360,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
14,1,271360,33,gripper,0,"","put carrot on sheet metal",-0.169498,0.091974,0.988586,-0.004170,-0.741630,-0.022788,0.670409
14,1,271360,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087990,0.072839,0.887468,0.352362,-0.029320,0.011616,0.935332
14,1,271360,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
14,1,271360,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
14,1,271360,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
14,1,271360,34,gripper,0,"","put carrot on sheet metal",-0.046082,0.068915,1.004501,0.563178,-0.516625,0.535430,0.359504
14,1,271360,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236244,-0.075688,0.887340,0.719981,-0.014517,0.020225,0.693547
14,1,271360,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084560,0.075006,0.878547,0.706773,0.007946,0.010848,0.707313
14,1,271360,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
14,1,271360,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
14,1,271360,35,gripper,0,"","put carrot on sheet metal",-0.208703,-0.062432,0.948694,-0.019727,-0.696532,0.008368,0.717206
14,1,271360,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087520,-0.075395,0.887263,0.740091,-0.027319,0.019561,0.671666
14,1,271360,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.114560,0.075008,0.878547,0.706797,0.007936,0.010838,0.707289
14,1,271360,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
14,1,271360,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000000
14,1,271360,36,gripper,0,"","put carrot on flat bowl",-0.064547,-0.030235,0.966764,0.104660,-0.713276,0.212225,0.659731
14,1,271360,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117432,-0.041195,0.887502,0.996531,-0.003322,0.026353,0.078869
14,1,271360,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074562,0.878547,0.999910,0.013285,0.002051,0.000327
14,1,271360,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
14,1,271360,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000001,-0.000001,-0.000000
14,1,271360,37,gripper,0,"","put carrot on flat bowl",-0.133409,-0.008966,1.025015,0.041415,-0.738560,-0.057324,0.670468
14,1,271360,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207462,-0.070456,0.887509,0.996450,-0.003351,0.029473,0.078785
14,1,271360,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084988,-0.075439,0.878547,0.999910,0.013258,0.002051,0.000262
14,1,271360,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,1,271360,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
14,1,271360,38,gripper,0,"","put carrot on flat bowl",-0.169134,0.037651,1.026441,0.266720,-0.681293,0.268140,0.626738
14,1,271360,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237045,0.078299,0.887429,0.910493,-0.018606,0.034746,0.411642
14,1,271360,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011523,0.007001,0.383097
14,1,271360,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
14,1,271360,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000000
14,1,271360,39,gripper,0,"","put carrot on flat bowl",-0.188681,0.072197,1.031858,-0.197629,-0.728725,-0.155741,0.636905
14,1,271360,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117775,0.048988,0.887415,0.996728,-0.002193,0.020456,0.078161
14,1,271360,40,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075430,0.878547,0.999910,0.013281,0.002046,-0.000091
14,1,271360,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000157,0.001164,0.000034
14,1,271360,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
14,1,271360,40,gripper,0,"","put banana on sheet metal",-0.063522,-0.007338,1.047918,0.045110,-0.755083,0.045206,0.652511
14,1,271360,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117588,0.044634,0.887424,0.744557,-0.018590,0.023225,0.666896
14,1,271360,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084560,-0.074993,0.878547,0.707241,0.007952,0.010846,0.706844
14,1,271360,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
14,1,271360,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
14,1,271360,41,gripper,0,"","put banana on sheet metal",-0.050390,-0.021347,1.001777,0.255432,-0.704963,0.243213,0.615328
14,1,271360,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237434,-0.081928,0.887542,0.960761,-0.010444,0.030045,0.275549
14,1,271360,42,obj,1,"013_banana_1","put banana on sheet metal",-0.114674,-0.045311,0.878547,0.923895,0.011487,0.006971,0.382409
14,1,271360,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
14,1,271360,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
14,1,271360,42,gripper,0,"","put banana on sheet metal",-0.196146,-0.037681,0.971328,-0.106993,-0.708730,-0.032188,0.696576
14,1,271360,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239834,-0.045048,0.887269,0.998184,0.008561,0.032779,-0.049802
14,1,271360,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114988,-0.075434,0.878547,0.999910,0.013271,0.002051,0.000182
14,1,271360,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.074982,0.871344,0.999999,-0.000157,0.001164,-0.000045
14,1,271360,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
14,1,271360,43,gripper,0,"","put banana on sheet metal",-0.036012,0.063180,0.977310,0.222908,-0.743724,0.180403,0.603856
14,1,271360,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087096,0.077045,0.887246,0.910573,-0.002045,0.017010,0.412993
14,1,271360,44,obj,1,"013_banana_1","put banana on flat bowl",-0.204692,0.074730,0.878547,0.923945,0.011523,0.006984,0.382288
14,1,271360,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
14,1,271360,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874362,1.000000,0.000001,-0.000000,0.000001
14,1,271360,44,gripper,0,"","put banana on flat bowl",-0.160350,0.082500,0.965765,-0.192393,-0.734109,-0.249496,0.601515
14,1,271360,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117029,0.042534,0.887440,0.350759,-0.004571,0.004603,0.936443
14,1,271360,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075331,0.878547,0.382568,0.003214,0.013138,0.923829
14,1,271360,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
14,1,271360,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
14,1,271360,45,gripper,0,"","put banana on flat bowl",-0.175061,0.087524,1.004596,0.023429,-0.711948,0.030261,0.701189
14,1,271360,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232662,-0.046339,0.887529,0.932911,-0.015469,0.040363,0.357503
14,1,271360,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204586,0.074621,0.878547,0.924026,0.011473,0.006958,0.382094
14,1,271360,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.075008,0.871344,0.999999,-0.000157,0.001163,-0.000043
14,1,271360,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
14,1,271360,46,gripper,0,"","put banana on flat bowl",-0.160683,0.084181,0.981526,0.059999,-0.711952,-0.000131,0.699661
14,1,271360,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.202736,0.044395,0.887529,0.930116,-0.015779,0.040241,0.364713
14,1,271360,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
14,1,271360,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
14,1,271360,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
14,1,271360,47,gripper,0,"","put banana on flat bowl",-0.081800,0.042740,1.031553,0.174473,-0.746907,0.135632,0.627130
14,1,271360,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116089,0.074806,0.888112,0.411244,-0.022895,-0.015309,0.911109
14,1,271360,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.231171,-0.048149,0.887026,0.299662,-0.648877,0.287452,0.637599
14,1,271360,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000010
14,1,271360,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.044998,0.870870,1.000000,-0.000000,-0.000000,0.000003
14,1,271360,48,gripper,0,"","put hamburger on frying pan",-0.217308,-0.033636,0.995966,0.076057,-0.755996,0.020193,0.649829
14,1,271360,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.029381,0.008202,0.891791,-0.090961,0.240327,0.942463,0.213850
14,1,271360,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256130,-0.055054,0.887026,0.267741,-0.662318,0.254994,0.651635
14,1,271360,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000033
14,1,271360,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084995,0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000027
14,1,271360,49,gripper,0,"","put hamburger on frying pan",-0.104996,-0.020020,1.022136,0.023701,-0.780426,0.042845,0.623328
14,1,271360,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.156578,-0.017658,0.888200,0.803199,-0.015512,0.028205,0.594840
14,1,271360,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085789,0.104359,0.887026,0.497316,-0.513747,0.489643,0.498989
14,1,271360,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
14,1,271360,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234993,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000045
14,1,271360,50,gripper,0,"","put hamburger on frying pan",-0.145601,-0.000502,1.004000,-0.060398,-0.768813,-0.051764,0.634507
14,1,271360,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.163891,0.129063,0.891171,0.576163,0.023825,0.816882,0.013122
14,1,271360,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.079861,-0.066860,0.892629,0.349800,-0.676510,0.226421,0.607213
14,1,271360,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235008,0.074997,0.872199,1.000000,-0.000001,-0.000001,0.000099
14,1,271360,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
14,1,271360,51,gripper,0,"","put hamburger on frying pan",-0.129849,-0.063213,0.939668,0.017293,-0.809732,0.010550,0.586450
14,1,271360,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.165996,-0.041584,0.890489,0.999386,-0.025500,0.017296,-0.016688
14,1,271360,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205746,0.075718,0.887026,0.704490,-0.018571,0.709466,0.002702
14,1,271360,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
14,1,271360,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204983,-0.075024,0.870870,1.000000,0.000002,0.000002,-0.000016
14,1,271360,52,gripper,0,"","put hamburger on cutting board",-0.146393,-0.023401,1.099322,-0.055136,-0.782694,0.089006,0.613537
14,1,271360,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082638,0.074947,0.888239,0.929187,0.005955,0.046643,0.366607
14,1,271360,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.151970,0.111835,0.895187,0.655111,-0.335939,0.600130,0.312759
14,1,271360,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000001
14,1,271360,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000019
14,1,271360,53,gripper,0,"","put hamburger on cutting board",-0.180019,0.125881,0.924284,0.209382,-0.651015,0.056944,0.727390
14,1,271360,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
14,1,271360,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.223671,0.097042,0.887026,0.477550,-0.532385,0.469310,0.517938
14,1,271360,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
14,1,271360,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
14,1,271360,54,gripper,0,"","put hamburger on cutting board",-0.126242,-0.025406,0.992646,0.054953,-0.803381,0.036361,0.591808
14,1,271360,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
14,1,271360,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.168770,-0.085316,0.890638,0.524853,-0.539971,0.464193,0.466353
14,1,271360,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.072987,-0.077045,0.872200,0.997779,0.000000,-0.000001,0.066616
14,1,271360,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
14,1,271360,55,gripper,0,"","put hamburger on cutting board",-0.159582,-0.085396,0.930007,0.006398,-0.787868,-0.060230,0.612858
14,1,271360,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086159,-0.075172,0.888112,0.413565,-0.022937,-0.015249,0.910058
14,1,271360,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.226395,-0.054478,0.887026,0.262936,-0.664177,0.250109,0.653589
14,1,271360,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
14,1,271360,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
14,1,271360,56,gripper,0,"","put plastic bottle on frying pan",-0.205540,-0.038795,0.998676,-0.078933,-0.732945,-0.052024,0.673687
14,1,271360,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.227478,0.107590,0.888112,0.990486,-0.025121,0.011285,0.134831
14,1,271360,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055626,-0.074207,0.887026,0.704494,-0.016918,0.709507,0.001060
14,1,271360,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
14,1,271360,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
14,1,271360,57,gripper,0,"","put plastic bottle on frying pan",-0.224836,0.086603,0.976895,0.025755,-0.764763,-0.027959,0.643189
14,1,271360,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.215145,-0.094601,0.888112,0.475693,-0.023935,-0.013621,0.879180
14,1,271360,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.106461,-0.055054,0.887026,0.265913,-0.663032,0.253136,0.652381
14,1,271360,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
14,1,271360,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000009
14,1,271360,58,gripper,0,"","put plastic bottle on frying pan",-0.182878,-0.093945,0.964659,-0.087058,-0.787498,-0.056430,0.607522
14,1,271360,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
14,1,271360,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.249273,0.053375,0.888432,0.374538,-0.311509,0.115498,0.865647
14,1,271360,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
14,1,271360,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
14,1,271360,59,gripper,0,"","put plastic bottle on frying pan",-0.249022,0.057146,0.951916,0.082124,-0.719277,0.086160,0.684451
14,1,271360,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085959,0.075619,0.888112,0.711859,-0.026873,-0.006033,0.701782
14,1,271360,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.125115,-0.044464,0.889704,0.575493,-0.422245,0.570369,0.406443
14,1,271360,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
14,1,271360,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083969,-0.074184,0.870870,0.999968,0.000000,0.000001,-0.008054
14,1,271360,60,gripper,0,"","put plastic bottle on cutting board",-0.153917,-0.044058,1.015416,0.004981,-0.789678,-0.015038,0.613317
14,1,271360,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.114376,-0.044094,0.888112,0.999513,-0.023155,0.014912,-0.014661
14,1,271360,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.176107,0.076813,0.887020,0.704976,-0.019522,0.708953,0.003793
14,1,271360,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084522,0.075001,0.872199,0.999996,-0.000002,-0.000001,-0.002978
14,1,271360,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
14,1,271360,61,gripper,0,"","put plastic bottle on cutting board",-0.170373,0.111191,0.951415,0.291252,-0.701683,0.151788,0.632277
14,1,271360,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204372,-0.044037,0.888112,0.999591,-0.023259,0.014751,-0.007763
14,1,271360,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.193008,0.085278,0.887026,0.704022,-0.041925,0.708467,0.025902
14,1,271360,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114677,0.044785,0.872199,0.999936,-0.000000,-0.000000,0.011315
14,1,271360,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
14,1,271360,62,gripper,0,"","put plastic bottle on cutting board",-0.193569,0.067892,0.974692,0.184937,-0.664786,0.174170,0.702512
14,1,271360,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.192928,-0.056442,0.888112,0.996758,-0.022202,0.016295,-0.075599
14,1,271360,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205795,0.075733,0.887026,0.704497,-0.018860,0.709450,0.002990
14,1,271360,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
14,1,271360,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
14,1,271360,63,gripper,0,"","put plastic bottle on cutting board",-0.194500,-0.047548,0.966453,0.059903,-0.745778,0.060605,0.660722
14,2,276480,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.121658,-0.017647,0.885085,0.665118,0.304828,-0.348521,0.585860
14,2,276480,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.190407,0.033096,0.881639,0.106457,0.037915,-0.008530,0.993557
14,2,276480,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000207
14,2,276480,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000157,-0.001019,0.000033
14,2,276480,0,gripper,0,"","put ketchup bottle on cloth",-0.239895,-0.040657,0.914239,-0.116894,-0.764812,-0.144564,0.616847
14,2,276480,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078110,-0.081787,0.879088,0.338829,0.427270,-0.178522,0.819002
14,2,276480,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.198288,0.082436,0.881637,0.421610,0.033587,-0.020530,0.905922
14,2,276480,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000015
14,2,276480,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
14,2,276480,1,gripper,0,"","put ketchup bottle on cloth",-0.213123,0.053673,0.947444,-0.082540,-0.785600,-0.033295,0.612300
14,2,276480,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.103569,-0.056602,0.879373,-0.960439,-0.002381,-0.278239,-0.011549
14,2,276480,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084007,-0.076004,0.883211,0.998745,0.023037,0.044456,0.001286
14,2,276480,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114784,0.044815,0.869532,0.999992,0.000000,-0.000002,-0.003933
14,2,276480,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000236
14,2,276480,2,gripper,0,"","put ketchup bottle on cloth",-0.139116,-0.026535,0.928713,0.069637,-0.849546,0.009358,0.522814
14,2,276480,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.211164,-0.067650,0.885083,0.672556,0.300036,-0.351790,0.577833
14,2,276480,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.181009,0.077400,0.881641,0.949345,-0.016685,0.036572,0.311653
14,2,276480,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074989,0.869532,1.000000,0.000000,-0.000000,-0.000838
14,2,276480,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
14,2,276480,3,gripper,0,"","put ketchup bottle on cloth",-0.226113,0.015411,0.989263,0.061482,-0.818899,-0.016498,0.570397
14,2,276480,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091858,0.068024,0.879089,0.818665,0.175947,-0.428341,0.339637
14,2,276480,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.080006,-0.065231,0.881638,0.894009,0.013486,-0.036966,0.446317
14,2,276480,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205000,0.074997,0.869532,1.000000,0.000001,-0.000002,-0.000035
14,2,276480,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.230874,-0.077385,0.871304,0.999538,-0.000605,-0.001126,-0.030366
14,2,276480,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.273615,-0.036694,0.921470,0.125158,-0.674557,0.103956,0.720070
14,2,276480,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.114048,0.071884,0.884788,0.553512,-0.445646,0.474020,0.519931
14,2,276480,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.129128,0.041550,0.892049,0.653631,0.143506,-0.162308,0.725140
14,2,276480,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114983,0.044983,0.869532,0.999977,-0.004005,-0.005517,0.000194
14,2,276480,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235001,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000093
14,2,276480,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.251311,0.046909,0.965897,-0.038066,-0.725643,-0.022145,0.686661
14,2,276480,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085026,0.065262,0.879089,0.626450,0.326433,-0.328441,0.626999
14,2,276480,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.101044,-0.030289,0.888177,0.597711,-0.028432,0.031385,0.800592
14,2,276480,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084812,-0.075020,0.869533,0.999999,-0.000000,-0.000000,0.001457
14,2,276480,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000009
14,2,276480,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.232222,-0.028625,0.924360,-0.078386,-0.776165,-0.101510,0.617349
14,2,276480,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191586,0.074837,0.885083,0.685402,0.292047,-0.358501,0.562503
14,2,276480,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.207867,-0.036568,0.881638,0.645536,0.026964,-0.028644,0.762716
14,2,276480,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235027,0.075012,0.869532,1.000000,0.000001,-0.000001,0.000466
14,2,276480,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
14,2,276480,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.218853,-0.039486,0.995153,0.029711,-0.795148,-0.011994,0.605569
14,2,276480,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.119637,0.004490,0.879704,0.382219,-0.529248,0.705424,0.276010
14,2,276480,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.195343,-0.057755,0.887394,0.617457,-0.038312,0.016364,0.785501
14,2,276480,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.189880,-0.081623,0.869532,1.000000,-0.000000,0.000001,-0.000749
14,2,276480,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.226990,0.077061,0.871309,0.996973,0.000867,-0.000117,0.077750
14,2,276480,8,gripper,0,"","put kitchen shovel on cloth",-0.186558,0.009800,0.915684,0.119679,-0.774201,0.082486,0.616024
14,2,276480,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.066952,0.093056,0.885085,0.506444,0.379092,-0.265922,0.727385
14,2,276480,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.112881,-0.050854,0.894671,0.629659,-0.369891,0.237911,0.640397
14,2,276480,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084988,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000308
14,2,276480,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000060
14,2,276480,9,gripper,0,"","put kitchen shovel on cloth",-0.213913,-0.077047,0.915465,-0.012074,-0.781861,0.020235,0.623008
14,2,276480,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.174919,0.047657,0.885083,0.676977,0.297329,-0.354122,0.572621
14,2,276480,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.114399,-0.045757,0.881638,0.382503,0.034410,-0.019070,0.923116
14,2,276480,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.200935,0.044373,0.869532,0.998467,-0.000000,-0.000001,-0.055342
14,2,276480,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
14,2,276480,10,gripper,0,"","put kitchen shovel on cloth",-0.231756,0.033503,0.942414,0.063441,-0.686854,0.118968,0.714181
14,2,276480,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.046505,0.013359,0.879373,0.747319,-0.170307,0.220041,0.603400
14,2,276480,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.089285,0.071983,0.881638,0.728642,0.023520,-0.031562,0.683762
14,2,276480,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085012,-0.045044,0.869532,1.000000,0.000000,-0.000001,0.000448
14,2,276480,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205013,-0.074989,0.871282,0.999999,-0.000451,-0.001266,0.000027
14,2,276480,11,gripper,0,"","put kitchen shovel on cloth",-0.212080,-0.092623,0.985290,-0.116683,-0.678241,-0.172411,0.704733
14,2,276480,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.189350,0.196495,0.879089,0.670463,0.301637,-0.351346,0.579699
14,2,276480,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085101,0.074036,0.881638,0.706833,0.024487,-0.030795,0.706285
14,2,276480,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,-0.075001,0.869532,1.000000,-0.000000,-0.000000,-0.000000
14,2,276480,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235013,0.075027,0.871210,0.999984,-0.003908,-0.004129,0.000111
14,2,276480,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.259998,0.038778,0.929298,0.030802,-0.751621,0.008760,0.658818
14,2,276480,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.028767,0.168079,0.878982,-0.617033,0.372946,-0.533715,-0.441961
14,2,276480,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084408,-0.075756,0.881638,0.382465,0.034408,-0.019070,0.923132
14,2,276480,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085102,0.075047,0.869532,0.999999,-0.000000,-0.000001,0.001529
14,2,276480,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234911,0.044884,0.871288,0.999999,-0.000151,-0.001019,0.001387
14,2,276480,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.232922,-0.001562,0.966311,0.000564,-0.766940,0.008416,0.641664
14,2,276480,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.210617,0.069347,0.897260,0.643277,0.297325,-0.361942,0.605632
14,2,276480,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085964,-0.074886,0.881638,0.999225,-0.004456,-0.039107,-0.000308
14,2,276480,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000004
14,2,276480,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
14,2,276480,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.228455,0.069580,0.936067,0.044981,-0.785158,0.025238,0.617143
14,2,276480,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.185818,-0.058708,0.885122,0.437281,0.559411,-0.534030,0.458973
14,2,276480,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085762,-0.045609,0.881638,0.923171,0.010864,-0.037837,0.382367
14,2,276480,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205250,-0.075195,0.869531,0.999999,0.000000,-0.000001,-0.001414
14,2,276480,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235020,0.045017,0.871288,1.000000,-0.000153,-0.001019,0.000097
14,2,276480,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.233871,-0.062048,0.985823,-0.089112,-0.782075,-0.101245,0.608413
14,2,276480,16,obj,0,"003_bread_1","put bread on carpet",-0.124672,-0.006378,0.883544,0.958928,0.005295,-0.011495,0.283366
14,2,276480,16,obj,1,"005_7up can_1","put bread on carpet",-0.263336,0.005444,0.885747,-0.579529,-0.405919,-0.427021,0.563053
14,2,276480,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000084
14,2,276480,16,recep,1,"003_carpet_1","put bread on carpet",-0.080223,-0.078636,0.870418,0.999233,-0.000709,-0.001403,0.039130
14,2,276480,16,gripper,0,"","put bread on carpet",-0.139610,0.015671,0.952965,0.092174,-0.765882,0.051279,0.634271
14,2,276480,17,obj,0,"003_bread_1","put bread on carpet",-0.096573,-0.035000,0.886540,0.432038,0.010873,0.000067,0.901790
14,2,276480,17,obj,1,"005_7up can_1","put bread on carpet",-0.187550,-0.069889,0.888136,0.695506,0.137316,-0.170853,0.684270
14,2,276480,17,recep,0,"004_newspaper_1","put bread on carpet",-0.235016,-0.075001,0.869490,0.999999,0.000551,0.001425,-0.000221
14,2,276480,17,recep,1,"003_carpet_1","put bread on carpet",-0.115002,-0.044998,0.870447,0.999991,-0.003113,-0.002732,0.000028
14,2,276480,17,gripper,0,"","put bread on carpet",-0.134825,-0.042236,1.011236,0.113297,-0.789819,0.053907,0.600369
14,2,276480,18,obj,0,"003_bread_1","put bread on carpet",-0.084480,0.074528,0.883544,0.383936,0.012262,-0.003133,0.923273
14,2,276480,18,obj,1,"005_7up can_1","put bread on carpet",-0.279232,-0.101837,0.885849,0.055621,-0.721556,0.062363,0.687295
14,2,276480,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
14,2,276480,18,recep,1,"003_carpet_1","put bread on carpet",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000130
14,2,276480,18,gripper,0,"","put bread on carpet",-0.061789,-0.044670,0.969837,0.047334,-0.791959,0.092957,0.601597
14,2,276480,19,obj,0,"003_bread_1","put bread on carpet",-0.085514,0.075104,0.883544,0.999917,0.001787,-0.012532,-0.002286
14,2,276480,19,obj,1,"005_7up can_1","put bread on carpet",-0.206690,-0.008549,0.886270,0.424635,-0.136257,-0.893240,-0.056938
14,2,276480,19,recep,0,"004_newspaper_1","put bread on carpet",-0.075544,-0.019699,0.869490,0.992495,0.000286,0.000846,-0.122284
14,2,276480,19,recep,1,"003_carpet_1","put bread on carpet",-0.234989,0.075008,0.870447,0.999991,-0.003114,-0.002733,-0.000043
14,2,276480,19,gripper,0,"","put bread on carpet",-0.219275,-0.011688,0.938772,-0.034428,-0.766523,-0.031486,0.640519
14,2,276480,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.135074,0.047222,0.886742,0.983864,-0.001137,-0.010031,-0.178630
14,2,276480,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.209423,0.078259,0.885866,0.586253,-0.090973,0.802768,0.059959
14,2,276480,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
14,2,276480,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115003,0.044998,0.870447,0.999999,-0.000923,-0.000844,0.000000
14,2,276480,20,gripper,0,"","put 7up can on newspaper",-0.144849,0.044891,0.969938,0.042700,-0.760372,-0.022724,0.647684
14,2,276480,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.138216,0.005989,0.889700,-0.125135,0.210311,-0.629515,-0.737442
14,2,276480,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.425852,0.300072,0.017092,-0.106028,-0.647669,0.092445,-0.748824
14,2,276480,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114992,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000032
14,2,276480,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205118,0.075176,0.870441,0.999999,-0.000208,-0.000158,0.000935
14,2,276480,21,gripper,0,"","put 7up can on newspaper",-0.113604,-0.031404,1.031261,0.008355,-0.807004,-0.006075,0.590455
14,2,276480,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.115479,0.044479,0.883544,0.924214,0.006458,-0.010885,0.381664
14,2,276480,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.192875,-0.015919,0.888608,0.515413,-0.090969,0.051719,0.850529
14,2,276480,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
14,2,276480,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205235,-0.045135,0.870448,0.999999,-0.000870,-0.000799,-0.000166
14,2,276480,22,gripper,0,"","put 7up can on newspaper",-0.172274,0.000801,1.032912,0.025390,-0.757880,0.128630,0.639083
14,2,276480,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,0.074490,0.883544,0.924565,0.006460,-0.010889,0.380814
14,2,276480,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.201488,0.004684,0.885626,0.766596,0.139106,-0.186896,0.598373
14,2,276480,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
14,2,276480,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
14,2,276480,23,gripper,0,"","put 7up can on newspaper",-0.124155,-0.007509,1.113956,0.055994,-0.823946,0.012544,0.563756
14,2,276480,24,obj,0,"003_bread_1","put 7up can on carpet",-0.159576,0.007542,0.892573,0.413155,-0.406242,-0.281047,0.765038
14,2,276480,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.095131,-0.045948,0.982059,0.497303,0.482363,-0.411517,0.592173
14,2,276480,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000002
14,2,276480,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.113724,0.073172,0.870447,0.999843,-0.003067,-0.002786,0.017212
14,2,276480,24,gripper,0,"","put 7up can on carpet",-0.116634,-0.052371,1.013285,-0.013096,-0.739761,-0.083430,0.667548
14,2,276480,25,obj,0,"003_bread_1","put 7up can on carpet",-0.208759,-0.004902,0.886471,0.827019,0.008910,-0.005476,0.562077
14,2,276480,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.090485,-0.080244,0.885627,0.897955,0.084495,-0.217141,0.373345
14,2,276480,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
14,2,276480,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044991,0.870446,0.999999,-0.000727,-0.001047,-0.000071
14,2,276480,25,gripper,0,"","put 7up can on carpet",-0.110434,-0.091268,0.965758,0.023519,-0.755785,0.097482,0.647096
14,2,276480,26,obj,0,"003_bread_1","put 7up can on carpet",-0.118752,-0.020477,0.962798,0.963185,-0.074069,0.127660,0.224702
14,2,276480,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.159866,0.050917,0.888892,0.810517,-0.093917,0.042434,0.576577
14,2,276480,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115265,0.045069,0.869490,1.000000,0.000180,0.000874,-0.000438
14,2,276480,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235016,0.075014,0.870429,0.999992,-0.003118,-0.002559,0.000017
14,2,276480,26,gripper,0,"","put 7up can on carpet",-0.128553,-0.015163,0.998282,-0.188343,-0.703400,-0.028064,0.684812
14,2,276480,27,obj,0,"003_bread_1","put 7up can on carpet",-0.064144,-0.035118,0.908426,0.937296,0.041371,-0.000555,0.346070
14,2,276480,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.210493,-0.080244,0.885626,0.898002,0.084468,-0.217151,0.373233
14,2,276480,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
14,2,276480,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.045002,0.870461,1.000000,0.000019,-0.000158,0.000047
14,2,276480,27,gripper,0,"","put 7up can on carpet",-0.063112,-0.038810,0.951399,0.073618,-0.760424,0.024760,0.644766
14,2,276480,28,obj,0,"003_bread_1","put bread on newspaper",-0.112610,-0.061148,0.886771,0.629937,0.013379,-0.005797,0.776509
14,2,276480,28,obj,1,"005_7up can_1","put bread on newspaper",-0.230882,0.019348,0.888225,0.735635,0.196897,-0.219094,0.609977
14,2,276480,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.235041,0.044998,0.869489,0.999999,0.000548,0.001424,-0.000231
14,2,276480,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085000,-0.075001,0.870447,0.999999,-0.000923,-0.000845,0.000022
14,2,276480,28,gripper,0,"","put bread on newspaper",-0.226011,0.016284,0.954122,0.108066,-0.765392,0.077828,0.629634
14,2,276480,29,obj,0,"003_bread_1","put bread on newspaper",-0.088886,0.025526,0.886359,0.999932,0.003700,-0.008257,0.007338
14,2,276480,29,obj,1,"005_7up can_1","put bread on newspaper",0.070742,-0.066092,0.434017,0.337466,0.579671,-0.691548,-0.268066
14,2,276480,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234987,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000021
14,2,276480,29,recep,1,"003_carpet_1","put bread on newspaper",-0.114996,0.045013,0.870462,1.000000,0.000037,-0.000158,-0.000027
14,2,276480,29,gripper,0,"","put bread on newspaper",-0.040723,-0.037827,0.956088,0.015691,-0.773718,-0.014380,0.633172
14,2,276480,30,obj,0,"003_bread_1","put bread on newspaper",-0.102921,0.066236,0.883544,0.999509,0.002180,-0.012472,0.028665
14,2,276480,30,obj,1,"005_7up can_1","put bread on newspaper",-0.148140,0.000700,0.885697,-0.862927,0.133992,0.357477,0.331078
14,2,276480,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000088
14,2,276480,30,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.074995,0.870447,0.999995,-0.000544,-0.000517,0.003042
14,2,276480,30,gripper,0,"","put bread on newspaper",-0.255241,0.066056,0.913863,0.108212,-0.704678,0.058958,0.698744
14,2,276480,31,obj,0,"003_bread_1","put bread on newspaper",-0.105183,0.059877,0.886734,0.691725,0.012533,-0.005092,0.722034
14,2,276480,31,obj,1,"005_7up can_1","put bread on newspaper",-0.198269,0.067129,1.013168,-0.628288,0.324127,-0.425688,-0.564789
14,2,276480,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
14,2,276480,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075014,0.870448,0.999999,-0.000923,-0.000845,-0.000013
14,2,276480,31,gripper,0,"","put bread on newspaper",-0.216490,0.066423,1.058766,0.057221,-0.802490,0.012588,0.593782
14,2,276480,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",33.079208,55.110817,15.323939,0.787163,-0.069270,0.488976,0.369430
14,2,276480,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.075307,0.878547,0.923688,0.011483,0.006977,0.382910
14,2,276480,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
14,2,276480,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
14,2,276480,32,gripper,0,"","put carrot on flat bowl",-0.189026,-0.058855,0.994922,-0.089303,-0.719638,-0.117218,0.678532
14,2,276480,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204880,0.081060,0.887171,0.368650,-0.023890,0.019661,0.929053
14,2,276480,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
14,2,276480,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,2,276480,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
14,2,276480,33,gripper,0,"","put carrot on flat bowl",-0.139774,0.079873,0.975898,0.179607,-0.658304,0.087297,0.725780
14,2,276480,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088524,0.070062,0.887539,0.359122,-0.018243,0.003041,0.933107
14,2,276480,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
14,2,276480,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
14,2,276480,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
14,2,276480,34,gripper,0,"","put carrot on flat bowl",-0.050959,0.094226,0.966448,0.448211,-0.661258,0.284419,0.530048
14,2,276480,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238344,-0.076482,0.887529,0.704077,-0.030663,0.030459,0.708807
14,2,276480,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084560,0.075006,0.878547,0.706785,0.007968,0.010874,0.707300
14,2,276480,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
14,2,276480,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
14,2,276480,35,gripper,0,"","put carrot on flat bowl",-0.217474,-0.026747,0.957263,-0.183677,-0.700006,-0.107810,0.681638
14,2,276480,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091707,-0.076246,0.887224,0.753076,-0.014559,0.029015,0.657132
14,2,276480,36,obj,1,"013_banana_1","put banana on sheet metal",-0.114559,0.075008,0.878547,0.706794,0.007958,0.010863,0.707291
14,2,276480,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
14,2,276480,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.045000,0.874362,1.000000,0.000000,0.000001,-0.000001
14,2,276480,36,gripper,0,"","put banana on sheet metal",-0.076025,0.103094,0.954968,0.308329,-0.681950,0.359995,0.557029
14,2,276480,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118307,-0.039702,0.887303,0.997189,-0.005483,0.020274,0.071922
14,2,276480,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074563,0.878547,0.999910,0.013275,0.002051,0.000327
14,2,276480,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
14,2,276480,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
14,2,276480,37,gripper,0,"","put banana on sheet metal",-0.081879,0.063838,1.036741,0.102601,-0.779739,0.093231,0.610564
14,2,276480,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208256,-0.069794,0.887429,0.996894,-0.001287,0.022190,0.075548
14,2,276480,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075440,0.878547,0.999910,0.013278,0.002053,0.000262
14,2,276480,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,2,276480,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
14,2,276480,38,gripper,0,"","put banana on sheet metal",-0.076286,0.073091,1.089966,0.113130,-0.809357,-0.009658,0.576238
14,2,276480,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.240875,0.080061,0.887556,0.915043,-0.013553,0.025545,0.402318
14,2,276480,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011494,0.006986,0.383097
14,2,276480,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
14,2,276480,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874362,1.000000,0.000001,0.000000,0.000000
14,2,276480,39,gripper,0,"","put banana on sheet metal",-0.155775,-0.017106,1.031653,-0.015024,-0.699330,-0.024352,0.714226
14,2,276480,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117302,0.050718,0.887223,0.997016,0.005906,0.031900,0.070048
14,2,276480,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075432,0.878547,0.999910,0.013282,0.002040,-0.000468
14,2,276480,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001164,0.000066
14,2,276480,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
14,2,276480,40,gripper,0,"","put banana on flat bowl",-0.114056,-0.019892,1.014087,0.418208,-0.771694,0.392604,0.274686
14,2,276480,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120136,0.043465,0.887350,0.751463,-0.012547,0.018696,0.659391
14,2,276480,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084557,-0.074989,0.878547,0.707617,0.007956,0.010840,0.706468
14,2,276480,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
14,2,276480,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
14,2,276480,41,gripper,0,"","put banana on flat bowl",-0.053610,-0.027479,0.962277,0.318249,-0.738497,0.294105,0.516568
14,2,276480,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.241924,-0.081682,0.887402,0.975290,-0.003959,0.026006,0.219359
14,2,276480,42,obj,1,"013_banana_1","put banana on flat bowl",-0.114666,-0.045311,0.878547,0.924199,0.011497,0.006964,0.381675
14,2,276480,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
14,2,276480,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
14,2,276480,42,gripper,0,"","put banana on flat bowl",-0.096500,0.014832,1.072578,0.098724,-0.731303,0.083309,0.669708
14,2,276480,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.240065,-0.044065,0.887186,0.997907,-0.007189,0.030518,-0.056550
14,2,276480,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114986,-0.075438,0.878547,0.999910,0.013288,0.002049,0.000011
14,2,276480,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.074961,0.871344,0.999999,-0.000157,0.001163,-0.000093
14,2,276480,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
14,2,276480,43,gripper,0,"","put banana on flat bowl",-0.086236,-0.032025,1.028477,0.035194,-0.745058,0.017029,0.665853
14,2,276480,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090833,0.080843,0.887468,0.920527,-0.014378,0.038267,0.388534
14,2,276480,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.204692,0.074730,0.878547,0.923945,0.011500,0.006972,0.382288
14,2,276480,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
14,2,276480,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
14,2,276480,44,gripper,0,"","put carrot on sheet metal",-0.135468,-0.016795,1.004218,0.061807,-0.745338,0.004158,0.663802
14,2,276480,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120110,0.039228,0.887475,0.364927,-0.027216,0.010636,0.930578
14,2,276480,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075335,0.878547,0.382925,0.003214,0.013121,0.923681
14,2,276480,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
14,2,276480,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
14,2,276480,45,gripper,0,"","put carrot on sheet metal",-0.081059,0.074321,1.004743,0.384781,-0.618759,0.317445,0.606885
14,2,276480,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232655,-0.046349,0.887529,0.932638,-0.015499,0.040349,0.358216
14,2,276480,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.204582,0.074623,0.878547,0.924233,0.011481,0.006954,0.381592
14,2,276480,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.075008,0.871344,0.999999,-0.000157,0.001164,-0.000040
14,2,276480,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
14,2,276480,46,gripper,0,"","put carrot on sheet metal",-0.186567,-0.023303,1.020836,-0.096722,-0.712122,0.025075,0.694909
14,2,276480,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.202736,0.044394,0.887529,0.930069,-0.015783,0.040236,0.364834
14,2,276480,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
14,2,276480,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
14,2,276480,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
14,2,276480,47,gripper,0,"","put carrot on sheet metal",-0.169899,0.060485,0.992977,0.061570,-0.759499,0.169401,0.625039
14,2,276480,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116081,0.074837,0.888112,0.433973,-0.023275,-0.014723,0.900505
14,2,276480,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.231171,-0.048149,0.887026,0.299659,-0.648889,0.287454,0.637587
14,2,276480,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000019
14,2,276480,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000004
14,2,276480,48,gripper,0,"","put hamburger on cutting board",-0.076900,0.011797,0.963195,-0.036118,-0.794975,-0.102401,0.596845
14,2,276480,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.029396,0.008213,0.891791,-0.091259,0.239019,0.942795,0.213727
14,2,276480,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256855,-0.054813,0.887026,0.269578,-0.661597,0.256861,0.650876
14,2,276480,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000060
14,2,276480,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084995,0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000040
14,2,276480,49,gripper,0,"","put hamburger on cutting board",-0.115568,-0.079300,0.990580,-0.169654,-0.709741,-0.088537,0.677973
14,2,276480,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.156578,-0.017658,0.888200,0.802057,-0.015472,0.028413,0.596371
14,2,276480,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085789,0.104359,0.887026,0.497328,-0.513735,0.489655,0.498978
14,2,276480,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
14,2,276480,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000017
14,2,276480,50,gripper,0,"","put hamburger on cutting board",-0.170059,0.002611,0.998354,0.055432,-0.771004,0.046708,0.632691
14,2,276480,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.163893,0.129063,0.891171,0.576148,0.022820,0.816909,0.013836
14,2,276480,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.076441,-0.065193,0.887026,0.299762,-0.648842,0.287561,0.637538
14,2,276480,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235008,0.074997,0.872199,1.000000,-0.000000,-0.000001,0.000098
14,2,276480,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084995,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000016
14,2,276480,51,gripper,0,"","put hamburger on cutting board",-0.228006,0.044357,0.985857,0.011556,-0.761943,-0.050122,0.645598
14,2,276480,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.166028,-0.041618,0.890489,0.999483,-0.025538,0.017111,-0.009430
14,2,276480,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.207061,0.075657,0.887070,0.728208,-0.014676,0.685139,0.009036
14,2,276480,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
14,2,276480,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204983,-0.075024,0.870870,1.000000,0.000000,0.000002,-0.000015
14,2,276480,52,gripper,0,"","put plastic bottle on frying pan",-0.183047,0.082767,0.956310,0.062819,-0.730018,-0.006587,0.680503
14,2,276480,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.080584,0.073635,0.888112,0.917445,-0.027233,0.004098,0.396910
14,2,276480,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.149984,0.111649,0.887026,0.631584,-0.328559,0.629071,0.312121
14,2,276480,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
14,2,276480,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234983,-0.045002,0.870862,1.000000,0.000073,-0.000000,0.000035
14,2,276480,53,gripper,0,"","put plastic bottle on frying pan",-0.115600,0.085430,1.020090,-0.003289,-0.758955,-0.044120,0.649638
14,2,276480,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085926,0.075630,0.888112,0.712429,-0.026877,-0.006011,0.701204
14,2,276480,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.213737,0.076931,0.887071,0.493152,-0.509563,0.462133,0.532523
14,2,276480,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
14,2,276480,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
14,2,276480,54,gripper,0,"","put plastic bottle on frying pan",-0.191818,0.077154,0.913572,-0.057922,-0.856335,-0.130297,0.496345
14,2,276480,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085213,0.076092,0.888113,0.925030,-0.027149,0.004624,0.378895
14,2,276480,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.068909,-0.086720,0.894425,0.698653,-0.024245,0.006966,0.715016
14,2,276480,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.065044,-0.074089,0.872199,0.999195,-0.000000,-0.000001,-0.040110
14,2,276480,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
14,2,276480,55,gripper,0,"","put plastic bottle on frying pan",-0.123032,-0.089334,1.012668,0.078470,-0.730012,0.113996,0.669275
14,2,276480,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086151,-0.075119,0.888112,0.427484,-0.023168,-0.014893,0.903603
14,2,276480,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.227119,-0.054443,0.887026,0.262516,-0.664338,0.249683,0.653758
14,2,276480,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
14,2,276480,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000031
14,2,276480,56,gripper,0,"","put plastic bottle on cutting board",-0.216743,-0.049007,0.963606,-0.098678,-0.753168,-0.063903,0.647239
14,2,276480,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.227482,0.107594,0.888112,0.989978,-0.025164,0.011189,0.138508
14,2,276480,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055626,-0.074207,0.887026,0.704494,-0.016897,0.709508,0.001039
14,2,276480,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
14,2,276480,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
14,2,276480,57,gripper,0,"","put plastic bottle on cutting board",-0.111786,0.061306,0.990269,-0.076905,-0.700776,0.043042,0.707916
14,2,276480,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.215145,-0.094601,0.888112,0.475698,-0.023935,-0.013622,0.879178
14,2,276480,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106419,-0.055031,0.887026,0.266254,-0.662897,0.253481,0.652245
14,2,276480,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
14,2,276480,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000017
14,2,276480,58,gripper,0,"","put plastic bottle on cutting board",-0.123299,-0.068775,0.972293,-0.000109,-0.772882,0.040222,0.633274
14,2,276480,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388422,-0.022507,-0.015874,0.921070
14,2,276480,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.260994,0.067547,0.887026,0.372975,-0.610335,0.362196,0.597658
14,2,276480,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
14,2,276480,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
14,2,276480,59,gripper,0,"","put plastic bottle on cutting board",-0.231525,0.080151,0.943658,-0.045118,-0.712317,-0.070503,0.696849
14,2,276480,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085958,0.075619,0.888112,0.711859,-0.026872,-0.006032,0.701782
14,2,276480,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.217651,0.037506,0.895268,0.606617,-0.377570,0.597951,0.363196
14,2,276480,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236484,0.073181,0.872199,0.999250,-0.000000,-0.000001,-0.038710
14,2,276480,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083751,-0.073429,0.870870,0.999926,0.000000,-0.000001,-0.012182
14,2,276480,60,gripper,0,"","put hamburger on frying pan",-0.157190,-0.003170,1.035117,0.139520,-0.737690,0.115920,0.650315
14,2,276480,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.112740,-0.043144,0.888112,0.999511,-0.023584,0.014222,0.014796
14,2,276480,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.176115,0.076813,0.887026,0.704485,-0.019617,0.709438,0.003739
14,2,276480,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084522,0.075001,0.872199,0.999996,-0.000002,-0.000001,-0.002782
14,2,276480,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
14,2,276480,61,gripper,0,"","put hamburger on frying pan",-0.089096,-0.043226,0.988184,0.009506,-0.731087,0.016153,0.682027
14,2,276480,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116634,0.034626,0.894431,0.967072,-0.064358,-0.050834,-0.240926
14,2,276480,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.193008,0.085278,0.887026,0.704025,-0.041827,0.708473,0.025804
14,2,276480,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114677,0.044785,0.872199,0.999937,-0.000000,-0.000001,0.011260
14,2,276480,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
14,2,276480,62,gripper,0,"","put hamburger on frying pan",-0.100046,-0.056793,1.111281,0.065117,-0.753958,0.078419,0.648966
14,2,276480,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.192924,-0.056446,0.888112,0.996582,-0.022165,0.016347,-0.077889
14,2,276480,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.203278,0.080524,0.887027,0.704003,-0.042391,0.708441,0.026364
14,2,276480,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
14,2,276480,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
14,2,276480,63,gripper,0,"","put hamburger on frying pan",-0.183619,0.074598,0.975074,0.093880,-0.749741,0.051711,0.652994
14,3,281600,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.067459,-0.010979,0.885085,0.625272,0.327041,-0.327793,0.628196
14,3,281600,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.142723,0.031181,0.881638,-0.152130,0.039336,0.001564,0.987576
14,3,281600,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.057297,-0.035385,0.869533,0.996370,-0.000000,-0.000001,0.085131
14,3,281600,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,1.000000,-0.000154,-0.001019,0.000049
14,3,281600,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.171238,-0.005310,0.916893,-0.170957,-0.803012,-0.150947,0.550600
14,3,281600,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078106,-0.081787,0.879088,0.338834,0.427273,-0.178527,0.818998
14,3,281600,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201843,0.084145,0.881638,0.562751,0.029794,-0.025686,0.825690
14,3,281600,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000040
14,3,281600,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
14,3,281600,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.199383,0.062084,0.994984,0.077150,-0.749255,-0.027819,0.657184
14,3,281600,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.103565,-0.056602,0.879373,-0.960439,-0.002381,-0.278239,-0.011548
14,3,281600,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083290,-0.076073,0.883184,0.998441,0.022905,0.050902,0.000471
14,3,281600,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114971,0.045441,0.869532,0.999984,-0.000000,-0.000001,-0.005737
14,3,281600,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000311
14,3,281600,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.285374,0.002186,0.957761,0.032738,-0.698826,0.089163,0.708957
14,3,281600,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.211161,-0.067627,0.885081,0.671699,0.300528,-0.351225,0.578916
14,3,281600,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.181011,0.077400,0.881641,0.949353,-0.016682,0.036564,0.311631
14,3,281600,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074989,0.869532,0.999999,-0.000000,-0.000001,-0.001516
14,3,281600,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
14,3,281600,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.199450,0.090607,0.968940,0.142843,-0.734507,0.155116,0.645007
14,3,281600,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.212938,-0.050148,0.887793,0.586391,0.349466,-0.297835,0.667318
14,3,281600,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.080977,-0.064590,0.881716,0.895009,0.019899,-0.049577,0.442837
14,3,281600,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.074997,0.869532,1.000000,0.000001,-0.000002,-0.000049
14,3,281600,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.230423,-0.078247,0.871288,0.999407,-0.000187,-0.001014,-0.034423
14,3,281600,4,gripper,0,"","put kitchen shovel on cloth",-0.069012,-0.070137,0.924593,0.114940,-0.756463,0.052983,0.641673
14,3,281600,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.113716,0.071831,0.885007,0.547606,-0.446189,0.481611,0.518742
14,3,281600,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.128998,0.041084,0.891710,0.654514,0.146903,-0.163367,0.723424
14,3,281600,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114988,0.044945,0.869532,1.000000,0.000000,-0.000002,0.000510
14,3,281600,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235001,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000164
14,3,281600,5,gripper,0,"","put kitchen shovel on cloth",-0.138317,0.068909,1.047573,0.146752,-0.728957,0.102945,0.660673
14,3,281600,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.201992,0.005768,0.878982,-0.475512,0.502683,-0.413784,-0.591592
14,3,281600,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.101097,-0.030266,0.888177,0.597755,-0.028430,0.031390,0.800559
14,3,281600,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084816,-0.075020,0.869533,0.999999,-0.000000,0.000000,0.001470
14,3,281600,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,-0.074982,0.871282,0.999999,-0.000451,-0.001265,0.000016
14,3,281600,6,gripper,0,"","put kitchen shovel on cloth",-0.179647,0.027218,0.987372,-0.053332,-0.773301,-0.091694,0.625103
14,3,281600,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.209019,0.047165,0.884978,-0.585415,0.408505,-0.507151,-0.482918
14,3,281600,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.213230,-0.018600,0.881638,0.635262,0.027790,-0.028612,0.771266
14,3,281600,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.227402,0.079956,0.869532,0.998811,0.000000,-0.000001,-0.048754
14,3,281600,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
14,3,281600,7,gripper,0,"","put kitchen shovel on cloth",-0.247471,-0.026665,0.914421,-0.113645,-0.828960,-0.148121,0.527228
14,3,281600,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.256340,0.006989,0.879453,-0.138939,-0.794969,0.555433,-0.200534
14,3,281600,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.188507,-0.063286,0.887421,0.615877,0.017499,-0.026939,0.787187
14,3,281600,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.185219,-0.084431,0.869532,0.999825,0.000000,0.000000,-0.018710
14,3,281600,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.227852,0.078594,0.871282,0.996298,-0.000341,-0.001299,0.085959
14,3,281600,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.255428,-0.061443,0.932496,-0.074784,-0.751463,-0.030117,0.654831
14,3,281600,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067009,0.092690,0.885085,0.506531,0.379057,-0.265968,0.727326
14,3,281600,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.059315,0.033001,0.886311,0.772216,-0.002288,0.007064,0.635317
14,3,281600,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084946,0.075012,0.869532,1.000000,0.000000,-0.000001,0.000371
14,3,281600,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000053
14,3,281600,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.243641,0.022207,0.951691,0.140023,-0.742893,0.108511,0.645545
14,3,281600,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.174919,0.047653,0.885083,0.677030,0.297307,-0.354167,0.572542
14,3,281600,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.114399,-0.045753,0.881638,0.382403,0.034425,-0.019071,0.923157
14,3,281600,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.200935,0.044373,0.869532,0.998466,0.000001,-0.000001,-0.055368
14,3,281600,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
14,3,281600,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.162189,0.072794,1.145988,0.039642,-0.801009,0.216009,0.556915
14,3,281600,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.047335,0.009903,0.879846,0.789899,-0.035497,0.043744,0.610644
14,3,281600,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.096136,-0.012295,0.893660,0.607774,0.146020,-0.142005,0.767544
14,3,281600,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085018,-0.045048,0.869532,1.000000,-0.000000,-0.000001,0.000452
14,3,281600,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205023,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000050
14,3,281600,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.197559,-0.090563,1.008009,-0.236418,-0.685307,-0.221485,0.652230
14,3,281600,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.189350,0.196495,0.879089,0.670463,0.301636,-0.351345,0.579699
14,3,281600,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085101,0.074036,0.881638,0.706833,0.024485,-0.030793,0.706285
14,3,281600,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.075001,0.869532,1.000000,-0.000001,-0.000000,-0.000000
14,3,281600,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235013,0.075027,0.871210,0.999984,-0.003909,-0.004129,0.000111
14,3,281600,12,gripper,0,"","put ketchup bottle on cloth",-0.142207,0.096302,1.023628,-0.024461,-0.889809,0.089680,0.446766
14,3,281600,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.028767,0.168079,0.878982,-0.617054,0.372927,-0.533703,-0.441962
14,3,281600,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.070612,-0.041725,0.881638,-0.371809,0.037928,0.010415,0.927476
14,3,281600,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085405,0.076252,0.869532,0.999972,-0.000001,-0.000002,-0.007545
14,3,281600,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234909,0.044884,0.871288,0.999998,-0.000152,-0.001019,0.001524
14,3,281600,13,gripper,0,"","put ketchup bottle on cloth",-0.067773,-0.016756,0.950715,0.207193,-0.738002,0.216972,0.604440
14,3,281600,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085625,0.021454,0.883647,0.115045,-0.723740,0.674460,0.089828
14,3,281600,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.086575,-0.075363,0.881638,0.999221,-0.004587,-0.039015,-0.003714
14,3,281600,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000005
14,3,281600,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114998,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000041
14,3,281600,14,gripper,0,"","put ketchup bottle on cloth",-0.190994,0.035860,0.914317,-0.080997,-0.793127,-0.106922,0.594101
14,3,281600,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.185818,-0.058697,0.885122,0.437063,0.559684,-0.533732,0.459195
14,3,281600,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081753,-0.042522,0.881638,0.798493,0.019948,-0.033912,0.600716
14,3,281600,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205250,-0.075195,0.869531,0.999999,-0.000000,-0.000001,-0.001400
14,3,281600,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235020,0.045017,0.871288,0.999999,-0.000153,-0.001019,0.000106
14,3,281600,15,gripper,0,"","put ketchup bottle on cloth",-0.034544,-0.036186,0.985609,0.027802,-0.783824,0.020394,0.620025
14,3,281600,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.110458,0.013718,0.883561,0.980557,0.004463,-0.014380,0.195657
14,3,281600,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.263336,0.005440,0.885747,-0.579349,-0.406058,-0.426896,0.563234
14,3,281600,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.080078,0.088779,0.869490,0.999614,0.000204,0.000868,-0.027785
14,3,281600,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.080215,-0.075218,0.870350,0.998843,-0.000027,-0.001460,0.048059
14,3,281600,16,gripper,0,"","put 7up can on newspaper",-0.120079,0.008457,0.958227,-0.023921,-0.796152,-0.057511,0.601883
14,3,281600,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.096546,-0.035030,0.886539,0.430725,0.012447,-0.001403,0.902396
14,3,281600,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.181484,-0.074955,0.888187,0.574877,0.083780,-0.081667,0.809832
14,3,281600,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.224205,-0.079895,0.869507,0.997286,0.000408,0.001312,-0.073609
14,3,281600,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,-0.044998,0.870447,0.999991,-0.003095,-0.002716,-0.000043
14,3,281600,17,gripper,0,"","put 7up can on newspaper",-0.194843,-0.014681,0.915706,0.031005,-0.765583,0.040070,0.641338
14,3,281600,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.130501,0.066570,0.883544,0.301649,0.012490,-0.002044,0.953335
14,3,281600,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.279232,-0.101837,0.885849,0.055625,-0.721548,0.062368,0.687303
14,3,281600,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
14,3,281600,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,0.044987,0.870441,0.999999,-0.000676,-0.001047,-0.000293
14,3,281600,18,gripper,0,"","put 7up can on newspaper",-0.116020,0.064913,0.960267,0.062618,-0.764021,0.031309,0.641382
14,3,281600,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.085514,0.075104,0.883544,0.999918,0.001792,-0.012524,-0.002044
14,3,281600,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.243347,0.016556,0.887756,-0.189271,0.337568,-0.915472,-0.110162
14,3,281600,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.075544,-0.019695,0.869490,0.992505,0.000285,0.000846,-0.122203
14,3,281600,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234665,0.075672,0.870429,0.999992,-0.003120,-0.002561,0.000164
14,3,281600,19,gripper,0,"","put 7up can on newspaper",-0.237062,0.013683,0.930566,0.315045,-0.655344,0.364861,0.581504
14,3,281600,20,obj,0,"003_bread_1","put 7up can on carpet",-0.123672,0.037189,0.886749,0.979489,-0.001572,-0.010071,-0.201238
14,3,281600,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.134402,0.165249,0.885998,0.087395,0.618802,-0.776935,0.076288
14,3,281600,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
14,3,281600,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.102418,0.035004,0.870448,0.999910,-0.000911,-0.000857,0.013323
14,3,281600,20,gripper,0,"","put 7up can on carpet",-0.115475,-0.017363,0.986551,-0.039900,-0.750018,-0.031103,0.659480
14,3,281600,21,obj,0,"003_bread_1","put 7up can on carpet",-0.133841,-0.023899,0.886991,-0.145095,-0.022617,-0.008914,-0.989119
14,3,281600,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.427296,0.300339,0.016957,-0.107144,-0.612935,0.091126,-0.777513
14,3,281600,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114990,-0.075001,0.869490,1.000000,0.000179,0.000874,0.000003
14,3,281600,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.205112,0.075176,0.870441,0.999999,-0.000209,-0.000158,0.000944
14,3,281600,21,gripper,0,"","put 7up can on carpet",-0.127385,-0.032394,0.991318,-0.023658,-0.758503,0.019428,0.650950
14,3,281600,22,obj,0,"003_bread_1","put 7up can on carpet",-0.115479,0.044479,0.883544,0.924196,0.006459,-0.010888,0.381708
14,3,281600,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.192921,-0.015980,0.888623,0.523906,-0.090545,0.052984,0.845291
14,3,281600,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
14,3,281600,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205235,-0.045135,0.870448,0.999999,-0.000870,-0.000800,-0.000071
14,3,281600,22,gripper,0,"","put 7up can on carpet",-0.120676,0.049910,0.969218,0.042697,-0.755956,0.013819,0.653082
14,3,281600,23,obj,0,"003_bread_1","put 7up can on carpet",-0.068535,0.043884,0.883544,0.891246,0.007301,-0.010340,0.453343
14,3,281600,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.201488,0.004684,0.885626,0.766710,0.139085,-0.186945,0.598216
14,3,281600,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
14,3,281600,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
14,3,281600,23,gripper,0,"","put 7up can on carpet",-0.079004,0.048721,0.946044,0.106635,-0.781520,0.046537,0.612936
14,3,281600,24,obj,0,"003_bread_1","put bread on newspaper",-0.136993,0.008814,0.885780,0.459562,-0.036304,-0.049024,0.886048
14,3,281600,24,obj,1,"005_7up can_1","put bread on newspaper",-0.085823,-0.050299,0.888725,0.453012,0.541808,-0.392039,0.589516
14,3,281600,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084686,-0.044863,0.869490,0.999999,0.000179,0.000876,0.000632
14,3,281600,24,recep,1,"003_carpet_1","put bread on newspaper",-0.113724,0.073177,0.870447,0.999843,-0.003064,-0.002783,0.017205
14,3,281600,24,gripper,0,"","put bread on newspaper",-0.196926,0.028244,0.999849,0.101232,-0.720299,0.186246,0.660480
14,3,281600,25,obj,0,"003_bread_1","put bread on newspaper",-0.208839,-0.004440,0.886537,0.822832,0.009840,-0.003285,0.568190
14,3,281600,25,obj,1,"005_7up can_1","put bread on newspaper",-0.152596,0.051596,0.886252,-0.740161,-0.213254,0.301245,-0.562081
14,3,281600,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.074999,0.869490,1.000000,0.000180,0.000874,0.000113
14,3,281600,25,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,-0.044975,0.870446,0.999999,-0.000728,-0.001047,-0.000108
14,3,281600,25,gripper,0,"","put bread on newspaper",-0.179707,0.066117,0.917624,0.134400,-0.815780,0.072193,0.557878
14,3,281600,26,obj,0,"003_bread_1","put bread on newspaper",-0.120144,-0.038012,0.884258,0.902987,0.014849,-0.009293,0.429309
14,3,281600,26,obj,1,"005_7up can_1","put bread on newspaper",-0.159889,0.050976,0.888891,0.811096,-0.093614,0.042306,0.575820
14,3,281600,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.115265,0.045046,0.869490,1.000000,0.000180,0.000873,-0.000163
14,3,281600,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235016,0.075010,0.870429,0.999992,-0.003114,-0.002556,0.000033
14,3,281600,26,gripper,0,"","put bread on newspaper",-0.138945,-0.046443,0.919990,-0.159347,-0.783563,-0.183236,0.571894
14,3,281600,27,obj,0,"003_bread_1","put bread on newspaper",-0.210592,0.032917,0.886417,0.943425,0.008566,-0.007854,0.331381
14,3,281600,27,obj,1,"005_7up can_1","put bread on newspaper",-0.210495,-0.080235,0.885626,0.898004,0.084465,-0.217145,0.373231
14,3,281600,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000875,0.000012
14,3,281600,27,recep,1,"003_carpet_1","put bread on newspaper",-0.234606,0.045319,0.870459,0.999994,-0.000267,-0.000393,0.003513
14,3,281600,27,gripper,0,"","put bread on newspaper",-0.170535,-0.053942,1.006945,0.095448,-0.761735,0.119960,0.629491
14,3,281600,28,obj,0,"003_bread_1","put bread on carpet",-0.112610,-0.061148,0.886771,0.629937,0.013379,-0.005797,0.776509
14,3,281600,28,obj,1,"005_7up can_1","put bread on carpet",-0.231184,0.016451,0.888255,0.718591,0.256040,-0.286205,0.579790
14,3,281600,28,recep,0,"004_newspaper_1","put bread on carpet",-0.235027,0.045004,0.869490,0.999999,0.000524,0.001397,-0.000104
14,3,281600,28,recep,1,"003_carpet_1","put bread on carpet",-0.085000,-0.075001,0.870447,0.999999,-0.000923,-0.000845,0.000022
14,3,281600,28,gripper,0,"","put bread on carpet",-0.192006,0.030136,1.004094,-0.005436,-0.767853,0.056265,0.638128
14,3,281600,29,obj,0,"003_bread_1","put bread on carpet",-0.088886,0.025524,0.886359,0.999932,0.003700,-0.008256,0.007299
14,3,281600,29,obj,1,"005_7up can_1","put bread on carpet",0.051134,-0.044643,0.017151,0.335203,0.514140,-0.757029,0.224065
14,3,281600,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234983,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000033
14,3,281600,29,recep,1,"003_carpet_1","put bread on carpet",-0.114996,0.045012,0.870462,1.000000,0.000037,-0.000158,-0.000027
14,3,281600,29,gripper,0,"","put bread on carpet",-0.127655,-0.033863,0.999051,0.000843,-0.707739,0.051431,0.704599
14,3,281600,30,obj,0,"003_bread_1","put bread on carpet",-0.102921,0.066236,0.883544,0.999502,0.002183,-0.012472,0.028885
14,3,281600,30,obj,1,"005_7up can_1","put bread on carpet",-0.147633,0.000240,0.885675,-0.870303,0.126955,0.339091,0.333874
14,3,281600,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000130
14,3,281600,30,recep,1,"003_carpet_1","put bread on carpet",-0.205006,-0.074993,0.870420,0.999990,-0.000187,-0.000799,0.004474
14,3,281600,30,gripper,0,"","put bread on carpet",-0.191336,0.059850,0.985479,0.062419,-0.762447,0.085981,0.638268
14,3,281600,31,obj,0,"003_bread_1","put bread on carpet",-0.101952,0.057398,0.886703,0.733625,0.012567,-0.005348,0.679418
14,3,281600,31,obj,1,"005_7up can_1","put bread on carpet",-0.147209,0.173832,0.885847,0.549207,-0.384661,0.676479,0.304605
14,3,281600,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205078,0.075003,0.869489,0.999999,0.000179,0.000873,0.000672
14,3,281600,31,recep,1,"003_carpet_1","put bread on carpet",-0.084801,0.074743,0.870449,0.999997,-0.000774,-0.000725,0.002373
14,3,281600,31,gripper,0,"","put bread on carpet",-0.158928,0.044734,0.986006,-0.017404,-0.755688,-0.038305,0.653579
14,3,281600,32,obj,0,"001_carrot_simpler","put banana on sheet metal",33.079208,55.110817,-1256.314575,0.787163,-0.069270,0.488976,0.369430
14,3,281600,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.075307,0.878547,0.923688,0.011485,0.006978,0.382910
14,3,281600,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
14,3,281600,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000001,0.000001,0.000000
14,3,281600,32,gripper,0,"","put banana on sheet metal",-0.036045,-0.007803,0.979515,0.076781,-0.717439,0.110624,0.683482
14,3,281600,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204880,0.081060,0.887171,0.368650,-0.023891,0.019664,0.929053
14,3,281600,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
14,3,281600,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,3,281600,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
14,3,281600,33,gripper,0,"","put banana on sheet metal",-0.054565,-0.027277,1.018147,0.105379,-0.764374,0.183909,0.608938
14,3,281600,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089832,0.067122,0.887494,0.368141,-0.009178,0.007276,0.929696
14,3,281600,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
14,3,281600,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
14,3,281600,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874363,1.000000,0.000000,0.000001,-0.000000
14,3,281600,34,gripper,0,"","put banana on sheet metal",-0.030594,-0.037691,0.982713,0.140578,-0.783792,0.246696,0.552312
14,3,281600,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.238312,-0.076340,0.887529,0.702422,-0.030736,0.030392,0.710447
14,3,281600,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084560,0.075006,0.878547,0.706796,0.007963,0.010867,0.707289
14,3,281600,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
14,3,281600,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
14,3,281600,35,gripper,0,"","put banana on sheet metal",-0.187973,0.020961,1.025643,0.388733,-0.676607,0.171867,0.601291
14,3,281600,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094449,-0.077573,0.887527,0.760482,-0.013297,0.019330,0.648935
14,3,281600,36,obj,1,"013_banana_1","put banana on flat bowl",-0.114560,0.075008,0.878547,0.706792,0.007958,0.010862,0.707293
14,3,281600,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
14,3,281600,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000001
14,3,281600,36,gripper,0,"","put banana on flat bowl",-0.049782,0.126169,1.006387,0.173273,-0.752949,0.125017,0.622426
14,3,281600,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118620,-0.038812,0.887513,0.996972,-0.001835,0.034078,0.069874
14,3,281600,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074562,0.878547,0.999909,0.013308,0.002053,0.000327
14,3,281600,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
14,3,281600,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
14,3,281600,37,gripper,0,"","put banana on flat bowl",-0.075934,0.042099,0.945921,0.227069,-0.920689,0.064007,0.310927
14,3,281600,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208324,-0.068862,0.887339,0.996933,-0.006991,0.032679,0.070759
14,3,281600,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075439,0.878547,0.999910,0.013262,0.002052,0.000263
14,3,281600,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,3,281600,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
14,3,281600,38,gripper,0,"","put banana on flat bowl",-0.099630,0.089217,1.009584,0.522318,-0.492414,0.520625,0.462237
14,3,281600,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244061,0.081814,0.887482,0.920242,-0.009836,0.019978,0.390715
14,3,281600,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011486,0.006981,0.383097
14,3,281600,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
14,3,281600,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000000
14,3,281600,39,gripper,0,"","put banana on flat bowl",-0.164495,-0.038182,1.007339,0.141026,-0.713093,0.174374,0.664232
14,3,281600,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117729,0.050167,0.887222,0.996991,0.005926,0.031867,0.070420
14,3,281600,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084999,-0.075434,0.878547,0.999909,0.013288,0.002036,-0.000840
14,3,281600,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075006,0.871344,0.999999,-0.000158,0.001163,0.000093
14,3,281600,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
14,3,281600,40,gripper,0,"","put carrot on sheet metal",-0.093430,0.076944,1.017623,-0.000243,-0.712192,-0.006375,0.701956
14,3,281600,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122826,0.043558,0.887476,0.765613,-0.019897,0.024064,0.642543
14,3,281600,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074986,0.878547,0.707979,0.007950,0.010822,0.706105
14,3,281600,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
14,3,281600,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
14,3,281600,41,gripper,0,"","put carrot on sheet metal",-0.105375,0.068588,0.965689,0.193857,-0.755564,0.251666,0.572893
14,3,281600,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246300,-0.079248,0.887199,0.972723,-0.015353,0.027810,0.229784
14,3,281600,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.114658,-0.045309,0.878548,0.924490,0.011511,0.006959,0.380969
14,3,281600,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
14,3,281600,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
14,3,281600,42,gripper,0,"","put carrot on sheet metal",-0.194128,-0.054190,1.009089,0.104108,-0.722469,0.058474,0.681015
14,3,281600,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237812,-0.043201,0.887251,0.998902,-0.008315,0.032256,0.032941
14,3,281600,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114985,-0.075436,0.878547,0.999910,0.013274,0.002046,-0.000192
14,3,281600,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.074940,0.871343,0.999999,-0.000158,0.001163,-0.000129
14,3,281600,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
14,3,281600,43,gripper,0,"","put carrot on sheet metal",-0.081872,0.097003,1.058933,0.185564,-0.728576,0.115373,0.649178
14,3,281600,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094641,0.083019,0.887564,0.926198,-0.007179,0.025942,0.376075
14,3,281600,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.204692,0.074730,0.878547,0.923945,0.011503,0.006974,0.382288
14,3,281600,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
14,3,281600,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000003
14,3,281600,44,gripper,0,"","put carrot on flat bowl",-0.079816,0.014215,1.061256,0.028891,-0.739476,0.029351,0.671922
14,3,281600,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.121208,0.036781,0.887495,0.374739,-0.022631,0.010461,0.926795
14,3,281600,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075338,0.878547,0.383278,0.003224,0.013134,0.923534
14,3,281600,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
14,3,281600,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
14,3,281600,45,gripper,0,"","put carrot on flat bowl",-0.084225,0.064892,0.990871,0.249890,-0.737243,0.241096,0.579569
14,3,281600,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.232651,-0.046360,0.887529,0.932370,-0.015528,0.040338,0.358912
14,3,281600,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.204575,0.074623,0.878547,0.924445,0.011483,0.006947,0.381078
14,3,281600,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.075008,0.871344,0.999999,-0.000157,0.001164,-0.000040
14,3,281600,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
14,3,281600,46,gripper,0,"","put carrot on flat bowl",-0.059980,0.087223,0.994113,0.220934,-0.772243,0.137748,0.579530
14,3,281600,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.202736,0.044394,0.887529,0.930021,-0.015789,0.040237,0.364955
14,3,281600,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
14,3,281600,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
14,3,281600,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
14,3,281600,47,gripper,0,"","put carrot on flat bowl",-0.163073,0.050300,1.033288,0.185833,-0.790189,0.093021,0.576553
14,3,281600,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116081,0.074848,0.888112,0.439933,-0.023367,-0.014575,0.897608
14,3,281600,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.234985,-0.038315,0.887026,0.351769,-0.622665,0.340550,0.610388
14,3,281600,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000040
14,3,281600,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.870870,1.000000,-0.000000,-0.000000,-0.000001
14,3,281600,48,gripper,0,"","put plastic bottle on frying pan",-0.232876,-0.015209,0.949179,0.163899,-0.708301,0.164815,0.666545
14,3,281600,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.029430,0.008221,0.891791,-0.091492,0.237943,0.943067,0.213629
14,3,281600,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.257938,-0.046520,0.887027,0.261925,-0.664563,0.249082,0.653995
14,3,281600,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000085
14,3,281600,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084995,0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000052
14,3,281600,49,gripper,0,"","put plastic bottle on frying pan",-0.228762,-0.062445,0.973036,-0.024516,-0.702136,-0.094207,0.705358
14,3,281600,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.157986,-0.014172,0.888197,0.764559,-0.017728,0.025687,0.643798
14,3,281600,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.085789,0.104359,0.887026,0.497341,-0.513722,0.489669,0.498964
14,3,281600,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
14,3,281600,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235126,-0.074932,0.870870,0.999999,0.000000,-0.000000,0.001333
14,3,281600,50,gripper,0,"","put plastic bottle on frying pan",-0.146229,0.005234,0.973495,-0.023685,-0.782000,-0.070927,0.618776
14,3,281600,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.155352,0.115726,0.891601,0.441956,0.071480,0.843667,0.296297
14,3,281600,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.233133,0.130440,0.894173,0.614306,-0.362227,0.647430,0.268801
14,3,281600,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234024,0.075367,0.872201,0.999922,-0.000044,-0.000017,-0.012457
14,3,281600,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
14,3,281600,51,gripper,0,"","put plastic bottle on frying pan",-0.184750,0.085581,1.094416,0.155411,-0.720301,0.255807,0.625761
14,3,281600,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.166028,-0.041618,0.890489,0.999483,-0.025538,0.017111,-0.009429
14,3,281600,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.141194,0.066917,0.887027,0.704432,-0.025411,0.709253,0.009494
14,3,281600,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000000
14,3,281600,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204983,-0.075024,0.870870,1.000000,0.000000,0.000002,-0.000015
14,3,281600,52,gripper,0,"","put plastic bottle on cutting board",-0.189116,0.071905,0.928424,0.019603,-0.840396,0.030754,0.540745
14,3,281600,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.080549,0.073635,0.888112,0.925388,-0.027148,0.004651,0.378020
14,3,281600,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.218929,0.001423,0.889458,0.542873,-0.461772,0.541549,0.445848
14,3,281600,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
14,3,281600,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234716,-0.044857,0.870872,1.000000,-0.000023,-0.000015,0.000451
14,3,281600,53,gripper,0,"","put plastic bottle on cutting board",-0.209900,0.027191,1.083626,0.212070,-0.727292,0.149946,0.635286
14,3,281600,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712520,-0.026879,-0.006007,0.701111
14,3,281600,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.206394,0.093761,0.887026,0.438028,-0.565564,0.428739,0.551772
14,3,281600,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
14,3,281600,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
14,3,281600,54,gripper,0,"","put plastic bottle on cutting board",-0.181650,0.062771,1.042492,-0.094272,-0.744422,-0.162969,0.640617
14,3,281600,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085217,0.076092,0.888113,0.924629,-0.027154,0.004595,0.379871
14,3,281600,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.068905,-0.086777,0.894426,0.697563,-0.024246,0.006925,0.716080
14,3,281600,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.065044,-0.074089,0.872199,0.999188,-0.000000,-0.000001,-0.040277
14,3,281600,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
14,3,281600,55,gripper,0,"","put plastic bottle on cutting board",-0.058424,-0.078976,0.972121,-0.073353,-0.757138,-0.026754,0.648572
14,3,281600,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086151,-0.075081,0.888112,0.440623,-0.023383,-0.014558,0.897270
14,3,281600,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.225243,-0.054276,0.887026,0.269828,-0.661497,0.257114,0.650774
14,3,281600,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
14,3,281600,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000001,-0.000028
14,3,281600,56,gripper,0,"","put hamburger on frying pan",-0.179127,-0.074291,0.960267,-0.233546,-0.710093,-0.185257,0.637890
14,3,281600,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.227486,0.107597,0.888112,0.989447,-0.025204,0.011099,0.142258
14,3,281600,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.130474,-0.042664,1.025406,0.262191,-0.520490,0.621633,0.523373
14,3,281600,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
14,3,281600,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
14,3,281600,57,gripper,0,"","put hamburger on frying pan",-0.057989,-0.139938,0.920691,0.093274,-0.774692,0.075100,0.620896
14,3,281600,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.184837,0.070450,0.890404,0.243232,-0.018798,-0.017070,0.969636
14,3,281600,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106419,-0.055027,0.887026,0.266260,-0.662894,0.253487,0.652243
14,3,281600,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000002
14,3,281600,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235134,0.044975,0.870883,0.999999,0.000672,0.000685,0.000545
14,3,281600,58,gripper,0,"","put hamburger on frying pan",-0.216343,0.045631,0.984800,-0.085820,-0.763376,-0.132640,0.626338
14,3,281600,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.179613,-0.060802,0.896384,0.325621,-0.027332,-0.018523,0.944924
14,3,281600,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.260994,0.067547,0.887026,0.372952,-0.610343,0.362169,0.597681
14,3,281600,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000035
14,3,281600,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
14,3,281600,59,gripper,0,"","put hamburger on frying pan",-0.152608,-0.047579,1.053130,-0.017982,-0.748464,-0.078975,0.658211
14,3,281600,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085959,0.075619,0.888112,0.711859,-0.026873,-0.006032,0.701782
14,3,281600,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.078871,-0.030758,0.889532,0.411691,-0.582933,0.406311,0.570623
14,3,281600,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.236787,0.072834,0.872199,0.999298,-0.000000,-0.000001,-0.037453
14,3,281600,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083637,-0.073265,0.870868,0.999910,0.000000,0.000022,-0.013401
14,3,281600,60,gripper,0,"","put hamburger on cutting board",-0.069643,-0.024971,1.020674,-0.158271,-0.772711,-0.095930,0.607178
14,3,281600,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.188911,-0.054508,0.890430,0.994297,-0.023617,0.018160,-0.102401
14,3,281600,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.176115,0.076813,0.887026,0.704485,-0.019587,0.709439,0.003708
14,3,281600,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084522,0.075001,0.872199,0.999997,-0.000002,-0.000001,-0.002577
14,3,281600,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234978,-0.075024,0.870875,1.000000,0.000699,0.000650,-0.000035
14,3,281600,61,gripper,0,"","put hamburger on cutting board",-0.188176,-0.062380,1.075953,0.061084,-0.680514,0.078415,0.725962
14,3,281600,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116634,0.034626,0.894431,0.967054,-0.064359,-0.050844,-0.240998
14,3,281600,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.192966,0.085297,0.887045,0.703653,-0.041898,0.708832,0.025966
14,3,281600,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114677,0.044785,0.872199,0.999938,-0.000000,-0.000001,0.011120
14,3,281600,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
14,3,281600,62,gripper,0,"","put hamburger on cutting board",-0.196512,0.066929,0.947100,-0.157391,-0.693410,-0.179427,0.679865
14,3,281600,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116524,-0.004574,0.921462,-0.334814,0.857975,-0.088151,0.379483
14,3,281600,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.203274,0.080524,0.887027,0.703991,-0.042629,0.708430,0.026598
14,3,281600,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000041
14,3,281600,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084934,0.074875,0.870870,1.000000,0.000000,-0.000000,-0.000131
14,3,281600,63,gripper,0,"","put hamburger on cutting board",-0.111708,-0.009851,0.964489,-0.007857,-0.727707,-0.071938,0.682060
14,4,286720,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.067459,-0.011017,0.885084,0.626735,0.325948,-0.328116,0.627138
14,4,286720,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.142723,0.031181,0.881638,-0.152088,0.039313,0.001558,0.987584
14,4,286720,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.057297,-0.035385,0.869533,0.996368,-0.000001,-0.000000,0.085152
14,4,286720,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001020,0.000054
14,4,286720,0,gripper,0,"","put kitchen shovel on cloth",-0.249023,-0.103119,0.921659,0.079836,-0.741537,0.088248,0.660274
14,4,286720,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078106,-0.081787,0.879088,0.338828,0.427266,-0.178520,0.819005
14,4,286720,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.201172,0.082375,0.881651,0.549514,0.023779,-0.020976,0.834882
14,4,286720,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000066
14,4,286720,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000086
14,4,286720,1,gripper,0,"","put kitchen shovel on cloth",-0.187693,0.028996,0.989312,-0.010528,-0.700014,-0.112641,0.705111
14,4,286720,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.160839,-0.066185,0.879543,0.943579,-0.032238,0.312281,0.105361
14,4,286720,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.073421,-0.079124,0.881638,0.993082,-0.008748,-0.038353,-0.110639
14,4,286720,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114109,0.043289,0.869532,0.998903,0.000001,-0.000001,0.046819
14,4,286720,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235001,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000383
14,4,286720,2,gripper,0,"","put kitchen shovel on cloth",-0.099455,-0.069901,0.976448,0.012993,-0.774084,0.114312,0.622541
14,4,286720,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.251686,0.055466,0.879091,0.520331,0.372992,-0.272113,0.718392
14,4,286720,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.150200,0.076469,0.881638,0.957023,0.006981,-0.038711,0.287331
14,4,286720,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.236446,-0.072571,0.869532,0.999777,-0.016943,-0.000214,0.012570
14,4,286720,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,-0.074997,0.871289,1.000000,-0.000157,-0.001019,0.000009
14,4,286720,3,gripper,0,"","put kitchen shovel on cloth",-0.200820,-0.019794,0.973636,-0.106693,-0.828918,-0.054804,0.546360
14,4,286720,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.122631,0.149101,0.879212,0.233492,0.519991,-0.807557,0.151470
14,4,286720,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081020,-0.063835,0.881638,0.896242,0.013294,-0.037024,0.441818
14,4,286720,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.074997,0.869532,1.000000,0.000003,-0.000001,-0.000306
14,4,286720,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.226973,-0.077797,0.871288,0.998421,-0.000211,-0.001009,-0.056172
14,4,286720,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.174732,0.196301,0.954027,0.306341,-0.708447,0.375322,0.513215
14,4,286720,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.113693,0.072014,0.885056,0.541916,-0.452763,0.488423,0.512616
14,4,286720,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.128998,0.041107,0.891709,0.653775,0.147188,-0.163545,0.723993
14,4,286720,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114986,0.044945,0.869532,1.000000,0.000000,-0.000002,0.000956
14,4,286720,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234999,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000291
14,4,286720,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.173936,0.017902,1.131926,0.114269,-0.819604,0.180112,0.531744
14,4,286720,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.067020,-0.061203,0.884977,-0.495675,0.488099,-0.430971,-0.574743
14,4,286720,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.101101,-0.030334,0.888191,0.596903,-0.022788,0.027181,0.801529
14,4,286720,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084831,-0.075005,0.869532,0.999998,0.000001,-0.000002,0.001807
14,4,286720,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.204853,-0.074867,0.871288,0.999999,-0.000177,-0.001027,-0.001105
14,4,286720,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.238434,-0.034870,0.922267,-0.002253,-0.818217,-0.007812,0.574852
14,4,286720,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.209023,0.047089,0.884979,-0.585662,0.408249,-0.507362,-0.482614
14,4,286720,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.211567,-0.031227,0.881638,0.608492,0.028299,-0.027333,0.792584
14,4,286720,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.227402,0.079956,0.869532,0.998809,0.000001,-0.000000,-0.048799
14,4,286720,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
14,4,286720,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.218298,-0.099136,0.944709,-0.074580,-0.798411,-0.102393,0.588637
14,4,286720,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.233910,-0.007580,0.881251,0.178727,0.678955,-0.678904,0.214864
14,4,286720,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.188507,-0.063210,0.887422,0.614859,0.017498,-0.026883,0.787984
14,4,286720,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.185219,-0.084431,0.869532,0.999825,0.000000,-0.000000,-0.018717
14,4,286720,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.227852,0.078594,0.871282,0.996301,-0.000341,-0.001299,0.085917
14,4,286720,8,gripper,0,"","put ketchup bottle on cloth",-0.275272,-0.009956,0.914764,0.015105,-0.790649,-0.020228,0.611748
14,4,286720,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.066929,0.092739,0.885085,0.507269,0.378824,-0.266392,0.726777
14,4,286720,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.058865,0.034500,0.886304,0.818453,-0.017529,0.030291,0.573506
14,4,286720,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084900,0.075012,0.869532,1.000000,0.000002,-0.000000,0.000238
14,4,286720,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001019,0.000018
14,4,286720,9,gripper,0,"","put ketchup bottle on cloth",-0.157528,0.023495,0.917473,0.057382,-0.852723,0.192256,0.482295
14,4,286720,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.174919,0.047653,0.885083,0.677050,0.297300,-0.354188,0.572509
14,4,286720,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114403,-0.045750,0.881638,0.382312,0.034429,-0.019068,0.923195
14,4,286720,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.200935,0.044373,0.869532,0.998467,0.000000,-0.000001,-0.055353
14,4,286720,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
14,4,286720,10,gripper,0,"","put ketchup bottle on cloth",-0.161589,0.025141,1.113103,0.027460,-0.807966,0.110076,0.578204
14,4,286720,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.047312,0.009853,0.879843,0.790754,-0.031754,0.039408,0.610039
14,4,286720,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.096123,-0.012623,0.893520,0.608900,0.148438,-0.143302,0.765944
14,4,286720,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085030,-0.045048,0.869532,1.000000,0.000000,-0.000003,0.000375
14,4,286720,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205034,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000089
14,4,286720,11,gripper,0,"","put ketchup bottle on cloth",-0.155709,0.032942,1.016518,0.041275,-0.758617,0.039914,0.649002
14,4,286720,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.189350,0.196495,0.879089,0.670463,0.301636,-0.351346,0.579699
14,4,286720,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.052023,0.007648,0.914291,0.503516,0.169375,0.286522,0.797301
14,4,286720,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.088217,-0.078007,0.869532,0.997708,0.000001,-0.000001,0.067668
14,4,286720,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234827,0.074764,0.871282,0.999997,-0.000454,-0.001264,-0.002011
14,4,286720,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.118922,-0.020205,1.006133,-0.174595,-0.723913,-0.137545,0.653107
14,4,286720,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.028767,0.168079,0.878982,-0.617048,0.372934,-0.533703,-0.441966
14,4,286720,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089302,-0.050064,0.881638,-0.614447,0.033585,0.020550,0.787975
14,4,286720,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085407,0.076252,0.869532,0.999972,0.000000,-0.000001,-0.007536
14,4,286720,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234909,0.044880,0.871288,0.999998,-0.000152,-0.001019,0.001649
14,4,286720,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.056774,-0.034758,0.960041,0.166853,-0.799330,0.180244,0.548401
14,4,286720,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.115093,0.084724,0.888173,-0.072270,0.792278,-0.600426,-0.081000
14,4,286720,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.078480,-0.072342,0.881921,0.991962,-0.012015,-0.068574,-0.105661
14,4,286720,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000006
14,4,286720,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114998,0.075008,0.871288,1.000000,-0.000155,-0.001020,0.000072
14,4,286720,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.091547,-0.019873,0.928685,0.021675,-0.827000,0.024816,0.561235
14,4,286720,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.185818,-0.058693,0.885123,0.436716,0.560119,-0.533284,0.459514
14,4,286720,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.073872,-0.039326,0.881638,0.801976,0.019763,-0.034044,0.596057
14,4,286720,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205250,-0.075195,0.869531,0.999999,0.000000,-0.000001,-0.001410
14,4,286720,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235020,0.045017,0.871288,0.999999,-0.000153,-0.001019,0.000116
14,4,286720,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.145887,-0.000704,0.989149,-0.029109,-0.741037,-0.046162,0.669243
14,4,286720,16,obj,0,"003_bread_1","put 7up can on carpet",-0.086105,-0.070774,0.886623,0.982528,0.002062,-0.011006,0.185780
14,4,286720,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.263336,0.005451,0.885747,-0.579210,-0.406163,-0.426795,0.563377
14,4,286720,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.077866,0.096176,0.869490,0.998649,0.000225,0.000864,-0.051951
14,4,286720,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.080170,-0.072586,0.870447,0.998486,-0.002959,-0.002900,0.054846
14,4,286720,16,gripper,0,"","put 7up can on carpet",-0.097439,-0.058794,1.022024,0.021076,-0.717964,0.033572,0.694951
14,4,286720,17,obj,0,"003_bread_1","put 7up can on carpet",-0.096573,-0.034962,0.886540,0.430905,0.010925,0.000045,0.902331
14,4,286720,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.180717,-0.075531,0.888266,0.556996,0.073061,-0.068585,0.824448
14,4,286720,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.223392,-0.080219,0.869490,0.996941,0.000249,0.000860,-0.078159
14,4,286720,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,-0.044994,0.870447,0.999991,-0.003114,-0.002731,-0.000059
14,4,286720,17,gripper,0,"","put 7up can on carpet",-0.141911,0.052834,1.036539,0.179105,-0.768805,0.260409,0.555920
14,4,286720,18,obj,0,"003_bread_1","put 7up can on carpet",-0.130501,0.066570,0.883544,0.301789,0.012494,-0.002048,0.953291
14,4,286720,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.248222,-0.126507,0.885637,0.133715,0.151506,-0.017892,0.979207
14,4,286720,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
14,4,286720,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,0.044987,0.870441,0.999999,-0.000676,-0.001047,-0.000360
14,4,286720,18,gripper,0,"","put 7up can on carpet",-0.211281,-0.062662,0.952632,0.029279,-0.747344,0.120773,0.652713
14,4,286720,19,obj,0,"003_bread_1","put 7up can on carpet",-0.085514,0.075104,0.883544,0.999918,0.001795,-0.012524,-0.001807
14,4,286720,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.221014,-0.010296,0.885673,-0.550146,0.326932,-0.239184,-0.730237
14,4,286720,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.075544,-0.019695,0.869490,0.992515,0.000285,0.000846,-0.122123
14,4,286720,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.231928,0.082687,0.870367,0.999303,-0.000434,-0.001525,-0.037297
14,4,286720,19,gripper,0,"","put 7up can on carpet",-0.233879,-0.005808,0.923314,-0.131081,-0.762518,-0.068653,0.629817
14,4,286720,20,obj,0,"003_bread_1","put bread on newspaper",-0.123672,0.037189,0.886749,0.979489,-0.001571,-0.010071,-0.201238
14,4,286720,20,obj,1,"005_7up can_1","put bread on newspaper",-0.098224,-0.047169,0.889144,0.425209,0.593462,-0.496042,0.470045
14,4,286720,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.085075,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000422
14,4,286720,20,recep,1,"003_carpet_1","put bread on newspaper",-0.102418,0.035004,0.870448,0.999910,-0.000911,-0.000857,0.013323
14,4,286720,20,gripper,0,"","put bread on newspaper",-0.117114,-0.056850,1.032594,0.024801,-0.836259,0.057074,0.544793
14,4,286720,21,obj,0,"003_bread_1","put bread on newspaper",-0.133829,-0.023899,0.886990,-0.144827,-0.022675,-0.008861,-0.989157
14,4,286720,21,obj,1,"005_7up can_1","put bread on newspaper",-0.427296,0.300339,0.016957,-0.107260,-0.612921,0.091218,-0.777497
14,4,286720,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.114988,-0.075001,0.869490,1.000000,0.000179,0.000874,-0.000142
14,4,286720,21,recep,1,"003_carpet_1","put bread on newspaper",-0.205107,0.075176,0.870441,0.999999,-0.000208,-0.000157,0.000952
14,4,286720,21,gripper,0,"","put bread on newspaper",-0.148599,-0.005707,1.009997,-0.016911,-0.737927,-0.021336,0.674331
14,4,286720,22,obj,0,"003_bread_1","put bread on newspaper",-0.110733,0.049515,0.883544,0.920857,0.006558,-0.010829,0.389695
14,4,286720,22,obj,1,"005_7up can_1","put bread on newspaper",-0.192928,-0.016026,0.888609,0.532441,-0.089847,0.053573,0.839979
14,4,286720,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
14,4,286720,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205235,-0.045139,0.870448,0.999999,-0.000870,-0.000799,0.000039
14,4,286720,22,gripper,0,"","put bread on newspaper",-0.104443,0.068785,0.952942,0.093586,-0.758112,0.059790,0.642598
14,4,286720,23,obj,0,"003_bread_1","put bread on newspaper",-0.059380,0.040737,0.883545,0.871501,0.007734,-0.010023,0.490230
14,4,286720,23,obj,1,"005_7up can_1","put bread on newspaper",-0.201488,0.004688,0.885626,0.766859,0.139028,-0.186963,0.598033
14,4,286720,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000019
14,4,286720,23,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
14,4,286720,23,gripper,0,"","put bread on newspaper",-0.101866,-0.010807,1.014046,0.091518,-0.685059,0.177196,0.700657
14,4,286720,24,obj,0,"003_bread_1","put bread on carpet",-0.127922,-0.008644,0.886356,0.033424,-0.094760,-0.002288,0.994936
14,4,286720,24,obj,1,"005_7up can_1","put bread on carpet",-0.085205,-0.050282,0.888724,0.451459,0.544082,-0.392846,0.588075
14,4,286720,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084099,-0.044773,0.869490,0.999996,0.000182,0.000877,-0.002687
14,4,286720,24,recep,1,"003_carpet_1","put bread on carpet",-0.113724,0.073187,0.870447,0.999844,-0.003064,-0.002783,0.017185
14,4,286720,24,gripper,0,"","put bread on carpet",-0.104008,-0.069674,0.987529,0.003146,-0.774165,0.055299,0.630556
14,4,286720,25,obj,0,"003_bread_1","put bread on carpet",-0.208839,-0.004438,0.886537,0.823455,0.009822,-0.003282,0.567288
14,4,286720,25,obj,1,"005_7up can_1","put bread on carpet",-0.221188,0.030481,0.951794,-0.752092,-0.097179,0.043516,-0.650400
14,4,286720,25,recep,0,"004_newspaper_1","put bread on carpet",-0.083679,0.076111,0.869490,0.999970,0.000187,0.000873,-0.007677
14,4,286720,25,recep,1,"003_carpet_1","put bread on carpet",-0.235008,-0.044968,0.870446,0.999999,-0.000726,-0.001046,-0.000166
14,4,286720,25,gripper,0,"","put bread on carpet",-0.212082,0.029747,0.997131,0.037795,-0.744850,0.049182,0.664342
14,4,286720,26,obj,0,"003_bread_1","put bread on carpet",-0.201904,0.081951,0.886391,0.928514,0.009550,-0.007833,0.371092
14,4,286720,26,obj,1,"005_7up can_1","put bread on carpet",-0.160095,0.051050,0.888798,0.817099,-0.095990,0.037616,0.567204
14,4,286720,26,recep,0,"004_newspaper_1","put bread on carpet",-0.115261,0.045029,0.869490,1.000000,0.000180,0.000876,0.000024
14,4,286720,26,recep,1,"003_carpet_1","put bread on carpet",-0.235016,0.074984,0.870462,1.000000,0.000035,-0.000159,-0.000031
14,4,286720,26,gripper,0,"","put bread on carpet",-0.118851,-0.087008,0.958771,-0.083600,-0.770763,-0.083485,0.626071
14,4,286720,27,obj,0,"003_bread_1","put bread on carpet",-0.210592,0.032909,0.886417,0.943436,0.008562,-0.007866,0.331350
14,4,286720,27,obj,1,"005_7up can_1","put bread on carpet",-0.210497,-0.080229,0.885626,0.898005,0.084465,-0.217147,0.373229
14,4,286720,27,recep,0,"004_newspaper_1","put bread on carpet",-0.082870,0.085617,0.869490,0.999728,0.000200,0.000870,-0.023304
14,4,286720,27,recep,1,"003_carpet_1","put bread on carpet",-0.234606,0.045305,0.870459,0.999993,-0.000268,-0.000394,0.003631
14,4,286720,27,gripper,0,"","put bread on carpet",-0.090997,-0.088953,0.993594,-0.091146,-0.732044,0.003205,0.675125
14,4,286720,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.112610,-0.061148,0.886771,0.629937,0.013378,-0.005792,0.776510
14,4,286720,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.231313,0.015806,0.888244,0.712521,0.267896,-0.300758,0.574535
14,4,286720,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235027,0.045004,0.869490,0.999999,0.000552,0.001430,-0.000103
14,4,286720,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085000,-0.075001,0.870447,0.999999,-0.000923,-0.000845,0.000022
14,4,286720,28,gripper,0,"","put 7up can on newspaper",-0.180123,-0.012583,0.983145,0.010579,-0.667181,0.040760,0.743705
14,4,286720,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.088884,0.025524,0.886358,0.999932,0.003697,-0.008261,0.007292
14,4,286720,29,obj,1,"005_7up can_1","put 7up can on newspaper",0.051134,-0.044643,0.017151,0.335187,0.514195,-0.756992,0.224090
14,4,286720,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234976,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000048
14,4,286720,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114996,0.045012,0.870462,1.000000,0.000036,-0.000158,-0.000022
14,4,286720,29,gripper,0,"","put 7up can on newspaper",-0.088997,-0.049562,0.951577,-0.294371,-0.703465,-0.313892,0.565646
14,4,286720,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.102921,0.066236,0.883544,0.999496,0.002186,-0.012471,0.029099
14,4,286720,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.147633,0.000238,0.885675,-0.870325,0.126933,0.339085,0.333832
14,4,286720,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000164
14,4,286720,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.074993,0.870367,0.999980,0.000184,-0.001145,0.006176
14,4,286720,30,gripper,0,"","put 7up can on newspaper",-0.135172,-0.145266,0.945033,-0.048815,-0.776417,-0.061837,0.625276
14,4,286720,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.098373,0.060732,0.886629,0.775893,0.011217,-0.007486,0.630720
14,4,286720,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.147209,0.173836,0.885847,0.549212,-0.384655,0.676479,0.304605
14,4,286720,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205078,0.075005,0.869489,0.999999,0.000179,0.000874,0.000723
14,4,286720,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084824,0.074789,0.870423,0.999998,-0.000561,-0.001126,0.001504
14,4,286720,31,gripper,0,"","put 7up can on newspaper",-0.010935,0.075463,0.969540,0.165280,-0.755751,0.133676,0.619398
14,4,286720,32,obj,0,"001_carrot_simpler","put banana on flat bowl",33.079208,55.110817,-2527.952148,0.787163,-0.069270,0.488976,0.369430
14,4,286720,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.075308,0.878547,0.923687,0.011509,0.006990,0.382910
14,4,286720,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
14,4,286720,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000000
14,4,286720,32,gripper,0,"","put banana on flat bowl",-0.065128,-0.034111,0.979607,-0.338734,-0.664774,-0.291946,0.598417
14,4,286720,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204880,0.081060,0.887171,0.368650,-0.023888,0.019662,0.929053
14,4,286720,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
14,4,286720,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,4,286720,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
14,4,286720,33,gripper,0,"","put banana on flat bowl",-0.052820,-0.031988,0.951639,0.401368,-0.690073,0.409409,0.441687
14,4,286720,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092823,0.063781,0.887511,0.380509,-0.027476,0.012379,0.924286
14,4,286720,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
14,4,286720,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
14,4,286720,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874363,1.000000,-0.000000,0.000001,-0.000001
14,4,286720,34,gripper,0,"","put banana on flat bowl",-0.054916,-0.041660,0.971642,0.049748,-0.873750,0.052123,0.481009
14,4,286720,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.238272,-0.076222,0.887528,0.701459,-0.030771,0.030342,0.711398
14,4,286720,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084558,0.075006,0.878547,0.706807,0.007966,0.010870,0.707278
14,4,286720,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
14,4,286720,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
14,4,286720,35,gripper,0,"","put banana on flat bowl",-0.028535,0.123279,0.986472,0.063496,-0.791934,-0.000038,0.607296
14,4,286720,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.096149,-0.078038,0.887303,0.768750,-0.025326,0.021563,0.638683
14,4,286720,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.114561,0.075008,0.878547,0.706790,0.007937,0.010838,0.707295
14,4,286720,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
14,4,286720,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000002
14,4,286720,36,gripper,0,"","put carrot on sheet metal",-0.072451,-0.032118,1.015636,0.157983,-0.758341,0.060337,0.629539
14,4,286720,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118937,-0.037987,0.887410,0.996769,-0.005836,0.038291,0.070361
14,4,286720,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074562,0.878547,0.999909,0.013314,0.002054,0.000327
14,4,286720,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
14,4,286720,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
14,4,286720,37,gripper,0,"","put carrot on sheet metal",-0.194701,-0.056229,1.021259,0.028713,-0.708058,-0.011479,0.705477
14,4,286720,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208523,-0.068312,0.887503,0.996673,-0.003633,0.042053,0.069725
14,4,286720,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084988,-0.075440,0.878547,0.999910,0.013282,0.002053,0.000263
14,4,286720,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
14,4,286720,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
14,4,286720,38,gripper,0,"","put carrot on sheet metal",-0.190411,-0.007890,0.993950,0.040141,-0.813018,0.055383,0.578207
14,4,286720,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246761,0.084040,0.887439,0.926908,-0.011269,0.032837,0.373679
14,4,286720,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011490,0.006984,0.383097
14,4,286720,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
14,4,286720,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
14,4,286720,39,gripper,0,"","put carrot on sheet metal",-0.198711,0.099168,1.002420,0.149567,-0.677766,0.078070,0.715659
14,4,286720,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118721,0.050667,0.887484,0.997212,-0.002955,0.021536,0.071379
14,4,286720,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084999,-0.075438,0.878547,0.999909,0.013270,0.002030,-0.001214
14,4,286720,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075008,0.871344,0.999999,-0.000158,0.001164,0.000120
14,4,286720,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
14,4,286720,40,gripper,0,"","put carrot on flat bowl",-0.095161,0.067890,1.000601,-0.093634,-0.720048,-0.098950,0.680421
14,4,286720,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.125111,0.042858,0.887145,0.767854,-0.021372,0.011449,0.640166
14,4,286720,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,-0.074982,0.878547,0.708351,0.007955,0.010818,0.705732
14,4,286720,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
14,4,286720,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
14,4,286720,41,gripper,0,"","put carrot on flat bowl",-0.104738,0.074725,0.970414,0.286000,-0.741699,0.281547,0.537418
14,4,286720,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.246300,-0.079248,0.887199,0.972722,-0.015354,0.027808,0.229787
14,4,286720,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.114651,-0.045309,0.878548,0.924787,0.011527,0.006956,0.380248
14,4,286720,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
14,4,286720,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
14,4,286720,42,gripper,0,"","put carrot on flat bowl",-0.171770,0.026467,1.027676,0.240899,-0.748460,0.210766,0.580820
14,4,286720,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237812,-0.043201,0.887251,0.998901,-0.008317,0.032257,0.032959
14,4,286720,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114985,-0.075436,0.878547,0.999910,0.013274,0.002044,-0.000356
14,4,286720,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.074921,0.871343,0.999999,-0.000158,0.001164,-0.000171
14,4,286720,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
14,4,286720,43,gripper,0,"","put carrot on flat bowl",-0.029578,0.097801,1.042751,0.093948,-0.749016,0.081823,0.650734
14,4,286720,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.098155,0.085697,0.887317,0.932342,-0.014661,0.024863,0.360425
14,4,286720,44,obj,1,"013_banana_1","put banana on sheet metal",-0.204692,0.074730,0.878547,0.923945,0.011502,0.006973,0.382288
14,4,286720,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
14,4,286720,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874362,1.000000,0.000001,0.000000,0.000002
14,4,286720,44,gripper,0,"","put banana on sheet metal",-0.112102,-0.016987,1.036835,-0.021142,-0.773482,0.008012,0.633415
14,4,286720,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123537,0.033327,0.887483,0.386661,-0.019506,0.009646,0.921965
14,4,286720,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075342,0.878547,0.383609,0.003229,0.013136,0.923396
14,4,286720,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
14,4,286720,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
14,4,286720,45,gripper,0,"","put banana on sheet metal",-0.169940,0.095033,0.984622,-0.008510,-0.723621,-0.036007,0.689205
14,4,286720,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232643,-0.046368,0.887529,0.932094,-0.015559,0.040325,0.359627
14,4,286720,46,obj,1,"013_banana_1","put banana on sheet metal",-0.204571,0.074623,0.878547,0.924644,0.011509,0.006952,0.380594
14,4,286720,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.075008,0.871344,0.999999,-0.000157,0.001164,-0.000040
14,4,286720,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
14,4,286720,46,gripper,0,"","put banana on sheet metal",-0.176868,0.093620,1.000666,-0.031977,-0.700217,-0.049469,0.711496
14,4,286720,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.202732,0.044392,0.887529,0.929975,-0.015793,0.040232,0.365073
14,4,286720,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
14,4,286720,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
14,4,286720,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
14,4,286720,47,gripper,0,"","put banana on sheet metal",-0.058750,0.093526,0.986095,0.110792,-0.724394,0.159440,0.661481
14,4,286720,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116074,0.074860,0.888112,0.447023,-0.023486,-0.014383,0.894098
14,4,286720,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.203163,-0.058941,0.887027,0.427694,-0.573430,0.418286,0.559725
14,4,286720,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000062
14,4,286720,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.870870,1.000000,-0.000000,-0.000000,-0.000007
14,4,286720,48,gripper,0,"","put plastic bottle on cutting board",-0.212379,-0.059944,0.948038,-0.198397,-0.728138,-0.225064,0.616278
14,4,286720,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.029449,0.008221,0.891791,-0.091745,0.236866,0.943338,0.213519
14,4,286720,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.257889,-0.046413,0.887027,0.262774,-0.664240,0.249945,0.653653
14,4,286720,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000109
14,4,286720,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000065
14,4,286720,49,gripper,0,"","put plastic bottle on cutting board",-0.251593,-0.023701,0.984208,0.145886,-0.746916,0.100387,0.640902
14,4,286720,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.157986,-0.014172,0.888197,0.765015,-0.017720,0.025674,0.643256
14,4,286720,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.083977,0.127689,0.887026,0.540419,-0.467342,0.534115,0.451952
14,4,286720,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
14,4,286720,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235126,-0.074932,0.870870,0.999999,0.000000,-0.000001,0.001222
14,4,286720,50,gripper,0,"","put plastic bottle on cutting board",-0.109465,0.093374,1.017905,-0.004380,-0.814696,-0.039567,0.578520
14,4,286720,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.155352,0.115730,0.891601,0.442015,0.071652,0.843653,0.296208
14,4,286720,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.249094,0.136604,0.892830,0.658470,-0.375093,0.607629,0.237716
14,4,286720,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235218,0.080872,0.876236,0.996836,-0.039937,-0.038104,0.057189
14,4,286720,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000034
14,4,286720,51,gripper,0,"","put plastic bottle on cutting board",-0.276485,0.117479,0.945439,0.075869,-0.717711,-0.009570,0.692130
14,4,286720,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.166028,-0.041618,0.890489,0.999483,-0.025538,0.017111,-0.009429
14,4,286720,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.116809,0.062851,0.887027,0.700598,0.058758,0.707273,-0.073992
14,4,286720,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000000
14,4,286720,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204983,-0.075024,0.870870,1.000000,0.000001,0.000002,-0.000015
14,4,286720,52,gripper,0,"","put hamburger on frying pan",-0.141023,0.052084,0.989503,-0.018038,-0.729795,0.085290,0.678085
14,4,286720,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.095270,-0.042572,0.896426,0.771561,-0.025051,-0.017574,0.635419
14,4,286720,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.218689,0.001415,0.889459,0.542843,-0.461834,0.541468,0.445919
14,4,286720,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000011
14,4,286720,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234491,-0.044785,0.870871,0.999998,-0.000017,-0.000022,0.001983
14,4,286720,53,gripper,0,"","put hamburger on frying pan",-0.085217,-0.036634,1.062527,0.030789,-0.739594,-0.045572,0.670803
14,4,286720,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.051186,0.153915,0.890586,-0.270639,0.720991,0.463269,-0.438530
14,4,286720,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.189644,0.077862,0.887027,0.472789,-0.536659,0.464420,0.522285
14,4,286720,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000008
14,4,286720,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
14,4,286720,54,gripper,0,"","put hamburger on frying pan",-0.165051,0.091171,0.929369,-0.044394,-0.765968,-0.019650,0.641043
14,4,286720,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085217,0.076092,0.888113,0.924175,-0.027159,0.004564,0.380975
14,4,286720,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.068901,-0.086781,0.894426,0.695133,-0.024250,0.006844,0.718439
14,4,286720,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.065044,-0.074089,0.872199,0.999181,-0.000000,-0.000001,-0.040454
14,4,286720,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
14,4,286720,55,gripper,0,"","put hamburger on frying pan",-0.195915,-0.188602,0.947459,0.348264,-0.664358,0.092462,0.654821
14,4,286720,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086143,-0.075066,0.888112,0.449971,-0.023533,-0.014312,0.892618
14,4,286720,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.227089,-0.055405,0.887026,0.270591,-0.661195,0.257889,0.650458
14,4,286720,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
14,4,286720,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000002,-0.000035
14,4,286720,56,gripper,0,"","put hamburger on cutting board",-0.205250,-0.059376,0.961233,-0.024643,-0.720328,-0.082580,0.688259
14,4,286720,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206326,0.062084,0.965705,0.986229,-0.008851,0.062183,0.152996
14,4,286720,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.009899,-0.358688,0.018227,-0.702423,-0.038576,-0.708660,0.053994
14,4,286720,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
14,4,286720,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
14,4,286720,57,gripper,0,"","put hamburger on cutting board",-0.186174,0.064003,1.021779,-0.029145,-0.668473,0.005160,0.743147
14,4,286720,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.184837,0.070446,0.890402,0.243647,-0.018787,-0.017080,0.969532
14,4,286720,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106419,-0.055023,0.887026,0.266271,-0.662890,0.253498,0.652239
14,4,286720,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000003
14,4,286720,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235134,0.044975,0.870883,0.999999,0.000701,0.000717,0.000570
14,4,286720,58,gripper,0,"","put hamburger on cutting board",-0.127611,0.033762,1.135948,0.066001,-0.777560,0.141640,0.609082
14,4,286720,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.180136,-0.065392,0.896413,0.368391,-0.029110,-0.016752,0.929064
14,4,286720,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.260994,0.067547,0.887026,0.372956,-0.610341,0.362175,0.597677
14,4,286720,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000327
14,4,286720,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000044
14,4,286720,59,gripper,0,"","put hamburger on cutting board",-0.077416,0.077782,1.022557,-0.088710,-0.785765,-0.093822,0.604898
14,4,286720,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085958,0.075619,0.888112,0.711859,-0.026872,-0.006032,0.701782
14,4,286720,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.054919,-0.024261,0.889382,0.530639,-0.469605,0.597795,0.374880
14,4,286720,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236787,0.072834,0.872199,0.999298,-0.000000,-0.000001,-0.037453
14,4,286720,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085475,-0.077606,0.870870,0.999132,-0.000000,-0.000001,-0.041666
14,4,286720,60,gripper,0,"","put plastic bottle on frying pan",-0.046677,-0.015465,0.947671,0.134265,-0.773969,0.157244,0.598514
14,4,286720,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.188902,-0.054527,0.890431,0.992321,-0.023298,0.018525,-0.120052
14,4,286720,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.179352,0.074619,0.887759,0.792586,-0.017660,0.609107,0.021999
14,4,286720,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084522,0.075001,0.872199,0.999997,-0.000002,-0.000001,-0.002375
14,4,286720,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234978,-0.075024,0.870875,1.000000,0.000702,0.000650,0.000006
14,4,286720,61,gripper,0,"","put plastic bottle on frying pan",-0.194157,0.087620,0.944880,0.152292,-0.752467,0.117422,0.629930
14,4,286720,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116634,0.034626,0.894431,0.967039,-0.064362,-0.050854,-0.241055
14,4,286720,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.192982,0.085293,0.887026,0.704021,-0.041980,0.708462,0.025956
14,4,286720,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114677,0.044785,0.872199,0.999940,-0.000000,-0.000000,0.010979
14,4,286720,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
14,4,286720,62,gripper,0,"","put plastic bottle on frying pan",-0.147829,0.037781,1.119801,0.017664,-0.802653,0.176970,0.569313
14,4,286720,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.109520,-0.013134,0.891673,-0.372716,0.863637,-0.221971,0.256794
14,4,286720,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.214550,0.087276,0.886325,0.835706,-0.027676,0.022294,0.548027
14,4,286720,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000102
14,4,286720,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084934,0.074871,0.870870,1.000000,0.000000,-0.000001,-0.000130
14,4,286720,63,gripper,0,"","put plastic bottle on frying pan",-0.211678,0.086351,0.920642,0.142845,-0.722139,0.134253,0.663390
15,1,291840,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.020416,0.171135,0.879373,-0.798143,0.150009,-0.234349,-0.534364
15,1,291840,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.114273,-0.045868,0.883928,0.706837,0.045388,0.001929,0.705916
15,1,291840,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.869532,1.000000,-0.000000,-0.000001,-0.000017
15,1,291840,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234993,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000157
15,1,291840,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.049397,0.156734,0.965164,0.092585,-0.828684,-0.055685,0.549190
15,1,291840,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094852,-0.033386,0.885113,-0.060781,0.788503,-0.607024,-0.078041
15,1,291840,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115761,0.074417,0.881638,0.923200,0.010860,-0.037840,0.382297
15,1,291840,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084984,-0.044983,0.869533,1.000000,-0.000000,0.000001,0.000095
15,1,291840,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.202152,-0.077835,0.871288,0.999334,-0.000195,-0.001013,-0.036482
15,1,291840,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.092466,-0.038731,1.034143,-0.094156,-0.760459,-0.117270,0.631731
15,1,291840,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.070904,0.077995,0.884978,0.482354,0.507494,0.407893,-0.586010
15,1,291840,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234383,-0.075455,0.882945,0.999475,0.018734,0.026400,-0.001623
15,1,291840,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085178,0.075127,0.869532,0.999994,0.000000,0.000000,0.003319
15,1,291840,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205311,0.045151,0.871211,0.999982,-0.003917,-0.004120,-0.002073
15,1,291840,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.111507,0.063587,1.051637,0.127489,-0.770196,0.079588,0.619847
15,1,291840,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.036003,0.180206,0.879562,0.716459,0.037469,-0.033575,0.695812
15,1,291840,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204411,0.044220,0.881638,0.382433,0.034426,-0.019073,0.923144
15,1,291840,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085014,0.074982,0.869532,1.000000,-0.000000,-0.000001,0.000015
15,1,291840,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,-0.044998,0.871288,0.999999,-0.000153,-0.001018,-0.000014
15,1,291840,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.099054,0.115093,0.985289,0.110795,-0.718146,0.020070,0.686722
15,1,291840,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.152454,-0.194191,0.879310,0.719202,-0.262646,0.537815,0.352874
15,1,291840,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205952,0.075111,0.881638,0.999226,-0.004451,-0.039083,-0.000201
15,1,291840,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.075020,0.869533,1.000000,-0.000000,-0.000000,-0.000035
15,1,291840,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235006,-0.074982,0.871288,1.000000,-0.000154,-0.001019,0.000044
15,1,291840,4,gripper,0,"","put ketchup bottle on cloth",-0.178123,-0.184074,0.914891,0.213105,-0.756289,0.253665,0.564151
15,1,291840,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.102098,0.130981,0.882932,-0.816497,-0.128669,0.453514,-0.333319
15,1,291840,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114468,-0.045624,0.881638,0.382336,0.034416,-0.019067,0.923186
15,1,291840,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.071739,0.063530,0.869532,0.992465,0.000000,0.000000,-0.122528
15,1,291840,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205294,0.045135,0.871288,0.999997,-0.000156,-0.001019,-0.002170
15,1,291840,5,gripper,0,"","put ketchup bottle on cloth",-0.141717,0.166470,0.971482,0.056684,-0.807945,0.085025,0.580330
15,1,291840,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.087612,0.036957,0.010573,0.820582,-0.139697,0.240640,0.499221
15,1,291840,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.111687,-0.047401,0.881638,0.371884,0.034649,-0.018679,0.927444
15,1,291840,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
15,1,291840,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
15,1,291840,6,gripper,0,"","put ketchup bottle on cloth",-0.090624,-0.023022,0.932956,-0.217226,-0.744290,-0.193747,0.601089
15,1,291840,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.165436,0.066383,0.878982,0.757644,0.047612,0.649251,-0.046703
15,1,291840,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115688,-0.075424,0.883224,0.998923,0.023140,-0.040158,-0.002008
15,1,291840,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084862,0.044846,0.869532,0.999994,0.000000,-0.000000,0.003460
15,1,291840,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
15,1,291840,7,gripper,0,"","put ketchup bottle on cloth",-0.189451,0.068394,0.936817,0.151085,-0.743978,0.067203,0.647421
15,1,291840,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.087975,-0.031525,0.885210,-0.171532,-0.754632,0.594090,-0.219462
15,1,291840,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205124,-0.075962,0.881638,0.706691,0.024508,-0.030804,0.706427
15,1,291840,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074982,0.869532,1.000000,0.000000,-0.000001,0.000406
15,1,291840,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000110
15,1,291840,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.166370,-0.058668,0.963281,-0.148322,-0.714633,-0.178580,0.659855
15,1,291840,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.067169,0.056679,0.879089,0.492501,0.384095,-0.258661,0.736891
15,1,291840,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204411,0.074245,0.881638,0.382504,0.034412,-0.019073,0.923116
15,1,291840,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000016
15,1,291840,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
15,1,291840,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.213821,-0.019247,0.954699,-0.098002,-0.790866,-0.096686,0.596304
15,1,291840,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.074051,0.115425,0.885369,0.671189,-0.195015,0.198509,0.687072
15,1,291840,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235111,-0.075954,0.881638,0.706642,0.024512,-0.030799,0.706476
15,1,291840,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084984,0.074989,0.869532,1.000000,0.000000,-0.000001,-0.000206
15,1,291840,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
15,1,291840,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.189507,-0.005707,0.928669,-0.039971,-0.773845,0.016789,0.631889
15,1,291840,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.212440,0.068703,0.885123,0.581655,0.307021,-0.709747,0.252337
15,1,291840,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085743,0.074402,0.881638,0.923228,0.010852,-0.037835,0.382232
15,1,291840,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,0.074993,0.869532,1.000000,-0.000000,-0.000000,-0.000112
15,1,291840,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205006,-0.045002,0.871288,0.999999,-0.000156,-0.001021,-0.000003
15,1,291840,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.211181,0.067835,1.124910,0.233354,-0.693449,0.328139,0.597495
15,1,291840,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124411,0.067951,0.879089,0.882502,-0.044581,-0.460912,-0.082240
15,1,291840,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.236126,0.052040,0.881638,0.999088,-0.003793,-0.039158,0.016576
15,1,291840,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,-0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000000
15,1,291840,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205015,-0.074986,0.871282,0.999999,-0.000451,-0.001266,-0.000002
15,1,291840,12,gripper,0,"","put kitchen shovel on cloth",-0.238859,0.092983,0.934717,-0.025825,-0.751637,-0.061844,0.656163
15,1,291840,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.104555,0.013565,0.978904,0.746470,0.241937,-0.378054,0.491247
15,1,291840,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.176416,0.002007,0.886360,0.738438,-0.083744,0.114250,0.659275
15,1,291840,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.075031,0.869532,1.000000,0.000001,-0.000001,0.000458
15,1,291840,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044956,0.871288,1.000000,-0.000154,-0.001019,0.000060
15,1,291840,13,gripper,0,"","put kitchen shovel on cloth",-0.144346,0.029078,1.016608,0.140771,-0.786243,0.148195,0.583133
15,1,291840,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211033,-0.078766,0.879089,0.881471,-0.050065,-0.460327,-0.092746
15,1,291840,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.172852,0.026573,0.881659,0.998360,-0.005852,0.028117,0.049515
15,1,291840,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000041
15,1,291840,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
15,1,291840,14,gripper,0,"","put kitchen shovel on cloth",-0.202394,-0.009233,0.944855,-0.104114,-0.788237,-0.027365,0.605882
15,1,291840,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.226513,0.093361,0.878982,0.756605,0.059289,0.648380,-0.060301
15,1,291840,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085667,-0.075436,0.883243,0.999373,0.023144,-0.026789,-0.000569
15,1,291840,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114819,0.044804,0.869533,0.999994,0.000000,-0.000001,-0.003392
15,1,291840,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
15,1,291840,15,gripper,0,"","put kitchen shovel on cloth",-0.199303,0.104853,0.974769,0.016399,-0.723895,-0.080759,0.684971
15,1,291840,16,obj,0,"003_bread_1","put bread on newspaper",-0.224854,-0.032169,0.885994,0.856765,0.017075,0.005326,0.515397
15,1,291840,16,obj,1,"005_7up can_1","put bread on newspaper",-0.091705,0.068546,0.885636,0.885230,0.104227,-0.264956,0.367835
15,1,291840,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,-0.045017,0.869490,1.000000,0.000181,0.000875,-0.000127
15,1,291840,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074989,0.870448,0.999999,-0.000923,-0.000844,-0.000023
15,1,291840,16,gripper,0,"","put bread on newspaper",-0.145901,-0.032391,1.007617,0.062316,-0.715514,0.016007,0.695629
15,1,291840,17,obj,0,"003_bread_1","put bread on newspaper",-0.190895,0.009232,0.884167,0.991708,0.023517,-0.003994,-0.126280
15,1,291840,17,obj,1,"005_7up can_1","put bread on newspaper",-0.242599,-0.074829,0.885626,0.972476,-0.005057,-0.232945,0.001191
15,1,291840,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
15,1,291840,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,0.075031,0.870429,0.999992,-0.003112,-0.002554,0.000019
15,1,291840,17,gripper,0,"","put bread on newspaper",-0.177662,-0.003498,0.963919,-0.005581,-0.844938,0.015670,0.534605
15,1,291840,18,obj,0,"003_bread_1","put bread on newspaper",-0.188850,-0.061298,0.886296,0.310130,0.019300,-0.001664,0.950497
15,1,291840,18,obj,1,"005_7up can_1","put bread on newspaper",-0.109753,0.039497,0.885627,0.370817,0.213312,-0.093766,0.899000
15,1,291840,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
15,1,291840,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235050,-0.075024,0.870453,0.999999,-0.000831,-0.000818,-0.000316
15,1,291840,18,gripper,0,"","put bread on newspaper",-0.102861,0.028467,0.997097,0.077221,-0.726611,0.124442,0.671259
15,1,291840,19,obj,0,"003_bread_1","put bread on newspaper",-0.188471,-0.045753,0.883544,0.852571,0.008103,-0.009730,0.522457
15,1,291840,19,obj,1,"005_7up can_1","put bread on newspaper",-0.085180,-0.082596,0.885627,0.686891,0.161133,-0.168329,0.688390
15,1,291840,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114996,0.044998,0.869490,1.000000,0.000180,0.000875,0.000004
15,1,291840,19,recep,1,"003_carpet_1","put bread on newspaper",-0.234997,0.075008,0.870447,0.999991,-0.003111,-0.002730,-0.000013
15,1,291840,19,gripper,0,"","put bread on newspaper",-0.227160,-0.040245,0.948324,-0.001263,-0.779110,-0.034137,0.625955
15,1,291840,20,obj,0,"003_bread_1","put bread on carpet",-0.084479,0.074532,0.883544,0.383732,0.012270,-0.003123,0.923357
15,1,291840,20,obj,1,"005_7up can_1","put bread on carpet",-0.138734,-0.025257,0.996222,0.629121,0.137320,-0.340104,0.685332
15,1,291840,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
15,1,291840,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
15,1,291840,20,gripper,0,"","put bread on carpet",-0.153135,-0.017410,1.025749,-0.074623,-0.853690,0.096239,0.506342
15,1,291840,21,obj,0,"003_bread_1","put bread on carpet",-0.114052,0.054016,0.887173,0.668909,0.020484,0.001886,0.743059
15,1,291840,21,obj,1,"005_7up can_1","put bread on carpet",-0.234825,-0.057667,0.885619,0.655314,0.273637,-0.267568,0.651225
15,1,291840,21,recep,0,"004_newspaper_1","put bread on carpet",-0.085052,0.044910,0.869490,1.000000,0.000180,0.000875,0.000235
15,1,291840,21,recep,1,"003_carpet_1","put bread on carpet",-0.115009,-0.074997,0.870448,0.999999,-0.000923,-0.000846,-0.000020
15,1,291840,21,gripper,0,"","put bread on carpet",-0.117285,0.048353,0.988121,-0.047223,-0.773744,-0.044552,0.630162
15,1,291840,22,obj,0,"003_bread_1","put bread on carpet",-0.092617,-0.065460,0.886672,0.269057,0.015123,-0.000698,0.963005
15,1,291840,22,obj,1,"005_7up can_1","put bread on carpet",-0.226799,-0.053642,0.885866,0.227787,-0.748478,0.304116,0.543514
15,1,291840,22,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
15,1,291840,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074993,0.870447,0.999999,-0.000923,-0.000844,-0.000031
15,1,291840,22,gripper,0,"","put bread on carpet",-0.242672,-0.051752,0.972963,0.051116,-0.731327,0.121614,0.669148
15,1,291840,23,obj,0,"003_bread_1","put bread on carpet",-0.234470,0.044521,0.883544,0.383808,0.012269,-0.003127,0.923326
15,1,291840,23,obj,1,"005_7up can_1","put bread on carpet",-0.177948,-0.016838,0.974939,0.620855,-0.201597,0.322133,0.685659
15,1,291840,23,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
15,1,291840,23,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.075813,0.870367,0.999979,0.000176,-0.001151,-0.006406
15,1,291840,23,gripper,0,"","put bread on carpet",-0.180750,-0.011520,1.016262,-0.062389,-0.729381,0.029522,0.680617
15,1,291840,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.235497,0.074490,0.883544,0.924225,0.006464,-0.010883,0.381639
15,1,291840,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090103,-0.016766,0.888389,0.397439,-0.511530,0.343299,0.680092
15,1,291840,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.086624,-0.076134,0.869489,0.999928,0.000170,0.000876,0.012010
15,1,291840,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114990,0.045004,0.870448,0.999998,0.001527,0.001267,-0.000021
15,1,291840,24,gripper,0,"","put 7up can on newspaper",-0.152103,-0.119456,0.935273,-0.036684,-0.820018,-0.077882,0.565826
15,1,291840,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.073399,-0.055183,0.883544,0.830053,0.008499,-0.009379,0.557540
15,1,291840,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.235165,-0.082613,0.885627,0.686635,0.161176,-0.168246,0.688657
15,1,291840,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
15,1,291840,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
15,1,291840,25,gripper,0,"","put 7up can on newspaper",-0.086103,-0.048318,0.964529,0.022820,-0.747413,0.024477,0.663516
15,1,291840,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205128,-0.045547,0.883544,0.709131,0.010117,-0.007605,0.704963
15,1,291840,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.102283,-0.002752,0.885675,0.722346,0.231103,-0.278717,0.589173
15,1,291840,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000049
15,1,291840,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
15,1,291840,26,gripper,0,"","put 7up can on newspaper",-0.108547,-0.003516,0.999179,0.172691,-0.723882,0.172424,0.645324
15,1,291840,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.228769,0.065928,0.883544,0.973733,0.004623,-0.011782,0.227339
15,1,291840,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090500,-0.080238,0.885627,0.897950,0.084498,-0.217141,0.373357
15,1,291840,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
15,1,291840,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204952,-0.075266,0.870367,0.999999,0.000176,-0.001145,0.000141
15,1,291840,27,gripper,0,"","put 7up can on newspaper",-0.206602,0.066850,0.939762,0.018353,-0.781558,0.064275,0.620240
15,1,291840,28,obj,0,"003_bread_1","put 7up can on carpet",-0.205488,-0.075512,0.883544,0.924257,0.006464,-0.010884,0.381560
15,1,291840,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.088381,-0.018581,0.888748,0.727595,0.167896,-0.196077,0.635587
15,1,291840,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000006
15,1,291840,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.083012,-0.043669,0.870448,0.999990,-0.000917,-0.000832,-0.004302
15,1,291840,28,gripper,0,"","put 7up can on carpet",-0.195816,-0.060216,0.957457,0.109109,-0.723563,0.132134,0.668650
15,1,291840,29,obj,0,"003_bread_1","put 7up can on carpet",-0.092733,0.076262,0.886488,0.839319,0.010223,-0.006839,0.543499
15,1,291840,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.205166,-0.082607,0.885626,0.686826,0.161122,-0.168283,0.688470
15,1,291840,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235020,0.045000,0.869490,1.000000,0.000179,0.000874,-0.000020
15,1,291840,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,0.075016,0.870447,0.999998,-0.001342,-0.001207,-0.000019
15,1,291840,29,gripper,0,"","put 7up can on carpet",-0.065717,0.047027,0.989453,0.045439,-0.744489,0.002953,0.666080
15,1,291840,30,obj,0,"003_bread_1","put 7up can on carpet",-0.072002,0.059696,0.886540,0.806111,0.011117,-0.006655,0.591622
15,1,291840,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.090485,-0.080244,0.885627,0.897925,0.084508,-0.217117,0.373428
15,1,291840,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
15,1,291840,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085007,0.075018,0.870448,0.999998,-0.001337,-0.001204,0.000003
15,1,291840,30,gripper,0,"","put 7up can on carpet",-0.085150,-0.033320,0.988230,-0.128266,-0.741418,-0.137720,0.644112
15,1,291840,31,obj,0,"003_bread_1","put 7up can on carpet",-0.234486,-0.075497,0.883544,0.383807,0.012270,-0.003115,0.923327
15,1,291840,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.126137,0.009415,0.889157,0.244776,0.412236,-0.122622,0.868971
15,1,291840,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085247,0.074833,0.869490,0.999997,0.000182,0.000870,-0.002229
15,1,291840,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,-0.044983,0.870447,0.999999,-0.000923,-0.000845,-0.000019
15,1,291840,31,gripper,0,"","put 7up can on carpet",-0.128344,-0.003494,0.964515,-0.194228,-0.710255,-0.226599,0.637547
15,1,291840,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.209290,-0.077978,0.887448,0.359406,-0.038139,0.012396,0.932319
15,1,291840,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.074678,0.878548,0.382300,0.003194,0.013083,0.923940
15,1,291840,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
15,1,291840,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
15,1,291840,32,gripper,0,"","put carrot on sheet metal",-0.169411,-0.074003,0.961398,0.015318,-0.744604,-0.045121,0.665803
15,1,291840,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207413,-0.075643,0.887469,0.740212,-0.020874,0.023774,0.671629
15,1,291840,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007934,0.010839,0.707296
15,1,291840,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
15,1,291840,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
15,1,291840,33,gripper,0,"","put carrot on sheet metal",-0.197849,-0.066907,0.991386,-0.079226,-0.697815,-0.065721,0.708843
15,1,291840,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205269,0.076825,0.887529,0.705978,-0.030587,0.030545,0.706913
15,1,291840,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007967,0.010869,0.707323
15,1,291840,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,1,291840,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
15,1,291840,34,gripper,0,"","put carrot on sheet metal",-0.138948,0.006774,1.002592,-0.031381,-0.717902,-0.077261,0.691132
15,1,291840,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039761,0.391499
15,1,291840,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.114677,-0.075307,0.878547,0.923657,0.011502,0.006988,0.382984
15,1,291840,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
15,1,291840,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
15,1,291840,35,gripper,0,"","put carrot on sheet metal",-0.189717,0.076441,0.959389,0.031020,-0.752263,0.052026,0.656073
15,1,291840,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205105,0.079822,0.887175,0.358647,-0.024304,0.019354,0.932956
15,1,291840,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,0.075319,0.878547,0.382207,0.003187,0.013066,0.923979
15,1,291840,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000016
15,1,291840,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000003
15,1,291840,36,gripper,0,"","put carrot on flat bowl",-0.156466,0.107733,0.974419,0.084498,-0.708921,0.078234,0.695824
15,1,291840,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.130177,0.112575,0.889787,0.985551,0.013292,0.092929,-0.140983
15,1,291840,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.114992,-0.075438,0.878547,0.999909,0.013302,0.002054,0.000330
15,1,291840,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
15,1,291840,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.204998,0.075008,0.874362,1.000000,0.000000,-0.000002,-0.000467
15,1,291840,37,gripper,0,"","put carrot on flat bowl",-0.096229,0.033965,1.036837,-0.069285,-0.733586,-0.080003,0.671305
15,1,291840,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117146,-0.046917,0.887282,0.355107,-0.014590,0.010046,0.934658
15,1,291840,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075326,0.878547,0.382266,0.003211,0.013141,0.923953
15,1,291840,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,1,291840,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
15,1,291840,38,gripper,0,"","put carrot on flat bowl",-0.074696,-0.017951,0.998741,0.061386,-0.791357,0.059353,0.605362
15,1,291840,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238800,0.045210,0.887622,0.741815,-0.030305,0.033597,0.669076
15,1,291840,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204559,-0.074995,0.878547,0.706802,0.007974,0.010877,0.707283
15,1,291840,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,1,291840,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
15,1,291840,39,gripper,0,"","put carrot on flat bowl",-0.210941,0.046154,0.973675,-0.161520,-0.654608,-0.122885,0.728217
15,1,291840,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209496,-0.064640,0.887446,0.993870,-0.004320,0.030323,0.106227
15,1,291840,40,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075430,0.878547,0.999910,0.013281,0.002046,-0.000091
15,1,291840,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074923,0.871344,0.999999,-0.000158,0.001164,0.000004
15,1,291840,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000005
15,1,291840,40,gripper,0,"","put banana on sheet metal",-0.077213,0.056458,1.021999,0.003556,-0.783687,-0.020122,0.620820
15,1,291840,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204216,0.076744,0.887528,0.919597,-0.016893,0.039783,0.390478
15,1,291840,41,obj,1,"013_banana_1","put banana on sheet metal",-0.114674,-0.075308,0.878547,0.923784,0.011503,0.006983,0.382676
15,1,291840,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
15,1,291840,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000156
15,1,291840,41,gripper,0,"","put banana on sheet metal",-0.071779,-0.035977,0.988187,-0.067240,-0.780871,-0.021581,0.620688
15,1,291840,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
15,1,291840,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204586,0.074621,0.878547,0.924026,0.011473,0.006958,0.382094
15,1,291840,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
15,1,291840,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
15,1,291840,42,gripper,0,"","put banana on sheet metal",-0.110075,0.020563,1.023720,-0.207528,-0.829438,-0.077327,0.512820
15,1,291840,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086048,-0.072437,0.887283,0.909866,-0.007964,0.033381,0.413481
15,1,291840,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114670,0.044691,0.878547,0.923866,0.011474,0.006965,0.382481
15,1,291840,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
15,1,291840,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
15,1,291840,43,gripper,0,"","put banana on sheet metal",-0.081164,0.071959,0.999774,0.087087,-0.756751,0.128789,0.634947
15,1,291840,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086782,-0.075714,0.887545,0.350940,-0.024384,0.011803,0.936006
15,1,291840,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234691,-0.074669,0.878547,0.382280,0.003184,0.013049,0.923949
15,1,291840,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
15,1,291840,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
15,1,291840,44,gripper,0,"","put banana on flat bowl",-0.180258,-0.040870,1.009581,0.044489,-0.753348,-0.020792,0.655786
15,1,291840,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207918,-0.077377,0.887530,0.349156,-0.024568,0.006687,0.936718
15,1,291840,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,-0.074673,0.878547,0.382709,0.003198,0.013078,0.923771
15,1,291840,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,1,291840,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
15,1,291840,45,gripper,0,"","put banana on flat bowl",-0.116699,-0.078245,1.012769,0.010528,-0.719935,-0.069887,0.690433
15,1,291840,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117977,-0.077950,0.887414,0.352307,-0.012657,0.005293,0.935784
15,1,291840,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075329,0.878547,0.382695,0.003194,0.013066,0.923777
15,1,291840,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
15,1,291840,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
15,1,291840,46,gripper,0,"","put banana on flat bowl",-0.060642,0.117098,0.974553,0.485263,-0.552009,0.414453,0.536689
15,1,291840,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236347,0.044659,0.887143,0.914133,-0.002184,0.030105,0.404290
15,1,291840,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084675,-0.045311,0.878547,0.923881,0.011473,0.006964,0.382444
15,1,291840,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000046
15,1,291840,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
15,1,291840,47,gripper,0,"","put banana on flat bowl",-0.054554,-0.019640,1.027266,0.148688,-0.725394,0.215167,0.636709
15,1,291840,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085915,0.075638,0.888112,0.716889,-0.026915,-0.005839,0.696643
15,1,291840,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.230461,0.053905,0.894515,0.917921,0.058283,-0.276445,0.278571
15,1,291840,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235023,0.075016,0.872199,1.000000,0.000001,-0.000001,0.000085
15,1,291840,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000003
15,1,291840,48,gripper,0,"","put hamburger on frying pan",-0.234097,0.005785,1.100823,0.222674,-0.676874,0.386963,0.585250
15,1,291840,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.063641,-0.057922,0.896352,0.971184,-0.027936,0.001341,0.236685
15,1,291840,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.214085,-0.023243,0.887026,0.652122,-0.283141,0.650776,0.266568
15,1,291840,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000038
15,1,291840,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
15,1,291840,49,gripper,0,"","put hamburger on frying pan",-0.096983,-0.129770,1.010736,0.061224,-0.737801,0.084979,0.666844
15,1,291840,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.048454,0.077118,0.890587,0.091966,0.226371,0.826563,-0.507043
15,1,291840,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106358,0.094891,0.887026,0.266005,-0.662991,0.253226,0.652350
15,1,291840,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115009,-0.044983,0.872199,1.000000,-0.000000,-0.000001,0.000077
15,1,291840,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
15,1,291840,50,gripper,0,"","put hamburger on frying pan",-0.128839,0.012575,0.998091,0.145258,-0.782676,0.049491,0.603216
15,1,291840,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.243114,0.021042,0.976185,0.701310,0.014233,0.029654,0.712097
15,1,291840,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.086699,-0.015701,0.889773,0.024982,-0.722091,0.690743,0.028897
15,1,291840,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205015,-0.044994,0.872199,1.000000,-0.000000,-0.000001,0.000419
15,1,291840,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
15,1,291840,51,gripper,0,"","put hamburger on frying pan",-0.231357,0.014095,1.017602,0.023402,-0.695391,-0.064885,0.715313
15,1,291840,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084394,-0.074028,0.888112,0.999591,-0.023258,0.014751,-0.007733
15,1,291840,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.176522,-0.073528,0.887026,0.703353,-0.056228,0.707477,0.040116
15,1,291840,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
15,1,291840,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
15,1,291840,52,gripper,0,"","put hamburger on cutting board",-0.161180,-0.061991,0.963163,0.012912,-0.781129,-0.018727,0.623955
15,1,291840,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
15,1,291840,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.098408,0.096817,0.887027,0.201570,-0.684404,0.187822,0.675044
15,1,291840,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205008,0.075005,0.872199,1.000000,-0.000000,-0.000001,-0.000097
15,1,291840,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000019
15,1,291840,53,gripper,0,"","put hamburger on cutting board",-0.159594,-0.013300,0.997303,-0.007036,-0.745564,0.029347,0.665750
15,1,291840,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085228,-0.073883,0.888112,0.925793,-0.027141,0.004677,0.377027
15,1,291840,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226719,-0.087681,0.888512,0.631719,0.358185,-0.568691,0.386298
15,1,291840,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.236774,0.047161,0.872199,0.999715,-0.000000,-0.000001,-0.023874
15,1,291840,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204971,-0.074360,0.870870,0.999999,0.000000,-0.000006,-0.001167
15,1,291840,54,gripper,0,"","put hamburger on cutting board",-0.192209,-0.022184,1.024435,0.102171,-0.722514,0.076836,0.679434
15,1,291840,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.077251,-0.057541,0.890533,0.169186,-0.017946,-0.018061,0.985255
15,1,291840,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226288,-0.025166,0.887026,0.265549,-0.663174,0.252765,0.652529
15,1,291840,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
15,1,291840,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,0.000001,0.000012
15,1,291840,55,gripper,0,"","put hamburger on cutting board",-0.086096,-0.044058,1.036470,-0.219952,-0.719767,-0.121942,0.647060
15,1,291840,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086159,-0.075172,0.888112,0.413565,-0.022937,-0.015249,0.910058
15,1,291840,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.186646,0.089390,0.889533,0.534293,-0.470998,0.534493,0.454982
15,1,291840,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000001,-0.000001,0.000008
15,1,291840,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.218231,0.078648,0.870874,0.996937,0.000652,0.000689,0.078207
15,1,291840,56,gripper,0,"","put plastic bottle on frying pan",-0.176842,0.083685,0.947022,0.102750,-0.769115,0.094615,0.623660
15,1,291840,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084728,0.047470,0.888112,0.921270,-0.027193,0.004359,0.387948
15,1,291840,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.031979,-0.020401,0.899586,0.586719,-0.421900,0.553492,0.414015
15,1,291840,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
15,1,291840,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
15,1,291840,57,gripper,0,"","put plastic bottle on frying pan",-0.028963,-0.023788,0.929578,0.151746,-0.768100,0.078616,0.617102
15,1,291840,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
15,1,291840,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.010372,0.085236,0.886092,0.736121,-0.021330,0.006982,0.676477
15,1,291840,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000234
15,1,291840,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
15,1,291840,58,gripper,0,"","put plastic bottle on frying pan",-0.054619,0.083866,0.963627,0.147475,-0.811356,0.044528,0.563888
15,1,291840,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.162333,0.048847,0.889806,0.261735,-0.097457,-0.049499,0.958930
15,1,291840,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.255896,-0.024876,0.887026,0.268929,-0.661852,0.256201,0.651145
15,1,291840,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084988,0.044998,0.872199,1.000000,-0.000000,-0.000000,0.000054
15,1,291840,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
15,1,291840,59,gripper,0,"","put plastic bottle on frying pan",-0.176734,0.046051,0.947252,0.032655,-0.768836,0.015513,0.638423
15,1,291840,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086097,0.074749,0.888112,0.388974,-0.022517,-0.015861,0.920837
15,1,291840,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.218059,0.057148,0.887066,0.331939,-0.612477,0.306655,0.648576
15,1,291840,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
15,1,291840,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115000,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000000
15,1,291840,60,gripper,0,"","put plastic bottle on cutting board",-0.238597,0.050966,0.947786,0.009756,-0.739944,-0.028741,0.671983
15,1,291840,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.100031,0.044960,0.890784,-0.050026,0.305075,0.785544,-0.536048
15,1,291840,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.095049,0.096493,0.887026,0.649718,-0.288932,0.648228,0.272369
15,1,291840,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.074997,0.872199,1.000000,-0.000000,-0.000001,0.000046
15,1,291840,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000008
15,1,291840,61,gripper,0,"","put plastic bottle on cutting board",-0.172687,0.055529,0.953419,-0.039572,-0.783300,0.009472,0.620311
15,1,291840,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085217,0.046116,0.888112,0.925575,-0.027144,0.004664,0.377561
15,1,291840,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.177017,0.112572,0.890532,0.360951,-0.387229,0.832974,0.161005
15,1,291840,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
15,1,291840,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000013
15,1,291840,62,gripper,0,"","put plastic bottle on cutting board",-0.173025,0.119984,0.952322,0.039137,-0.766514,-0.032633,0.640202
15,1,291840,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235229,-0.073895,0.888112,0.925612,-0.027142,0.004665,0.377471
15,1,291840,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.059353,0.098068,0.888659,0.565065,-0.336340,0.706659,0.261171
15,1,291840,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.201656,0.045975,0.872199,0.999117,-0.000001,-0.000000,-0.042013
15,1,291840,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000011
15,1,291840,63,gripper,0,"","put plastic bottle on cutting board",-0.059372,0.077551,0.941404,0.105929,-0.820895,0.010273,0.561075
15,2,296960,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.005203,0.168564,0.879364,-0.932181,-0.035052,0.078501,-0.351635
15,2,296960,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114273,-0.045868,0.883928,0.706801,0.045368,0.001949,0.705953
15,2,296960,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084984,0.075005,0.869532,1.000000,-0.000000,-0.000002,-0.000006
15,2,296960,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234993,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000156
15,2,296960,0,gripper,0,"","put ketchup bottle on cloth",-0.061661,0.105309,0.984096,0.029481,-0.866758,0.015919,0.497602
15,2,296960,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.094700,-0.033203,0.885113,-0.061027,0.786478,-0.609651,-0.077806
15,2,296960,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.116131,0.071709,0.881638,0.912766,0.011843,-0.037513,0.406584
15,2,296960,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084915,-0.044830,0.869532,0.999995,-0.000000,-0.000001,-0.002994
15,2,296960,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.202133,-0.077835,0.871288,0.999332,-0.000191,-0.001012,-0.036527
15,2,296960,1,gripper,0,"","put ketchup bottle on cloth",-0.124172,0.158272,0.927457,0.177804,-0.784693,0.074762,0.589113
15,2,296960,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.070900,0.078011,0.884978,0.482174,0.507638,0.407789,-0.586106
15,2,296960,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.153625,-0.094330,0.883363,0.990069,-0.011653,-0.139818,-0.008902
15,2,296960,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085178,0.075127,0.869532,0.999995,0.000000,-0.000000,0.003258
15,2,296960,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.203617,0.043587,0.871288,0.999778,-0.000132,-0.001022,0.021034
15,2,296960,2,gripper,0,"","put ketchup bottle on cloth",-0.189526,-0.101696,0.915338,0.001710,-0.835038,-0.035342,0.549053
15,2,296960,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.035997,0.179451,0.879375,0.714361,0.064879,-0.059749,0.694196
15,2,296960,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.169790,-0.025742,0.887417,0.675983,0.011979,-0.062511,0.734163
15,2,296960,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083275,0.074768,0.869532,0.999868,-0.000000,-0.000001,0.016244
15,2,296960,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.110733,-0.050407,0.871211,0.998953,-0.004092,-0.003946,-0.045402
15,2,296960,3,gripper,0,"","put ketchup bottle on cloth",-0.203712,-0.022667,0.941225,0.057601,-0.807124,0.019628,0.587238
15,2,296960,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.152732,-0.194595,0.878981,0.680168,-0.282107,0.586813,0.336804
15,2,296960,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.160034,0.069160,0.881638,0.999127,-0.003900,-0.039179,0.013925
15,2,296960,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.075020,0.869533,1.000000,0.000000,-0.000001,-0.000009
15,2,296960,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235006,-0.074982,0.871288,0.999999,-0.000155,-0.001019,0.000043
15,2,296960,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.139793,-0.021008,0.997774,-0.019027,-0.664506,-0.046448,0.745596
15,2,296960,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.096899,0.144188,0.879372,-0.871975,0.111462,-0.254953,-0.402783
15,2,296960,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.113598,-0.044395,0.881638,0.373553,0.034623,-0.018751,0.926773
15,2,296960,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.070633,0.065933,0.869532,0.995494,0.000000,-0.000001,-0.094822
15,2,296960,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205294,0.045135,0.871288,0.999997,-0.000156,-0.001019,-0.002164
15,2,296960,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.057274,0.100590,0.964976,0.069304,-0.754925,0.103165,0.643927
15,2,296960,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.087612,0.036957,0.010573,0.820558,-0.139708,0.240633,0.499262
15,2,296960,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.125309,-0.047554,0.881666,0.605310,-0.021568,0.010815,0.795624
15,2,296960,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.262840,-0.058952,0.869711,0.982999,-0.002423,-0.001733,0.183587
15,2,296960,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000236
15,2,296960,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.152039,-0.054268,0.915139,0.079623,-0.778249,0.042812,0.621415
15,2,296960,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.146255,0.067390,0.879159,0.118254,0.058351,0.991247,-0.006286
15,2,296960,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115623,-0.075424,0.883223,0.998925,0.023147,-0.040135,-0.001473
15,2,296960,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084824,0.044846,0.869532,0.999995,0.000001,-0.000000,0.003281
15,2,296960,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234699,-0.045189,0.871288,0.999990,-0.000155,-0.001018,-0.004419
15,2,296960,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.153343,0.072205,0.998694,0.156928,-0.665830,0.189682,0.704319
15,2,296960,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.087669,-0.031273,0.885210,-0.172581,-0.751562,0.598068,-0.218369
15,2,296960,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.203796,-0.064266,0.934956,0.670135,0.040884,0.051472,0.739322
15,2,296960,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084991,-0.074986,0.869532,1.000000,0.000001,-0.000003,0.000512
15,2,296960,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000105
15,2,296960,8,gripper,0,"","put kitchen shovel on cloth",-0.218582,-0.066299,0.972249,-0.023388,-0.752136,-0.039351,0.657416
15,2,296960,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.067169,0.056683,0.879089,0.492506,0.384094,-0.258665,0.736887
15,2,296960,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.192558,-0.084099,0.887613,0.664133,-0.032805,0.022354,0.746559
15,2,296960,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.219757,-0.088398,0.869532,0.996350,0.000000,-0.000000,-0.085360
15,2,296960,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
15,2,296960,9,gripper,0,"","put kitchen shovel on cloth",-0.216972,-0.058216,0.991778,-0.142216,-0.761694,-0.151728,0.613658
15,2,296960,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.074051,0.115425,0.885369,0.671185,-0.195011,0.198502,0.687079
15,2,296960,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235279,-0.075695,0.881638,0.695979,0.024974,-0.030437,0.716982
15,2,296960,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084984,0.074989,0.869532,1.000000,0.000000,-0.000001,-0.000193
15,2,296960,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
15,2,296960,10,gripper,0,"","put kitchen shovel on cloth",-0.237551,-0.093428,0.925294,-0.086080,-0.732605,-0.155298,0.657087
15,2,296960,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214111,0.057133,0.885122,0.605429,0.228636,-0.738799,0.188034
15,2,296960,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.191708,-0.015060,0.889994,0.665287,-0.028597,0.015457,0.745879
15,2,296960,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234810,0.068573,0.869532,0.995436,0.000001,-0.000001,-0.095431
15,2,296960,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205006,-0.045002,0.871288,1.000000,-0.000156,-0.001021,-0.000008
15,2,296960,11,gripper,0,"","put kitchen shovel on cloth",-0.238510,-0.018440,0.951062,-0.014495,-0.801886,-0.015036,0.597112
15,2,296960,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.114849,0.067276,0.879076,0.884070,-0.012674,-0.466674,-0.021808
15,2,296960,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.236127,0.052040,0.881638,0.999087,-0.003792,-0.039180,0.016576
15,2,296960,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,-0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000000
15,2,296960,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205015,-0.074986,0.871282,0.999999,-0.000451,-0.001266,-0.000002
15,2,296960,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.141721,0.083040,0.930109,-0.068612,-0.807275,-0.135571,0.570280
15,2,296960,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.123333,0.085781,0.879375,-0.675524,-0.068029,0.056126,-0.732044
15,2,296960,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.173740,-0.006729,0.887760,0.732700,0.028207,-0.011757,0.679865
15,2,296960,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114853,-0.075222,0.869532,0.999998,-0.000000,-0.000000,-0.001866
15,2,296960,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044956,0.871288,0.999999,-0.000153,-0.001018,0.000060
15,2,296960,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.139235,-0.026758,0.964224,-0.116267,-0.809629,-0.177540,0.547232
15,2,296960,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.114136,0.110645,0.884977,0.503263,0.492381,0.425983,-0.568178
15,2,296960,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.171535,0.026516,0.881642,0.996846,-0.007173,0.039544,0.068434
15,2,296960,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115009,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000074
15,2,296960,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
15,2,296960,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.185192,0.094624,1.000172,0.073762,-0.838949,0.045320,0.537281
15,2,296960,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.171730,0.078564,0.879227,0.131230,0.080089,0.988063,-0.009745
15,2,296960,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085243,-0.075745,0.883257,0.999346,0.023242,-0.027258,-0.004954
15,2,296960,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.112850,0.044559,0.869548,0.999924,0.000450,-0.000248,-0.012276
15,2,296960,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
15,2,296960,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.203775,0.096170,0.923734,-0.013176,-0.767701,-0.022033,0.640293
15,2,296960,16,obj,0,"003_bread_1","put bread on carpet",-0.224854,-0.032185,0.885994,0.858027,0.017012,0.005318,0.513296
15,2,296960,16,obj,1,"005_7up can_1","put bread on carpet",-0.072258,-0.042431,0.888694,0.862623,0.089106,-0.159077,0.471844
15,2,296960,16,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,-0.045017,0.869490,1.000000,0.000179,0.000874,-0.000141
15,2,296960,16,recep,1,"003_carpet_1","put bread on carpet",-0.085007,-0.074955,0.870448,0.999999,-0.000924,-0.000847,0.000049
15,2,296960,16,gripper,0,"","put bread on carpet",-0.126163,-0.005779,1.013796,0.177455,-0.692302,0.134486,0.686397
15,2,296960,17,obj,0,"003_bread_1","put bread on carpet",-0.190979,0.008636,0.883544,0.992574,0.000297,-0.012675,-0.120976
15,2,296960,17,obj,1,"005_7up can_1","put bread on carpet",-0.154469,-0.071564,0.885963,-0.307565,-0.497696,0.788235,-0.190754
15,2,296960,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
15,2,296960,17,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075058,0.870449,0.999999,-0.000926,-0.000859,-0.000175
15,2,296960,17,gripper,0,"","put bread on carpet",-0.181559,-0.068491,0.984347,0.052195,-0.808627,-0.000379,0.586001
15,2,296960,18,obj,0,"003_bread_1","put bread on carpet",-0.188988,-0.061104,0.886300,0.308130,0.019237,-0.001646,0.951148
15,2,296960,18,obj,1,"005_7up can_1","put bread on carpet",-0.225403,-0.071812,0.900269,0.408536,0.158891,-0.466355,0.768352
15,2,296960,18,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
15,2,296960,18,recep,1,"003_carpet_1","put bread on carpet",-0.235050,-0.075035,0.870453,0.999999,-0.000835,-0.000819,-0.000320
15,2,296960,18,gripper,0,"","put bread on carpet",-0.167036,-0.066380,1.086644,0.123061,-0.774708,0.090750,0.613553
15,2,296960,19,obj,0,"003_bread_1","put bread on carpet",-0.213579,0.085526,0.886489,0.889374,0.010316,-0.007460,0.457003
15,2,296960,19,obj,1,"005_7up can_1","put bread on carpet",-0.092863,-0.070145,0.886370,0.832237,0.123469,-0.181780,0.509012
15,2,296960,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114996,0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
15,2,296960,19,recep,1,"003_carpet_1","put bread on carpet",-0.234915,0.075008,0.870461,1.000000,-0.000077,-0.000245,0.000048
15,2,296960,19,gripper,0,"","put bread on carpet",-0.080351,-0.074432,0.915340,0.144995,-0.756005,0.237343,0.592538
15,2,296960,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.074176,0.087566,0.883545,0.476513,0.011885,-0.004364,0.879076
15,2,296960,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.144400,-0.019192,0.886002,0.187770,-0.710449,0.644507,0.211223
15,2,296960,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
15,2,296960,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084988,-0.075016,0.870448,0.999999,-0.000916,-0.000838,-0.000225
15,2,296960,20,gripper,0,"","put 7up can on newspaper",-0.160735,-0.069941,0.988127,-0.105436,-0.720268,-0.027029,0.685103
15,2,296960,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.114079,0.054016,0.887173,0.668934,0.020483,0.001889,0.743037
15,2,296960,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.099028,-0.066528,0.888772,0.520340,-0.468992,0.551556,0.452856
15,2,296960,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085079,0.044910,0.869490,1.000000,0.000180,0.000874,0.000315
15,2,296960,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114817,-0.074692,0.870342,0.999999,0.000116,-0.001327,-0.000443
15,2,296960,21,gripper,0,"","put 7up can on newspaper",-0.124983,-0.080193,1.055582,0.023843,-0.812901,0.058768,0.578939
15,2,296960,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.092640,-0.065460,0.886673,0.267795,0.015102,-0.000662,0.963357
15,2,296960,22,obj,1,"005_7up can_1","put 7up can on newspaper",0.080338,-0.187683,0.017187,-0.148906,-0.234509,-0.959732,0.041793
15,2,296960,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
15,2,296960,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084991,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000357
15,2,296960,22,gripper,0,"","put 7up can on newspaper",-0.145357,-0.038054,1.007230,0.061968,-0.711075,0.082853,0.695462
15,2,296960,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.234287,0.045341,0.883544,0.350898,0.012375,-0.002686,0.936328
15,2,296960,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.197388,-0.019695,0.885659,0.675009,-0.252573,0.256675,0.643962
15,2,296960,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
15,2,296960,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,-0.076195,0.870448,0.999967,-0.000545,-0.000506,-0.008080
15,2,296960,23,gripper,0,"","put 7up can on newspaper",-0.201258,0.025402,1.010424,-0.060998,-0.703354,-0.064839,0.705244
15,2,296960,24,obj,0,"003_bread_1","put 7up can on carpet",-0.235016,0.070925,0.883544,0.963520,0.005113,-0.011586,0.267337
15,2,296960,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.089943,-0.016815,0.888364,0.402879,-0.505038,0.356946,0.674696
15,2,296960,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.086624,-0.076151,0.869489,0.999925,0.000169,0.000877,0.012227
15,2,296960,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.114990,0.045006,0.870448,0.999998,0.001528,0.001267,-0.000076
15,2,296960,24,gripper,0,"","put 7up can on carpet",-0.155411,-0.048553,0.996715,-0.014705,-0.770674,-0.073650,0.632788
15,2,296960,25,obj,0,"003_bread_1","put 7up can on carpet",-0.191029,0.082439,0.886522,0.896724,0.004162,-0.008681,0.442485
15,2,296960,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.235165,-0.082613,0.885627,0.686633,0.161178,-0.168248,0.688658
15,2,296960,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
15,2,296960,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075027,0.870428,0.999992,-0.003119,-0.002559,-0.000084
15,2,296960,25,gripper,0,"","put 7up can on carpet",-0.207224,-0.065239,0.973081,0.054989,-0.750086,0.035916,0.658071
15,2,296960,26,obj,0,"003_bread_1","put 7up can on carpet",-0.157063,0.071449,0.883544,0.758760,0.009541,-0.008320,0.651247
15,2,296960,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.102238,-0.002474,0.885680,0.724604,0.225616,-0.272676,0.591350
15,2,296960,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000091
15,2,296960,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235043,0.075058,0.870461,1.000000,-0.000081,-0.000248,0.000380
15,2,296960,26,gripper,0,"","put 7up can on carpet",-0.136755,-0.023552,0.941802,0.295105,-0.721063,0.251804,0.574087
15,2,296960,27,obj,0,"003_bread_1","put 7up can on carpet",-0.174458,0.028440,0.891391,0.991014,0.010081,-0.026856,0.130646
15,2,296960,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.090492,-0.080240,0.885627,0.897988,0.084479,-0.217161,0.373259
15,2,296960,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
15,2,296960,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.204889,-0.075520,0.870447,1.000000,-0.000544,-0.000513,-0.000017
15,2,296960,27,gripper,0,"","put 7up can on carpet",-0.189026,0.024113,0.932725,0.018124,-0.768873,-0.033852,0.638247
15,2,296960,28,obj,0,"003_bread_1","put bread on newspaper",-0.050339,-0.090025,0.886580,-0.070203,0.165108,-0.911518,-0.370061
15,2,296960,28,obj,1,"005_7up can_1","put bread on newspaper",-0.079857,-0.017738,0.888774,0.733060,0.182161,-0.219003,0.617639
15,2,296960,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.114998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000006
15,2,296960,28,recep,1,"003_carpet_1","put bread on newspaper",-0.080603,-0.042007,0.870461,0.999957,0.000015,-0.000158,-0.009297
15,2,296960,28,gripper,0,"","put bread on newspaper",-0.080462,-0.112070,0.955333,-0.012264,-0.800356,-0.043732,0.597802
15,2,296960,29,obj,0,"003_bread_1","put bread on newspaper",-0.092714,0.076208,0.886502,0.840626,0.009808,-0.007005,0.541481
15,2,296960,29,obj,1,"005_7up can_1","put bread on newspaper",-0.215673,0.039560,0.887924,0.617914,0.395963,-0.487630,0.472876
15,2,296960,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234907,0.044968,0.869489,0.999999,0.000550,0.001424,-0.000367
15,2,296960,29,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.075016,0.870447,0.999998,-0.001360,-0.001221,-0.000045
15,2,296960,29,gripper,0,"","put bread on newspaper",-0.185493,-0.049544,0.977563,-0.022314,-0.739455,0.030832,0.672129
15,2,296960,30,obj,0,"003_bread_1","put bread on newspaper",-0.072002,0.059708,0.886541,0.808202,0.011098,-0.006709,0.588763
15,2,296960,30,obj,1,"005_7up can_1","put bread on newspaper",-0.166706,-0.037920,0.885637,0.886069,0.070052,-0.135547,0.437723
15,2,296960,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000027
15,2,296960,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085007,0.075022,0.870448,0.999998,-0.001336,-0.001204,0.000041
15,2,296960,30,gripper,0,"","put bread on newspaper",-0.124266,-0.033379,1.000929,0.038839,-0.767337,0.049498,0.638150
15,2,296960,31,obj,0,"003_bread_1","put bread on newspaper",-0.130447,-0.043806,0.886707,0.499707,0.012763,-0.002232,0.866098
15,2,296960,31,obj,1,"005_7up can_1","put bread on newspaper",-0.222317,0.067963,0.885687,-0.264586,-0.386767,0.113702,-0.876058
15,2,296960,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.085274,0.074888,0.869490,0.999995,0.000183,0.000874,-0.003096
15,2,296960,31,recep,1,"003_carpet_1","put bread on newspaper",-0.115009,-0.044973,0.870447,0.999999,-0.000923,-0.000845,0.000044
15,2,296960,31,gripper,0,"","put bread on newspaper",-0.195316,0.062972,0.933631,0.140708,-0.811130,0.082037,0.561729
15,2,296960,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.211212,-0.082066,0.887157,0.374511,-0.029933,0.001795,0.926737
15,2,296960,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.074678,0.878548,0.382300,0.003184,0.013051,0.923941
15,2,296960,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
15,2,296960,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000000
15,2,296960,32,gripper,0,"","put carrot on flat bowl",-0.174351,-0.045681,0.990145,-0.099444,-0.693466,0.018125,0.713363
15,2,296960,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.221951,-0.091236,0.887280,0.904507,-0.020184,0.027655,0.425082
15,2,296960,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007929,0.010833,0.707296
15,2,296960,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
15,2,296960,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
15,2,296960,33,gripper,0,"","put carrot on flat bowl",-0.190260,-0.058530,0.983345,-0.083111,-0.737818,-0.100053,0.662349
15,2,296960,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205269,0.076825,0.887529,0.705978,-0.030586,0.030544,0.706913
15,2,296960,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007966,0.010868,0.707323
15,2,296960,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,2,296960,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
15,2,296960,34,gripper,0,"","put carrot on flat bowl",-0.167849,0.092147,1.020036,0.111187,-0.667118,0.207689,0.706722
15,2,296960,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039762,0.391499
15,2,296960,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.114677,-0.075307,0.878547,0.923657,0.011479,0.006976,0.382984
15,2,296960,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,2,296960,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
15,2,296960,35,gripper,0,"","put carrot on flat bowl",-0.179193,0.053902,1.038303,-0.049513,-0.725970,-0.048138,0.684251
15,2,296960,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205105,0.079822,0.887175,0.358647,-0.024306,0.019353,0.932956
15,2,296960,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084691,0.075319,0.878546,0.382207,0.003185,0.013061,0.923979
15,2,296960,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000016
15,2,296960,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000005
15,2,296960,36,gripper,0,"","put banana on sheet metal",-0.057555,0.078486,0.958304,0.256089,-0.708923,0.260184,0.603449
15,2,296960,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.130177,0.112647,0.889773,0.985586,0.013243,0.092609,-0.140952
15,2,296960,37,obj,1,"013_banana_1","put banana on sheet metal",-0.114992,-0.075438,0.878547,0.999909,0.013300,0.002054,0.000331
15,2,296960,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
15,2,296960,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.204998,0.075008,0.874362,1.000000,0.000000,-0.000002,-0.000467
15,2,296960,37,gripper,0,"","put banana on sheet metal",-0.084927,-0.044486,0.967202,-0.028301,-0.769382,-0.016269,0.637955
15,2,296960,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118393,-0.049259,0.887266,0.366698,-0.015968,0.011711,0.930129
15,2,296960,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075325,0.878547,0.382267,0.003200,0.013107,0.923953
15,2,296960,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,2,296960,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
15,2,296960,38,gripper,0,"","put banana on sheet metal",-0.119764,-0.080834,0.988911,0.293159,-0.598168,0.315678,0.675722
15,2,296960,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242237,0.043889,0.887476,0.750261,-0.020350,0.023434,0.660413
15,2,296960,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204559,-0.074995,0.878547,0.706801,0.007991,0.010897,0.707283
15,2,296960,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,2,296960,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
15,2,296960,39,gripper,0,"","put banana on sheet metal",-0.173492,-0.031439,0.963564,0.107199,-0.777631,0.126203,0.606523
15,2,296960,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211784,-0.062584,0.887560,0.994574,-0.001286,0.031995,0.098977
15,2,296960,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075432,0.878547,0.999910,0.013282,0.002040,-0.000468
15,2,296960,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074940,0.871344,0.999999,-0.000158,0.001164,0.000033
15,2,296960,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000006
15,2,296960,40,gripper,0,"","put banana on flat bowl",-0.075832,-0.008418,1.020059,-0.036821,-0.726711,-0.134451,0.672650
15,2,296960,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204216,0.076744,0.887528,0.919596,-0.016893,0.039782,0.390481
15,2,296960,41,obj,1,"013_banana_1","put banana on flat bowl",-0.114670,-0.075308,0.878547,0.923962,0.011474,0.006961,0.382249
15,2,296960,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
15,2,296960,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000307
15,2,296960,41,gripper,0,"","put banana on flat bowl",-0.072073,-0.031938,1.003399,0.086031,-0.774019,0.066980,0.623705
15,2,296960,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091896,0.080746,0.887091,0.917644,-0.020425,0.019122,0.396417
15,2,296960,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204582,0.074623,0.878547,0.924233,0.011481,0.006954,0.381592
15,2,296960,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
15,2,296960,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000001,0.000103
15,2,296960,42,gripper,0,"","put banana on flat bowl",-0.131210,0.065639,1.063016,-0.063298,-0.800083,-0.072687,0.592096
15,2,296960,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090517,-0.070875,0.887427,0.917969,-0.005192,0.007601,0.396545
15,2,296960,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114664,0.044691,0.878547,0.924086,0.011511,0.006976,0.381948
15,2,296960,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
15,2,296960,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
15,2,296960,43,gripper,0,"","put banana on flat bowl",-0.079508,0.038697,1.039288,-0.088988,-0.801895,-0.116456,0.579209
15,2,296960,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088679,-0.079210,0.887331,0.359769,-0.025007,0.014356,0.932596
15,2,296960,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234691,-0.074669,0.878547,0.382280,0.003183,0.013046,0.923949
15,2,296960,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
15,2,296960,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
15,2,296960,44,gripper,0,"","put carrot on sheet metal",-0.060158,-0.043853,0.993362,0.030735,-0.752648,0.043460,0.656268
15,2,296960,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210245,-0.081371,0.887335,0.361893,-0.020341,0.011666,0.931925
15,2,296960,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,-0.074667,0.878547,0.383193,0.003198,0.013055,0.923571
15,2,296960,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,2,296960,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
15,2,296960,45,gripper,0,"","put carrot on sheet metal",-0.181625,-0.058458,1.000514,-0.017655,-0.748669,0.014078,0.662560
15,2,296960,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120079,-0.081480,0.887309,0.365529,-0.016771,0.003098,0.930644
15,2,296960,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,0.075335,0.878547,0.383163,0.003194,0.013041,0.923583
15,2,296960,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
15,2,296960,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
15,2,296960,46,gripper,0,"","put carrot on sheet metal",-0.041241,-0.033109,0.976056,0.090265,-0.746620,0.116822,0.648663
15,2,296960,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240520,0.046867,0.887276,0.921923,-0.014386,0.020349,0.386570
15,2,296960,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084667,-0.045311,0.878547,0.924115,0.011508,0.006973,0.381876
15,2,296960,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000049
15,2,296960,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
15,2,296960,47,gripper,0,"","put carrot on sheet metal",-0.217270,0.066451,0.973291,-0.081869,-0.704584,-0.063872,0.701982
15,2,296960,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085907,0.075642,0.888112,0.721574,-0.026954,-0.005658,0.691789
15,2,296960,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.160538,0.034683,0.892366,-0.022048,0.718517,-0.694510,-0.030058
15,2,296960,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.238289,0.132122,0.872199,0.922987,-0.000001,-0.000001,0.384832
15,2,296960,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.165352,-0.002789,0.870870,0.982830,0.000001,0.000003,-0.184511
15,2,296960,48,gripper,0,"","put hamburger on cutting board",-0.184685,0.042032,0.997110,-0.017208,-0.753030,-0.022464,0.657377
15,2,296960,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.063534,-0.057930,0.896353,0.972258,-0.027864,0.001493,0.232239
15,2,296960,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.071033,0.110634,0.923815,0.202725,0.168373,0.684437,0.679779
15,2,296960,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000174
15,2,296960,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085094,0.074959,0.870871,1.000000,0.000000,-0.000002,0.000041
15,2,296960,49,gripper,0,"","put hamburger on cutting board",-0.087406,0.084663,1.059109,0.226241,-0.698989,0.069368,0.674846
15,2,296960,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.022404,0.070442,0.891116,-0.226492,0.183637,0.838054,-0.461133
15,2,296960,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.060028,0.090904,0.887026,0.064782,-0.707983,0.049461,0.701511
15,2,296960,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115009,-0.044983,0.872199,1.000000,-0.000000,-0.000001,0.000072
15,2,296960,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
15,2,296960,50,gripper,0,"","put hamburger on cutting board",-0.101181,0.086197,0.949599,0.022949,-0.806110,-0.023224,0.590864
15,2,296960,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.074217,0.169590,0.891736,-0.389220,-0.552307,0.603119,-0.423924
15,2,296960,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.086699,-0.015701,0.889773,0.024981,-0.722110,0.690723,0.028897
15,2,296960,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.202662,-0.049633,0.872199,0.999964,-0.000000,-0.000001,0.008475
15,2,296960,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085012,0.074997,0.870870,1.000000,0.000000,-0.000001,0.000045
15,2,296960,51,gripper,0,"","put hamburger on cutting board",-0.139350,-0.035501,0.964042,-0.011352,-0.780663,-0.041396,0.623476
15,2,296960,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084394,-0.074028,0.888112,0.999591,-0.023258,0.014750,-0.007733
15,2,296960,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.166769,-0.072369,0.887284,0.658761,-0.091083,0.742294,0.082087
15,2,296960,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
15,2,296960,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
15,2,296960,52,gripper,0,"","put plastic bottle on frying pan",-0.174939,-0.096647,0.925399,-0.000552,-0.729053,0.024419,0.684022
15,2,296960,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,-0.075222,0.888112,0.388422,-0.022507,-0.015874,0.921070
15,2,296960,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.118076,0.099125,0.887026,0.130192,-0.700241,0.115544,0.692360
15,2,296960,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205008,0.075005,0.872199,1.000000,-0.000000,-0.000001,-0.000092
15,2,296960,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234983,-0.045002,0.870862,1.000000,0.000073,-0.000000,0.000035
15,2,296960,53,gripper,0,"","put plastic bottle on frying pan",-0.086792,-0.043379,0.950838,0.172611,-0.710308,0.202382,0.651698
15,2,296960,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085228,-0.073883,0.888112,0.925300,-0.027148,0.004642,0.378234
15,2,296960,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.225605,-0.083557,0.888387,0.615194,0.371609,-0.578865,0.385173
15,2,296960,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236774,0.047161,0.872199,0.999716,-0.000000,-0.000001,-0.023837
15,2,296960,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.203468,-0.070568,0.870871,0.999995,0.000000,-0.000007,-0.003185
15,2,296960,54,gripper,0,"","put plastic bottle on frying pan",-0.205524,-0.085314,0.961785,0.008382,-0.767782,0.025383,0.640154
15,2,296960,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.077248,-0.057549,0.890533,0.164601,-0.017844,-0.018125,0.986032
15,2,296960,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.242142,0.000187,0.888655,0.351970,-0.650463,0.434737,0.513827
15,2,296960,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
15,2,296960,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075005,0.870870,1.000000,0.000000,-0.000000,0.000035
15,2,296960,55,gripper,0,"","put plastic bottle on frying pan",-0.243584,-0.005386,0.935241,0.067825,-0.731862,-0.044815,0.676587
15,2,296960,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086151,-0.075119,0.888112,0.427484,-0.023168,-0.014893,0.903603
15,2,296960,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186607,0.089336,0.889538,0.534700,-0.471003,0.533226,0.455985
15,2,296960,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000030
15,2,296960,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.218216,0.078659,0.870883,0.996845,0.000641,0.000762,0.079367
15,2,296960,56,gripper,0,"","put plastic bottle on cutting board",-0.126427,0.031816,1.136283,0.078684,-0.787002,0.112118,0.601553
15,2,296960,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084312,0.053257,0.888113,0.891238,-0.027437,0.002402,0.452700
15,2,296960,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.074615,0.064781,0.968357,0.492482,-0.352579,0.610069,0.510847
15,2,296960,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
15,2,296960,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000025
15,2,296960,57,gripper,0,"","put plastic bottle on cutting board",-0.075964,0.066763,1.005250,0.087110,-0.726097,0.087011,0.676479
15,2,296960,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.074760,0.888112,0.386535,-0.022476,-0.015922,0.921863
15,2,296960,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.068390,-0.038960,0.886142,0.583709,0.422195,-0.481918,0.498788
15,2,296960,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000393
15,2,296960,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.069092,-0.114948,0.870870,0.999629,-0.000001,-0.000001,0.027243
15,2,296960,58,gripper,0,"","put plastic bottle on cutting board",-0.103624,-0.037514,0.915616,0.069900,-0.759332,0.014475,0.646776
15,2,296960,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.097452,-0.062260,0.890540,-0.080526,-0.011657,-0.022125,0.996439
15,2,296960,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.255894,-0.024876,0.887026,0.268904,-0.661862,0.256176,0.651155
15,2,296960,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083635,0.034378,0.872199,0.989693,-0.000001,-0.000001,-0.143208
15,2,296960,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115015,-0.075001,0.870870,1.000000,-0.000000,0.000001,-0.000040
15,2,296960,59,gripper,0,"","put plastic bottle on cutting board",-0.139759,-0.031500,1.003847,-0.107391,-0.786538,-0.124730,0.595203
15,2,296960,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086097,0.074749,0.888112,0.388975,-0.022519,-0.015860,0.920837
15,2,296960,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.174828,-0.002811,0.891814,-0.061284,-0.655975,0.748631,-0.074119
15,2,296960,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234986,-0.075020,0.872199,1.000000,-0.000000,-0.000000,0.000553
15,2,296960,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114974,-0.045013,0.870870,1.000000,-0.000000,-0.000001,0.000146
15,2,296960,60,gripper,0,"","put hamburger on frying pan",-0.200615,-0.071972,0.999085,-0.053668,-0.720221,-0.036729,0.690690
15,2,296960,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.063168,-0.043129,0.905859,0.088211,-0.010415,0.995772,0.023415
15,2,296960,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.091740,0.105064,0.887026,0.613152,-0.363204,0.609729,0.346928
15,2,296960,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.074997,0.872199,1.000000,-0.000000,-0.000001,0.000046
15,2,296960,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083303,-0.054699,0.870870,0.999665,0.000000,-0.000001,-0.025874
15,2,296960,61,gripper,0,"","put hamburger on frying pan",-0.068129,-0.048750,0.941693,0.038824,-0.833331,-0.070164,0.546927
15,2,296960,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085217,0.046116,0.888112,0.925091,-0.027150,0.004628,0.378745
15,2,296960,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.186909,0.101490,0.887026,0.644600,-0.300797,0.642812,0.284263
15,2,296960,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000015
15,2,296960,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000028
15,2,296960,62,gripper,0,"","put hamburger on frying pan",-0.141161,0.064548,0.954063,-0.020676,-0.858433,-0.022763,0.512003
15,2,296960,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.145184,0.140659,0.891660,0.016903,-0.712636,0.692867,-0.108630
15,2,296960,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.062023,0.095112,0.887027,0.641554,-0.307587,0.639591,0.291071
15,2,296960,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.201660,0.045975,0.872199,0.999117,-0.000000,-0.000001,-0.042022
15,2,296960,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000001,-0.000024
15,2,296960,63,gripper,0,"","put hamburger on frying pan",-0.160597,0.062664,1.028245,0.123262,-0.718754,0.038583,0.683162
15,3,302080,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.005203,0.168564,0.879364,-0.932187,-0.035050,0.078500,-0.351618
15,3,302080,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084885,0.096840,0.887345,0.799503,-0.037109,0.029850,0.598771
15,3,302080,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085030,0.074821,0.869532,0.999996,-0.000009,-0.000027,-0.002751
15,3,302080,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234993,-0.074974,0.871288,0.999999,-0.000153,-0.001019,0.000222
15,3,302080,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.249680,0.004780,0.942566,0.089831,-0.751364,0.085674,0.648107
15,3,302080,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094742,-0.033302,0.885117,-0.059674,0.787013,-0.609355,-0.075739
15,3,302080,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.116131,0.071709,0.881638,0.912727,0.011858,-0.037534,0.406670
15,3,302080,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084915,-0.044830,0.869532,0.999996,-0.000000,-0.000001,-0.002958
15,3,302080,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.202133,-0.077835,0.871288,0.999332,-0.000191,-0.001012,-0.036527
15,3,302080,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.155043,0.079617,0.933906,0.024457,-0.780688,-0.025528,0.623920
15,3,302080,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.070900,0.078011,0.884978,0.482028,0.507751,0.407697,-0.586193
15,3,302080,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.130905,-0.100319,0.881641,0.987349,0.001738,0.040149,-0.153385
15,3,302080,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085178,0.075127,0.869532,0.999995,0.000001,-0.000000,0.003202
15,3,302080,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.203621,0.043587,0.871288,0.999781,-0.000132,-0.001023,0.020922
15,3,302080,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.155388,-0.089195,0.954506,-0.020855,-0.771998,-0.090309,0.628831
15,3,302080,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.035997,0.179459,0.879375,0.714320,0.064886,-0.059750,0.694238
15,3,302080,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.082645,0.092049,0.887407,0.774619,0.011713,-0.031350,0.631542
15,3,302080,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.083269,0.074692,0.869532,0.999863,-0.000000,0.000000,0.016530
15,3,302080,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.110733,-0.050407,0.871211,0.998959,-0.004091,-0.003947,-0.045268
15,3,302080,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.224177,0.050999,0.915168,0.326078,-0.663932,0.307545,0.598568
15,3,302080,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.152731,-0.194595,0.878981,0.680162,-0.282110,0.586821,0.336802
15,3,302080,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.186938,-0.060089,0.888178,0.725376,-0.019727,0.039491,0.686936
15,3,302080,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075020,0.869533,1.000000,0.000001,-0.000001,0.000045
15,3,302080,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235006,-0.074982,0.871288,0.999999,-0.000154,-0.001019,0.000043
15,3,302080,4,gripper,0,"","put kitchen shovel on cloth",-0.236444,-0.071060,0.971968,0.031094,-0.813910,-0.091750,0.572857
15,3,302080,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.096891,0.144196,0.879372,-0.871927,0.111490,-0.254933,-0.402893
15,3,302080,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.169413,0.040054,0.889681,0.545759,0.037482,-0.044789,0.835904
15,3,302080,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.070417,0.066460,0.869533,0.995167,0.000000,-0.000000,-0.098198
15,3,302080,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.192078,0.046883,0.871288,0.999882,-0.000169,-0.001017,-0.015348
15,3,302080,5,gripper,0,"","put kitchen shovel on cloth",-0.217846,-0.068554,0.943102,-0.034921,-0.825738,-0.046936,0.561011
15,3,302080,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.087612,0.036957,0.010573,0.820532,-0.139721,0.240626,0.499304
15,3,302080,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.093044,-0.029411,0.881638,0.537737,0.030560,-0.024789,0.842194
15,3,302080,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.262939,-0.058914,0.869532,0.982769,-0.000000,-0.000000,0.184839
15,3,302080,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000311
15,3,302080,6,gripper,0,"","put kitchen shovel on cloth",-0.131172,-0.043922,0.912605,-0.038418,-0.869782,-0.067289,0.487314
15,3,302080,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.139431,0.073021,0.879188,0.125513,0.143170,0.981555,-0.017290
15,3,302080,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115223,-0.074013,0.883212,0.998929,0.023005,-0.040130,-0.000975
15,3,302080,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.081055,0.044586,0.869532,0.999343,-0.000000,-0.000000,-0.036234
15,3,302080,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234699,-0.045189,0.871288,0.999990,-0.000155,-0.001019,-0.004421
15,3,302080,7,gripper,0,"","put kitchen shovel on cloth",-0.190516,0.076866,0.984056,0.110121,-0.781537,0.093304,0.606932
15,3,302080,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.086685,-0.031860,0.885548,-0.214858,-0.716538,0.613022,-0.254191
15,3,302080,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.116760,-0.063728,0.890180,0.598259,0.171817,-0.200955,0.756427
15,3,302080,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084984,-0.074970,0.869532,1.000000,-0.000001,-0.000000,0.000519
15,3,302080,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003908,-0.004128,0.000105
15,3,302080,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.143528,-0.050510,1.099645,-0.014748,-0.785278,0.001804,0.618965
15,3,302080,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.104050,0.071003,0.879703,0.288540,-0.707173,0.526896,0.372870
15,3,302080,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.192558,-0.084053,0.887613,0.664038,-0.032811,0.022354,0.746644
15,3,302080,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.219757,-0.088356,0.869532,0.996356,0.000001,-0.000000,-0.085288
15,3,302080,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
15,3,302080,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.132906,0.067301,0.967086,-0.105998,-0.804849,-0.106775,0.574091
15,3,302080,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.073776,0.092476,0.885132,0.445575,0.549685,-0.541707,0.453721
15,3,302080,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.082596,0.063854,0.893714,0.644717,0.286137,-0.429747,0.563721
15,3,302080,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084969,0.074905,0.869532,1.000000,-0.000000,0.000000,0.000749
15,3,302080,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000006
15,3,302080,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.098799,0.102873,1.082309,0.116470,-0.723447,0.117041,0.670344
15,3,302080,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.214138,0.057129,0.885122,0.605802,0.227620,-0.738995,0.187296
15,3,302080,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.191671,-0.015221,0.889947,0.669319,-0.028093,0.016100,0.742269
15,3,302080,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234818,0.068573,0.869532,0.995444,-0.000000,-0.000001,-0.095342
15,3,302080,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205006,-0.045002,0.871288,0.999999,-0.000156,-0.001021,-0.000019
15,3,302080,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.167073,-0.010742,1.107796,0.014557,-0.781357,0.120199,0.612226
15,3,302080,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.179142,0.074490,0.879125,-0.629382,0.093234,0.767751,0.075786
15,3,302080,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.236127,0.052040,0.881638,0.999087,-0.003792,-0.039186,0.016576
15,3,302080,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.044998,0.869532,1.000000,-0.000000,0.000000,-0.000000
15,3,302080,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205015,-0.074986,0.871282,0.999999,-0.000451,-0.001265,-0.000002
15,3,302080,12,gripper,0,"","put ketchup bottle on cloth",-0.176600,0.052324,0.935204,-0.081206,-0.804004,-0.069937,0.584886
15,3,302080,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.216888,-0.044323,0.888220,0.079249,-0.667658,0.737270,0.066213
15,3,302080,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.172634,-0.000858,0.887364,0.734549,-0.111404,0.136160,0.655352
15,3,302080,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114845,-0.075226,0.869532,0.999998,-0.000000,-0.000001,-0.002065
15,3,302080,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044956,0.871288,1.000000,-0.000154,-0.001019,0.000061
15,3,302080,13,gripper,0,"","put ketchup bottle on cloth",-0.252410,-0.032368,1.010719,0.018409,-0.748615,0.000455,0.662749
15,3,302080,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.036415,0.095417,0.884777,0.509848,0.495225,0.441072,-0.547962
15,3,302080,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.118099,0.016262,0.886355,0.982426,-0.027480,0.023770,-0.183082
15,3,302080,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.034153,0.059845,0.869532,0.999641,-0.003668,-0.005335,0.025989
15,3,302080,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000153,-0.001019,0.000010
15,3,302080,14,gripper,0,"","put ketchup bottle on cloth",-0.143738,0.062485,0.923950,-0.058810,-0.773406,-0.022439,0.630778
15,3,302080,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.158218,0.064228,0.879526,0.785290,0.168056,0.544363,-0.242377
15,3,302080,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.076092,-0.075813,0.883273,0.994326,0.029274,0.053953,-0.086883
15,3,302080,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.097805,0.033710,0.869532,0.995205,0.000001,0.000000,0.097809
15,3,302080,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000009
15,3,302080,15,gripper,0,"","put ketchup bottle on cloth",-0.188927,0.078159,0.929693,-0.012400,-0.780688,-0.051317,0.622687
15,3,302080,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.224854,-0.032188,0.885994,0.857717,0.017024,0.005315,0.513813
15,3,302080,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.070839,-0.040691,0.888633,0.869589,0.056124,-0.091021,0.482058
15,3,302080,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,-0.045021,0.869490,1.000000,0.000179,0.000874,0.000048
15,3,302080,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085007,-0.075031,0.870448,0.999999,-0.000923,-0.000845,0.000298
15,3,302080,16,gripper,0,"","put 7up can on newspaper",-0.100613,0.042994,1.140184,0.113748,-0.822356,0.128623,0.542447
15,3,302080,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.149330,0.051052,0.883544,0.925835,0.006420,-0.010910,0.377716
15,3,302080,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.154469,-0.071571,0.885963,-0.307563,-0.497711,0.788225,-0.190759
15,3,302080,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
15,3,302080,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.237225,0.078400,0.870421,0.999646,-0.000540,-0.001164,0.026577
15,3,302080,17,gripper,0,"","put 7up can on newspaper",-0.147564,0.035923,0.955437,-0.026554,-0.747538,-0.113702,0.653875
15,3,302080,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.188385,-0.061283,0.886283,0.314006,0.017228,-0.001525,0.949263
15,3,302080,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.226139,-0.072067,0.899862,0.420976,0.162235,-0.458854,0.765449
15,3,302080,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
15,3,302080,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235050,-0.075001,0.870461,1.000000,0.000019,-0.000159,-0.000394
15,3,302080,18,gripper,0,"","put 7up can on newspaper",-0.106411,-0.014952,1.053217,0.002379,-0.794730,0.052155,0.604714
15,3,302080,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.213577,0.085526,0.886489,0.889385,0.010319,-0.007466,0.456981
15,3,302080,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.134577,-0.048592,0.885707,0.727443,0.168235,-0.201038,0.634119
15,3,302080,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114996,0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
15,3,302080,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234913,0.075008,0.870461,1.000000,-0.000074,-0.000242,0.000034
15,3,302080,19,gripper,0,"","put 7up can on newspaper",-0.163164,-0.043831,0.914967,0.013089,-0.776516,0.051746,0.627832
15,3,302080,20,obj,0,"003_bread_1","put 7up can on carpet",-0.074176,0.087566,0.883545,0.476513,0.011885,-0.004364,0.879076
15,3,302080,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.139922,-0.015144,0.885955,0.308656,-0.578481,0.715067,0.242427
15,3,302080,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
15,3,302080,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.084988,-0.075016,0.870448,0.999999,-0.000923,-0.000844,-0.000225
15,3,302080,20,gripper,0,"","put 7up can on carpet",-0.141389,-0.025442,1.030524,-0.173471,-0.704226,-0.172176,0.666579
15,3,302080,21,obj,0,"003_bread_1","put 7up can on carpet",-0.113958,0.054016,0.887173,0.668939,0.020489,0.001884,0.743032
15,3,302080,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.097414,-0.067440,0.888823,0.551122,-0.441803,0.525565,0.474189
15,3,302080,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084961,0.044910,0.869490,1.000000,0.000179,0.000874,0.000090
15,3,302080,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.114008,-0.072975,0.870448,0.999999,-0.000795,-0.000730,-0.000849
15,3,302080,21,gripper,0,"","put 7up can on carpet",-0.146454,0.004150,1.115679,0.005985,-0.825282,0.000743,0.564688
15,3,302080,22,obj,0,"003_bread_1","put 7up can on carpet",-0.092640,-0.065437,0.886673,0.267813,0.015116,-0.000677,0.963352
15,3,302080,22,obj,1,"005_7up can_1","put 7up can on carpet",0.080338,-0.187683,0.017187,-0.148884,-0.234859,-0.959648,0.041845
15,3,302080,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
15,3,302080,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.084991,-0.074978,0.870447,0.999999,-0.000924,-0.000845,-0.000416
15,3,302080,22,gripper,0,"","put 7up can on carpet",-0.198174,-0.063730,0.937270,0.050113,-0.738147,0.104059,0.664680
15,3,302080,23,obj,0,"003_bread_1","put 7up can on carpet",-0.233448,0.046993,0.883544,0.324432,0.012450,-0.002336,0.945824
15,3,302080,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.197388,-0.019695,0.885659,0.674997,-0.252586,0.256682,0.643967
15,3,302080,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
15,3,302080,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.205009,-0.076572,0.870422,0.999955,-0.000248,-0.000824,-0.009429
15,3,302080,23,gripper,0,"","put 7up can on carpet",-0.224245,0.045950,0.947333,0.043446,-0.739486,0.060690,0.669021
15,3,302080,24,obj,0,"003_bread_1","put bread on newspaper",-0.228676,0.082127,0.883544,0.966556,0.004983,-0.011644,0.256143
15,3,302080,24,obj,1,"005_7up can_1","put bread on newspaper",-0.090164,-0.016565,0.888281,0.403591,-0.514943,0.372867,0.657966
15,3,302080,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.086624,-0.076180,0.869490,0.999921,0.000168,0.000875,0.012546
15,3,302080,24,recep,1,"003_carpet_1","put bread on newspaper",-0.114990,0.045010,0.870448,0.999998,0.001527,0.001267,-0.000092
15,3,302080,24,gripper,0,"","put bread on newspaper",-0.191914,0.069105,0.980614,-0.037686,-0.807215,-0.078148,0.583846
15,3,302080,25,obj,0,"003_bread_1","put bread on newspaper",-0.189693,0.085962,0.886289,0.889426,0.010992,-0.007150,0.456890
15,3,302080,25,obj,1,"005_7up can_1","put bread on newspaper",-0.221237,0.039679,0.888735,0.552599,0.380537,-0.678435,0.299251
15,3,302080,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
15,3,302080,25,recep,1,"003_carpet_1","put bread on newspaper",-0.233528,0.077137,0.870461,0.999844,0.000039,-0.000159,0.017644
15,3,302080,25,gripper,0,"","put bread on newspaper",-0.173407,-0.049335,0.973327,0.117330,-0.704524,0.155519,0.682417
15,3,302080,26,obj,0,"003_bread_1","put bread on newspaper",-0.157063,0.071449,0.883544,0.758654,0.009544,-0.008320,0.651371
15,3,302080,26,obj,1,"005_7up can_1","put bread on newspaper",-0.086956,0.017927,0.898604,0.754590,-0.076103,0.093464,0.645032
15,3,302080,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.083061,-0.080679,0.869490,0.999961,0.000172,0.000876,0.008809
15,3,302080,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235043,0.075062,0.870461,1.000000,-0.000080,-0.000246,0.000365
15,3,302080,26,gripper,0,"","put bread on newspaper",-0.110043,0.021008,0.937935,0.052755,-0.793406,0.057316,0.603688
15,3,302080,27,obj,0,"003_bread_1","put bread on newspaper",-0.175800,-0.019480,0.885311,0.998175,-0.048714,-0.012448,-0.033447
15,3,302080,27,obj,1,"005_7up can_1","put bread on newspaper",-0.074039,-0.067385,0.885680,0.863146,-0.142011,0.346868,0.338371
15,3,302080,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000875,0.000012
15,3,302080,27,recep,1,"003_carpet_1","put bread on newspaper",-0.204332,-0.075453,0.870422,0.999996,-0.000293,-0.000877,0.002467
15,3,302080,27,gripper,0,"","put bread on newspaper",-0.098644,-0.067581,0.973742,-0.012109,-0.793900,-0.012371,0.607802
15,3,302080,28,obj,0,"003_bread_1","put bread on carpet",-0.054109,-0.098179,0.887187,-0.175172,0.207578,-0.856006,-0.439863
15,3,302080,28,obj,1,"005_7up can_1","put bread on carpet",-0.069965,-0.020403,0.888609,0.772309,0.163436,-0.230147,0.569087
15,3,302080,28,recep,0,"004_newspaper_1","put bread on carpet",-0.099947,0.088711,0.869490,0.992317,0.000070,0.000889,0.123721
15,3,302080,28,recep,1,"003_carpet_1","put bread on carpet",-0.073807,-0.044516,0.870447,0.997116,-0.003313,-0.002491,-0.075779
15,3,302080,28,gripper,0,"","put bread on carpet",-0.133897,-0.010839,0.941795,0.004309,-0.770972,0.045991,0.635191
15,3,302080,29,obj,0,"003_bread_1","put bread on carpet",-0.092701,0.076298,0.886457,0.839203,0.008922,-0.005472,0.543717
15,3,302080,29,obj,1,"005_7up can_1","put bread on carpet",-0.215143,0.040905,0.887836,0.637709,0.374346,-0.461151,0.490441
15,3,302080,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234877,0.044962,0.869489,0.999999,0.000549,0.001421,-0.000704
15,3,302080,29,recep,1,"003_carpet_1","put bread on carpet",-0.115002,0.075020,0.870447,0.999998,-0.001367,-0.001227,-0.000023
15,3,302080,29,gripper,0,"","put bread on carpet",-0.163698,0.055495,1.096007,0.044691,-0.833390,0.083999,0.544434
15,3,302080,30,obj,0,"003_bread_1","put bread on carpet",-0.072014,0.059719,0.886518,0.808815,0.010529,-0.006968,0.587927
15,3,302080,30,obj,1,"005_7up can_1","put bread on carpet",-0.165348,-0.038298,0.885627,0.892720,0.087481,-0.215944,0.385703
15,3,302080,30,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000036
15,3,302080,30,recep,1,"003_carpet_1","put bread on carpet",-0.085007,0.075022,0.870448,0.999998,-0.001335,-0.001202,0.000085
15,3,302080,30,gripper,0,"","put bread on carpet",-0.165585,-0.023474,0.970838,0.262617,-0.759353,0.334124,0.492723
15,3,302080,31,obj,0,"003_bread_1","put bread on carpet",-0.130428,-0.043730,0.886718,0.497910,0.014021,-0.003134,0.867110
15,3,302080,31,obj,1,"005_7up can_1","put bread on carpet",-0.178558,0.037245,0.885866,0.225850,-0.749553,0.301448,0.544326
15,3,302080,31,recep,0,"004_newspaper_1","put bread on carpet",-0.085274,0.074888,0.869490,0.999995,0.000182,0.000873,-0.003061
15,3,302080,31,recep,1,"003_carpet_1","put bread on carpet",-0.115009,-0.044973,0.870447,0.999999,-0.000923,-0.000844,0.000044
15,3,302080,31,gripper,0,"","put bread on carpet",-0.165628,0.002818,0.983606,0.066360,-0.760010,0.023048,0.646104
15,3,302080,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.212616,-0.084638,0.887553,0.382302,-0.022067,0.012368,0.923691
15,3,302080,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084671,-0.074678,0.878548,0.382299,0.003195,0.013088,0.923940
15,3,302080,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
15,3,302080,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
15,3,302080,32,gripper,0,"","put banana on sheet metal",-0.061501,-0.021124,0.968059,0.173336,-0.750144,0.270591,0.577945
15,3,302080,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.224674,-0.090969,0.887252,0.910189,-0.014446,0.017762,0.413560
15,3,302080,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007943,0.010849,0.707296
15,3,302080,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
15,3,302080,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
15,3,302080,33,gripper,0,"","put banana on sheet metal",-0.213133,-0.056592,0.942008,0.128734,-0.729281,0.288239,0.607037
15,3,302080,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205269,0.076825,0.887529,0.705978,-0.030586,0.030543,0.706913
15,3,302080,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007948,0.010847,0.707323
15,3,302080,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,3,302080,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
15,3,302080,34,gripper,0,"","put banana on sheet metal",-0.045197,-0.021135,0.976753,-0.101839,-0.658664,-0.090427,0.740009
15,3,302080,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039762,0.391499
15,3,302080,35,obj,1,"013_banana_1","put banana on sheet metal",-0.114677,-0.075307,0.878547,0.923657,0.011479,0.006976,0.382984
15,3,302080,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
15,3,302080,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000000
15,3,302080,35,gripper,0,"","put banana on sheet metal",-0.065062,-0.041975,0.989357,0.065166,-0.736104,0.032755,0.672928
15,3,302080,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205105,0.079822,0.887175,0.358647,-0.024305,0.019354,0.932956
15,3,302080,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084691,0.075319,0.878546,0.382207,0.003185,0.013060,0.923979
15,3,302080,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000016
15,3,302080,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000006
15,3,302080,36,gripper,0,"","put banana on flat bowl",-0.060269,0.086078,1.045675,0.182885,-0.765308,0.186575,0.588257
15,3,302080,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.130173,0.112749,0.889745,0.985588,0.013191,0.091969,-0.141361
15,3,302080,37,obj,1,"013_banana_1","put banana on flat bowl",-0.114992,-0.075438,0.878547,0.999909,0.013304,0.002054,0.000331
15,3,302080,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
15,3,302080,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.204998,0.075008,0.874362,1.000000,0.000001,-0.000002,-0.000468
15,3,302080,37,gripper,0,"","put banana on flat bowl",-0.123643,-0.014147,1.032143,-0.132047,-0.760708,-0.110987,0.625754
15,3,302080,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120579,-0.052159,0.887435,0.378859,-0.025980,0.009581,0.925040
15,3,302080,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923954
15,3,302080,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,3,302080,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
15,3,302080,38,gripper,0,"","put banana on flat bowl",-0.174105,0.104070,0.974236,0.116090,-0.734874,0.097191,0.661088
15,3,302080,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244850,0.043162,0.887449,0.757039,-0.021909,0.023649,0.652574
15,3,302080,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204559,-0.074995,0.878547,0.706802,0.007993,0.010900,0.707283
15,3,302080,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,3,302080,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
15,3,302080,39,gripper,0,"","put banana on flat bowl",-0.176867,-0.002342,0.967724,0.219273,-0.769617,0.186855,0.569820
15,3,302080,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.212738,-0.060038,0.887333,0.995146,0.001961,0.035926,0.091592
15,3,302080,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084999,-0.075434,0.878547,0.999909,0.013288,0.002036,-0.000840
15,3,302080,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074957,0.871344,0.999999,-0.000158,0.001164,0.000062
15,3,302080,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000006
15,3,302080,40,gripper,0,"","put carrot on sheet metal",-0.170937,-0.028356,0.986862,0.070619,-0.691342,0.183116,0.695361
15,3,302080,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204216,0.076744,0.887528,0.919609,-0.016891,0.039784,0.390450
15,3,302080,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.114662,-0.075308,0.878547,0.924138,0.011491,0.006963,0.381823
15,3,302080,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
15,3,302080,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000458
15,3,302080,41,gripper,0,"","put carrot on sheet metal",-0.198160,0.078864,0.966068,-0.056184,-0.742935,-0.018111,0.666755
15,3,302080,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095116,0.082588,0.887537,0.922637,-0.012573,0.024377,0.384693
15,3,302080,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204575,0.074623,0.878547,0.924445,0.011483,0.006947,0.381078
15,3,302080,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
15,3,302080,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000288
15,3,302080,42,gripper,0,"","put carrot on sheet metal",-0.069340,0.046857,1.049783,-0.010192,-0.737947,-0.063864,0.671753
15,3,302080,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093637,-0.068533,0.887470,0.921470,-0.008240,0.015323,0.388061
15,3,302080,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114660,0.044693,0.878547,0.924293,0.011503,0.006963,0.381447
15,3,302080,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
15,3,302080,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
15,3,302080,43,gripper,0,"","put carrot on sheet metal",-0.082933,-0.046920,0.971040,-0.041244,-0.763145,0.002692,0.644904
15,3,302080,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090562,-0.083256,0.887300,0.372359,-0.015768,0.002738,0.927951
15,3,302080,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234691,-0.074669,0.878547,0.382280,0.003184,0.013048,0.923949
15,3,302080,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
15,3,302080,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
15,3,302080,44,gripper,0,"","put carrot on flat bowl",-0.073716,-0.046532,0.999676,0.462214,-0.639696,0.432760,0.435736
15,3,302080,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.211685,-0.084042,0.887320,0.367599,-0.023011,0.013885,0.929596
15,3,302080,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074663,0.878547,0.383676,0.003200,0.013039,0.923370
15,3,302080,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,3,302080,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
15,3,302080,45,gripper,0,"","put carrot on flat bowl",-0.175663,-0.044058,0.985100,-0.071310,-0.735912,-0.016713,0.673104
15,3,302080,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122108,-0.084440,0.887369,0.377563,-0.019417,0.005843,0.925762
15,3,302080,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,0.075338,0.878547,0.383646,0.003201,0.013042,0.923383
15,3,302080,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
15,3,302080,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
15,3,302080,46,gripper,0,"","put carrot on flat bowl",-0.090485,-0.044250,0.987281,-0.055923,-0.774436,0.004350,0.630161
15,3,302080,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242424,0.048874,0.887629,0.926962,-0.016922,0.042119,0.372399
15,3,302080,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084663,-0.045309,0.878547,0.924353,0.011491,0.006955,0.381302
15,3,302080,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.074993,0.871344,0.999999,-0.000158,0.001164,-0.000040
15,3,302080,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
15,3,302080,47,gripper,0,"","put carrot on flat bowl",-0.202188,0.024508,1.013289,-0.065875,-0.693490,-0.089466,0.711848
15,3,302080,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085899,0.075649,0.888112,0.725971,-0.026989,-0.005486,0.687174
15,3,302080,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.159203,0.043381,0.892540,0.096844,0.715416,-0.688157,0.072392
15,3,302080,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.238289,0.132122,0.872199,0.922988,-0.000001,-0.000001,0.384830
15,3,302080,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.164505,-0.001163,0.870872,0.982827,-0.000002,-0.000024,-0.184527
15,3,302080,48,gripper,0,"","put plastic bottle on frying pan",-0.162781,0.035433,0.941601,0.073628,-0.766557,0.002459,0.637936
15,3,302080,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.063416,-0.057938,0.896355,0.973646,-0.027766,0.001648,0.226362
15,3,302080,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.104404,0.173325,0.887891,0.697731,-0.128105,0.698612,0.093283
15,3,302080,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000299
15,3,302080,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085117,0.074947,0.870871,1.000000,0.000000,-0.000003,0.000238
15,3,302080,49,gripper,0,"","put plastic bottle on frying pan",-0.134106,0.131420,0.971783,0.361928,-0.641768,0.316839,0.597290
15,3,302080,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.198784,-0.257599,0.022800,-0.100869,0.548653,-0.644880,-0.522433
15,3,302080,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.120655,-0.012074,0.018312,-0.760200,0.182448,0.232501,0.578578
15,3,302080,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115009,-0.044983,0.872199,1.000000,-0.000000,-0.000001,0.000065
15,3,302080,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
15,3,302080,50,gripper,0,"","put plastic bottle on frying pan",-0.103682,-0.017601,1.009294,0.001307,-0.781178,-0.034825,0.623335
15,3,302080,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.074213,0.169582,0.891736,-0.387137,-0.555290,0.600390,-0.425806
15,3,302080,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.128157,-0.028435,0.895008,-0.024541,-0.753636,0.653123,0.069727
15,3,302080,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.203602,-0.050320,0.872199,0.999913,0.000001,-0.000001,0.013173
15,3,302080,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085011,0.074997,0.870870,1.000000,0.000000,-0.000001,0.000036
15,3,302080,51,gripper,0,"","put plastic bottle on frying pan",-0.140264,-0.038683,1.013653,0.071850,-0.787356,-0.026700,0.611715
15,3,302080,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084833,-0.072216,0.888112,0.997535,-0.022385,0.016044,-0.064534
15,3,302080,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.403306,-0.209320,0.020973,0.016538,0.921408,0.386713,-0.034439
15,3,302080,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
15,3,302080,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
15,3,302080,52,gripper,0,"","put plastic bottle on cutting board",-0.096820,-0.056200,0.997782,0.032934,-0.728814,0.099787,0.676600
15,3,302080,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388414,-0.022509,-0.015874,0.921073
15,3,302080,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.103651,0.095795,0.887026,0.038658,-0.709334,0.023107,0.703432
15,3,302080,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.213865,0.074551,0.872199,0.999840,-0.000001,-0.000001,-0.017903
15,3,302080,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234976,-0.045002,0.870862,1.000000,0.000073,-0.000000,0.000047
15,3,302080,53,gripper,0,"","put plastic bottle on cutting board",-0.160588,0.065773,1.003141,0.050830,-0.766223,-0.003695,0.640551
15,3,302080,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085228,-0.073883,0.888112,0.924854,-0.027153,0.004610,0.379323
15,3,302080,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.225372,-0.082996,0.888393,0.615399,0.370638,-0.580210,0.383756
15,3,302080,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236774,0.047161,0.872199,0.999717,-0.000000,-0.000001,-0.023800
15,3,302080,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.203461,-0.070278,0.870871,0.999991,-0.000000,-0.000007,-0.004192
15,3,302080,54,gripper,0,"","put plastic bottle on cutting board",-0.173258,0.052336,1.122713,0.052868,-0.784404,0.103498,0.609265
15,3,302080,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.077248,-0.057549,0.890533,0.159669,-0.017724,-0.018233,0.986843
15,3,302080,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.243065,0.010067,0.887026,0.343517,-0.627194,0.332132,0.615071
15,3,302080,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
15,3,302080,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075005,0.870870,1.000000,0.000000,0.000000,0.000030
15,3,302080,55,gripper,0,"","put plastic bottle on cutting board",-0.145678,-0.001499,0.983010,-0.040815,-0.755734,-0.180820,0.628095
15,3,302080,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.193863,-0.035595,0.896496,0.525578,-0.024354,-0.009880,0.850339
15,3,302080,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.186584,0.089314,0.889538,0.534658,-0.471041,0.533154,0.456079
15,3,302080,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000010
15,3,302080,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.218178,0.078636,0.870884,0.996839,0.000647,0.000773,0.079442
15,3,302080,56,gripper,0,"","put hamburger on frying pan",-0.158997,-0.087545,1.081890,-0.003537,-0.754998,-0.019859,0.655417
15,3,302080,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.090397,0.064362,0.888112,0.918972,-0.027221,0.004194,0.393361
15,3,302080,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085880,0.179348,0.887026,-0.446427,0.558933,-0.437356,-0.544992
15,3,302080,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
15,3,302080,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000039
15,3,302080,57,gripper,0,"","put hamburger on frying pan",-0.080353,0.056015,0.961166,0.004734,-0.806346,-0.086598,0.585051
15,3,302080,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236103,0.074757,0.888112,0.385363,-0.022454,-0.015951,0.922354
15,3,302080,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.162544,-0.032486,0.895396,-0.488166,0.510791,-0.498417,-0.502362
15,3,302080,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205086,-0.045033,0.872199,0.999999,0.000001,-0.000000,0.001463
15,3,302080,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.073093,-0.126312,0.870870,0.996524,-0.000000,-0.000000,0.083308
15,3,302080,58,gripper,0,"","put hamburger on frying pan",-0.149744,-0.019426,1.080174,0.117252,-0.732787,0.103120,0.662300
15,3,302080,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.097410,-0.062271,0.890540,-0.091317,-0.011391,-0.022263,0.995508
15,3,302080,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.257900,-0.022678,0.887026,0.246189,-0.670337,0.233097,0.660079
15,3,302080,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.083635,0.034378,0.872199,0.989692,-0.000001,-0.000002,-0.143211
15,3,302080,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114983,-0.075001,0.870870,1.000000,-0.000000,-0.000000,0.000052
15,3,302080,59,gripper,0,"","put hamburger on frying pan",-0.190524,-0.045155,1.004161,-0.076354,-0.713053,-0.101861,0.689456
15,3,302080,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086097,0.074749,0.888112,0.388975,-0.022517,-0.015861,0.920837
15,3,302080,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.133775,-0.065231,0.885720,-0.722310,-0.016990,0.691276,-0.010837
15,3,302080,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234904,-0.075466,0.872199,0.999962,-0.000000,-0.000000,-0.008741
15,3,302080,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.042097,-0.123466,0.870870,0.997399,0.000000,-0.000000,0.072079
15,3,302080,60,gripper,0,"","put hamburger on cutting board",-0.206449,-0.006943,0.962016,-0.037924,-0.770144,-0.008027,0.636691
15,3,302080,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.064371,-0.042213,0.892952,0.095055,-0.030617,0.994970,-0.007860
15,3,302080,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.092350,0.060394,0.886092,0.999408,-0.010466,0.019856,-0.026060
15,3,302080,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.074997,0.872199,1.000000,-0.000001,-0.000001,0.000046
15,3,302080,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083303,-0.054699,0.870870,0.999665,-0.000000,-0.000000,-0.025895
15,3,302080,61,gripper,0,"","put hamburger on cutting board",-0.185275,0.051575,1.066609,0.011152,-0.778452,-0.007819,0.627556
15,3,302080,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084576,0.045311,0.888112,0.930799,-0.027078,0.005046,0.364492
15,3,302080,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.153763,0.115688,0.885720,-0.370992,-0.596701,0.349426,-0.619850
15,3,302080,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
15,3,302080,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000044
15,3,302080,62,gripper,0,"","put hamburger on cutting board",-0.150173,0.079044,0.961392,-0.001205,-0.801007,-0.059152,0.595724
15,3,302080,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.157288,0.104557,0.926051,-0.144679,-0.758765,0.629981,-0.080431
15,3,302080,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.059994,0.094635,0.887027,0.641830,-0.306980,0.639882,0.290462
15,3,302080,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.201660,0.045975,0.872199,0.999114,-0.000000,-0.000001,-0.042074
15,3,302080,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000036
15,3,302080,63,gripper,0,"","put hamburger on cutting board",-0.171822,0.100456,0.952576,-0.088621,-0.728999,-0.122383,0.667629
15,4,307200,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.005203,0.168564,0.879364,-0.932176,-0.035053,0.078500,-0.351649
15,4,307200,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084785,0.096886,0.887348,0.796041,-0.037236,0.029783,0.603361
15,4,307200,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085030,0.074821,0.869532,0.999996,-0.000001,0.000002,-0.002741
15,4,307200,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234993,-0.074974,0.871288,0.999999,-0.000153,-0.001019,0.000264
15,4,307200,0,gripper,0,"","put kitchen shovel on cloth",-0.095650,0.113510,1.010839,0.190012,-0.742163,0.203753,0.609570
15,4,307200,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.095253,-0.034149,0.884768,-0.047523,0.790531,-0.606895,-0.066941
15,4,307200,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.128342,0.042686,0.881636,0.763845,0.029271,-0.040711,0.643449
15,4,307200,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085316,-0.045784,0.869532,0.999881,-0.015394,-0.000008,0.000483
15,4,307200,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.202133,-0.077835,0.871288,0.999332,-0.000191,-0.001013,-0.036527
15,4,307200,1,gripper,0,"","put kitchen shovel on cloth",-0.167490,0.064888,0.948466,0.070869,-0.758117,0.084099,0.642778
15,4,307200,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.070900,0.078003,0.884977,0.481890,0.507855,0.407604,-0.586280
15,4,307200,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.090424,-0.110527,0.881636,0.955042,0.013383,0.055865,-0.290853
15,4,307200,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085178,0.075127,0.869532,0.999995,0.000000,-0.000001,0.003174
15,4,307200,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.203621,0.043587,0.871288,0.999783,-0.000132,-0.001022,0.020817
15,4,307200,2,gripper,0,"","put kitchen shovel on cloth",-0.125788,-0.075325,0.914423,-0.099433,-0.802360,-0.132152,0.573469
15,4,307200,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.035997,0.179459,0.879375,0.714322,0.064880,-0.059744,0.694237
15,4,307200,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.077469,0.078804,0.887491,0.785288,0.013189,-0.030519,0.618237
15,4,307200,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083275,0.074669,0.869532,0.999865,-0.000000,-0.000000,0.016449
15,4,307200,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.110733,-0.050407,0.871211,0.998965,-0.004091,-0.003948,-0.045118
15,4,307200,3,gripper,0,"","put kitchen shovel on cloth",-0.073945,0.106655,0.972245,0.146805,-0.777505,0.072515,0.607187
15,4,307200,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.152732,-0.194595,0.878981,0.680183,-0.282100,0.586796,0.336811
15,4,307200,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.176664,-0.039871,0.887845,0.680428,0.032861,-0.012081,0.731978
15,4,307200,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.075020,0.869533,1.000000,-0.000000,-0.000001,-0.000012
15,4,307200,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.233847,-0.074524,0.871288,0.999952,-0.000163,-0.001017,-0.009748
15,4,307200,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.173730,-0.050495,1.011289,-0.066127,-0.735229,-0.076246,0.670263
15,4,307200,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.096891,0.144196,0.879372,-0.871926,0.111492,-0.254936,-0.402893
15,4,307200,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.077465,0.026291,0.888284,0.680017,-0.020807,0.031918,0.732205
15,4,307200,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.070431,0.066460,0.869532,0.995039,-0.000000,-0.000001,-0.099481
15,4,307200,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.192053,0.046875,0.871288,0.999879,-0.000171,-0.001017,-0.015515
15,4,307200,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.229469,0.015244,0.941404,0.133587,-0.733681,0.102150,0.658355
15,4,307200,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.087612,0.036957,0.010573,0.820512,-0.139730,0.240620,0.499337
15,4,307200,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.191380,-0.043343,0.884321,0.692099,0.044418,0.011751,0.720339
15,4,307200,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.263145,-0.059090,0.869531,0.982561,-0.000001,-0.000001,0.185940
15,4,307200,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235001,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000383
15,4,307200,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.246279,-0.056183,0.948785,-0.019878,-0.847058,-0.010773,0.531019
15,4,307200,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.100765,0.029915,0.878982,0.757771,0.044547,0.649570,-0.043098
15,4,307200,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.095917,-0.093697,0.883199,0.973621,0.014293,-0.039082,-0.224346
15,4,307200,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.035004,0.023399,0.869532,0.984698,-0.000000,-0.000001,0.174266
15,4,307200,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234699,-0.045189,0.871288,0.999990,-0.000155,-0.001018,-0.004428
15,4,307200,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.142418,-0.036789,0.980832,-0.200268,-0.664147,-0.258193,0.672413
15,4,307200,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.084206,-0.032562,0.885161,-0.170291,-0.751175,0.597522,-0.222948
15,4,307200,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.117226,-0.062565,0.886430,0.716509,0.015352,-0.061572,0.694686
15,4,307200,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078918,-0.075912,0.869636,0.999275,-0.001379,-0.004861,0.037727
15,4,307200,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003908,-0.004128,0.000105
15,4,307200,8,gripper,0,"","put ketchup bottle on cloth",-0.141788,-0.049166,0.937090,0.132631,-0.802151,0.041050,0.580757
15,4,307200,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.067726,-0.070915,0.888216,0.564511,0.356256,-0.306413,0.678617
15,4,307200,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.192547,-0.083858,0.887613,0.664897,-0.032779,0.022374,0.745879
15,4,307200,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.219757,-0.088329,0.869532,0.996357,0.000001,-0.000001,-0.085278
15,4,307200,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
15,4,307200,9,gripper,0,"","put ketchup bottle on cloth",-0.128656,-0.035187,1.109144,-0.059360,-0.861710,0.006284,0.503877
15,4,307200,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.073776,0.092514,0.885123,0.447620,0.548067,-0.540882,0.454648
15,4,307200,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082687,0.064030,0.893735,0.651011,0.278921,-0.418559,0.568503
15,4,307200,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084972,0.074905,0.869532,1.000000,0.000000,0.000000,0.000798
15,4,307200,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000001
15,4,307200,10,gripper,0,"","put ketchup bottle on cloth",-0.113892,0.090275,1.013778,0.292790,-0.740382,0.342076,0.499092
15,4,307200,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.214155,0.057125,0.885123,0.606129,0.226703,-0.739179,0.186619
15,4,307200,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.187347,-0.014503,0.889918,0.688760,0.025600,-0.036397,0.723623
15,4,307200,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234829,0.068573,0.869532,0.995456,0.000000,-0.000001,-0.095225
15,4,307200,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.202337,-0.042240,0.871288,0.999657,-0.000186,-0.001015,-0.026168
15,4,307200,11,gripper,0,"","put ketchup bottle on cloth",-0.197115,0.074919,1.006323,-0.035128,-0.801337,0.113599,0.586277
15,4,307200,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.179126,0.074364,0.879125,-0.629425,0.092736,0.767817,0.075378
15,4,307200,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.211824,0.039787,0.882165,0.994790,-0.006761,0.099548,0.020930
15,4,307200,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000000
15,4,307200,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204582,-0.075871,0.871288,0.999958,-0.000163,-0.001018,-0.009132
15,4,307200,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.226706,0.058355,0.927286,0.181624,-0.721872,0.068749,0.664219
15,4,307200,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.206577,-0.158527,0.879125,-0.440283,-0.555881,0.537733,-0.456059
15,4,307200,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.183760,-0.013790,0.924953,0.715925,-0.528669,0.310475,0.334013
15,4,307200,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114845,-0.075226,0.869532,0.999998,-0.000000,0.000000,-0.002061
15,4,307200,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.230326,-0.058018,0.871288,0.999819,-0.000331,-0.001160,0.019002
15,4,307200,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.237365,-0.017296,0.921728,-0.036139,-0.750420,-0.012734,0.659849
15,4,307200,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.036587,0.095528,0.884978,0.516001,0.482612,0.437048,-0.556613
15,4,307200,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.120911,0.016712,0.883058,0.976125,-0.031396,-0.124290,-0.175347
15,4,307200,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.034145,0.059818,0.869532,0.999645,-0.000001,-0.000000,0.026628
15,4,307200,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001019,0.000012
15,4,307200,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.183052,-0.064140,0.931282,-0.150412,-0.784136,-0.019713,0.601763
15,4,307200,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.087814,0.045509,0.885112,-0.074401,-0.651392,-0.752268,0.065162
15,4,307200,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.072414,-0.081001,0.883328,0.988803,0.032840,0.053211,-0.135494
15,4,307200,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.087673,0.023979,0.869532,0.992853,0.000002,-0.000002,0.119346
15,4,307200,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000015
15,4,307200,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.141897,0.057798,1.032444,-0.023235,-0.773129,-0.081631,0.628544
15,4,307200,16,obj,0,"003_bread_1","put 7up can on carpet",-0.224854,-0.032200,0.885994,0.857651,0.017019,0.005323,0.513922
15,4,307200,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.072571,-0.042000,0.888637,0.868431,0.056334,-0.090915,0.484137
15,4,307200,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235001,-0.045033,0.869490,1.000000,0.000179,0.000874,0.000242
15,4,307200,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.085609,-0.075062,0.870447,0.999978,-0.000917,-0.000851,0.006524
15,4,307200,16,gripper,0,"","put 7up can on carpet",-0.167175,0.015196,0.999696,0.191299,-0.681892,0.267218,0.653470
15,4,307200,17,obj,0,"003_bread_1","put 7up can on carpet",-0.139599,0.043411,0.884269,0.931569,0.003993,-0.012403,0.363331
15,4,307200,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.154469,-0.071575,0.885963,-0.307560,-0.497705,0.788232,-0.190754
15,4,307200,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
15,4,307200,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.237225,0.078400,0.870366,0.999652,-0.000364,-0.001596,0.026326
15,4,307200,17,gripper,0,"","put 7up can on carpet",-0.150486,0.040649,0.926074,0.047953,-0.791062,-0.001008,0.609852
15,4,307200,18,obj,0,"003_bread_1","put 7up can on carpet",-0.187988,-0.061501,0.886273,0.335252,0.017432,-0.001608,0.941966
15,4,307200,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.227028,-0.072102,0.899514,0.426788,0.167153,-0.451564,0.765508
15,4,307200,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
15,4,307200,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.235050,-0.075008,0.870461,1.000000,0.000019,-0.000154,-0.000374
15,4,307200,18,gripper,0,"","put 7up can on carpet",-0.202120,0.020752,1.088799,0.013499,-0.852493,0.036477,0.521290
15,4,307200,19,obj,0,"003_bread_1","put 7up can on carpet",-0.213573,0.085526,0.886489,0.889341,0.010320,-0.007464,0.457067
15,4,307200,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.110632,-0.030441,0.885636,0.431236,0.251807,-0.132904,0.856134
15,4,307200,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115093,0.046211,0.869490,0.999994,0.000532,0.001411,0.003239
15,4,307200,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.234909,0.075008,0.870461,1.000000,-0.000073,-0.000242,0.000026
15,4,307200,19,gripper,0,"","put 7up can on carpet",-0.124719,-0.050219,0.916938,-0.359226,-0.674736,-0.333821,0.551590
15,4,307200,20,obj,0,"003_bread_1","put bread on newspaper",-0.065490,0.068359,0.883545,0.407064,0.012187,-0.003438,0.913312
15,4,307200,20,obj,1,"005_7up can_1","put bread on newspaper",-0.139889,-0.015141,0.885955,0.308855,-0.578371,0.715026,0.242557
15,4,307200,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
15,4,307200,20,recep,1,"003_carpet_1","put bread on newspaper",-0.084988,-0.075016,0.870448,0.999999,-0.000923,-0.000844,-0.000225
15,4,307200,20,gripper,0,"","put bread on newspaper",-0.072179,0.064606,0.941240,0.223384,-0.738918,0.100861,0.627636
15,4,307200,21,obj,0,"003_bread_1","put bread on newspaper",-0.113987,0.054016,0.887173,0.668943,0.020485,0.001885,0.743029
15,4,307200,21,obj,1,"005_7up can_1","put bread on newspaper",-0.097336,-0.067341,0.888819,0.546584,-0.445313,0.525674,0.476035
15,4,307200,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084990,0.044910,0.869490,1.000000,0.000179,0.000873,0.000148
15,4,307200,21,recep,1,"003_carpet_1","put bread on newspaper",-0.114000,-0.072952,0.870460,0.999999,0.000019,-0.000158,-0.000935
15,4,307200,21,gripper,0,"","put bread on newspaper",-0.125072,0.002123,1.024007,0.146984,-0.731292,0.142772,0.650556
15,4,307200,22,obj,0,"003_bread_1","put bread on newspaper",-0.091194,-0.063187,0.886660,0.316340,0.015450,-0.001088,0.948519
15,4,307200,22,obj,1,"005_7up can_1","put bread on newspaper",0.080338,-0.187683,0.017187,-0.148870,-0.235180,-0.959569,0.041895
15,4,307200,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
15,4,307200,22,recep,1,"003_carpet_1","put bread on newspaper",-0.084743,-0.074459,0.870448,0.999997,-0.000831,-0.000764,-0.002176
15,4,307200,22,gripper,0,"","put bread on newspaper",-0.266180,-0.107229,0.929497,0.011595,-0.722524,0.096369,0.684498
15,4,307200,23,obj,0,"003_bread_1","put bread on newspaper",-0.227161,0.088902,0.883565,-0.389588,-0.015866,0.004875,-0.920839
15,4,307200,23,obj,1,"005_7up can_1","put bread on newspaper",-0.197124,-0.011364,0.885747,0.583416,-0.412243,0.420961,0.558993
15,4,307200,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
15,4,307200,23,recep,1,"003_carpet_1","put bread on newspaper",-0.205009,-0.076588,0.870368,0.999951,0.000172,-0.001151,-0.009769
15,4,307200,23,gripper,0,"","put bread on newspaper",-0.226158,0.100239,0.938308,0.130361,-0.768051,0.106482,0.617871
15,4,307200,24,obj,0,"003_bread_1","put bread on carpet",-0.117439,0.065836,0.886609,0.986123,0.004825,-0.010172,0.165632
15,4,307200,24,obj,1,"005_7up can_1","put bread on carpet",-0.011612,-0.212158,0.885733,0.492589,-0.394411,0.271049,0.726862
15,4,307200,24,recep,0,"004_newspaper_1","put bread on carpet",-0.086624,-0.076189,0.869490,0.999921,0.000168,0.000876,0.012544
15,4,307200,24,recep,1,"003_carpet_1","put bread on carpet",-0.113708,0.045975,0.870420,0.999950,-0.000637,-0.001251,0.009910
15,4,307200,24,gripper,0,"","put bread on carpet",-0.166023,0.067115,0.981376,0.127380,-0.748701,0.133095,0.636795
15,4,307200,25,obj,0,"003_bread_1","put bread on carpet",-0.189709,0.086002,0.886288,0.890262,0.010912,-0.007555,0.455256
15,4,307200,25,obj,1,"005_7up can_1","put bread on carpet",-0.221123,0.039703,0.888745,0.551853,0.380780,-0.678345,0.300521
15,4,307200,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
15,4,307200,25,recep,1,"003_carpet_1","put bread on carpet",-0.233528,0.077183,0.870462,0.999847,0.000039,-0.000159,0.017488
15,4,307200,25,gripper,0,"","put bread on carpet",-0.132010,-0.111870,0.993680,0.078404,-0.741438,0.057486,0.663941
15,4,307200,26,obj,0,"003_bread_1","put bread on carpet",-0.156956,0.071461,0.883544,0.760812,0.009517,-0.008352,0.648849
15,4,307200,26,obj,1,"005_7up can_1","put bread on carpet",-0.170944,0.255472,0.885803,0.611191,-0.379918,0.412399,0.558602
15,4,307200,26,recep,0,"004_newspaper_1","put bread on carpet",-0.083061,-0.080679,0.869490,0.999961,0.000172,0.000875,0.008813
15,4,307200,26,recep,1,"003_carpet_1","put bread on carpet",-0.235336,0.075115,0.870449,0.999996,-0.000923,-0.000867,0.002645
15,4,307200,26,gripper,0,"","put bread on carpet",-0.151503,0.076936,1.002260,0.061021,-0.758780,0.067133,0.644998
15,4,307200,27,obj,0,"003_bread_1","put bread on carpet",-0.159925,-0.010498,0.883544,0.951435,-0.002119,-0.012478,-0.307588
15,4,307200,27,obj,1,"005_7up can_1","put bread on carpet",-0.074419,-0.067734,0.885659,0.868551,-0.136610,0.333182,0.340511
15,4,307200,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000874,0.000028
15,4,307200,27,recep,1,"003_carpet_1","put bread on carpet",-0.200359,-0.073978,0.870447,0.999902,-0.000569,-0.000524,-0.013964
15,4,307200,27,gripper,0,"","put bread on carpet",-0.188739,-0.008039,0.929439,0.140697,-0.798989,0.043767,0.583014
15,4,307200,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.053943,-0.098379,0.887110,-0.173510,0.213225,-0.856413,-0.437019
15,4,307200,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.069965,-0.020401,0.888609,0.772317,0.163417,-0.230117,0.569094
15,4,307200,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.099947,0.088711,0.869490,0.992317,0.000070,0.000889,0.123721
15,4,307200,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.073807,-0.044516,0.870446,0.997116,-0.003313,-0.002491,-0.075779
15,4,307200,28,gripper,0,"","put 7up can on newspaper",-0.088370,-0.112514,0.950101,0.008314,-0.788964,0.012771,0.614250
15,4,307200,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.092758,0.076305,0.886492,0.838951,0.010022,-0.008409,0.544049
15,4,307200,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214943,0.040815,0.887830,0.637679,0.374392,-0.461179,0.490417
15,4,307200,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234825,0.044960,0.869489,0.999999,0.000549,0.001423,-0.000878
15,4,307200,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,0.075024,0.870448,0.999998,-0.001330,-0.001198,-0.000015
15,4,307200,29,gripper,0,"","put 7up can on newspaper",-0.114707,0.040332,1.146658,0.128326,-0.791629,0.162795,0.574764
15,4,307200,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.072014,0.059719,0.886518,0.809111,0.010521,-0.006972,0.587521
15,4,307200,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.165352,-0.038298,0.885627,0.892610,0.087540,-0.215913,0.385962
15,4,307200,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000056
15,4,307200,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085007,0.075022,0.870448,0.999998,-0.001337,-0.001203,0.000130
15,4,307200,30,gripper,0,"","put 7up can on newspaper",-0.164246,-0.054235,0.984764,0.072746,-0.684849,0.065177,0.722109
15,4,307200,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.130779,-0.042978,0.886634,0.505256,0.011692,-0.002200,0.862888
15,4,307200,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132477,0.033182,0.885673,0.375675,-0.371607,0.161244,0.833533
15,4,307200,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.074020,0.084400,0.869490,0.995085,0.000092,0.000888,0.099020
15,4,307200,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.044888,0.870421,0.999999,-0.000669,-0.001252,-0.000154
15,4,307200,31,gripper,0,"","put 7up can on newspaper",-0.128752,0.026670,1.067536,-0.025244,-0.768806,-0.010577,0.638896
15,4,307200,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214905,-0.088240,0.887446,0.396827,-0.022366,0.009469,0.917572
15,4,307200,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084671,-0.074678,0.878548,0.382300,0.003182,0.013047,0.923941
15,4,307200,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
15,4,307200,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
15,4,307200,32,gripper,0,"","put banana on flat bowl",-0.055847,-0.028329,0.989245,0.457099,-0.620687,0.509823,0.381953
15,4,307200,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.227654,-0.090215,0.887508,0.918341,-0.010137,0.017370,0.395279
15,4,307200,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007923,0.010826,0.707296
15,4,307200,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
15,4,307200,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
15,4,307200,33,gripper,0,"","put banana on flat bowl",-0.054953,0.094259,0.972915,0.123589,-0.753168,0.136292,0.631576
15,4,307200,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205269,0.076825,0.887529,0.705978,-0.030587,0.030543,0.706913
15,4,307200,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007951,0.010850,0.707323
15,4,307200,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,4,307200,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
15,4,307200,34,gripper,0,"","put banana on flat bowl",-0.062378,-0.016104,1.016512,0.013039,-0.819426,0.033408,0.572061
15,4,307200,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204065,0.076647,0.887529,0.919163,-0.016937,0.039760,0.391500
15,4,307200,35,obj,1,"013_banana_1","put banana on flat bowl",-0.114677,-0.075307,0.878547,0.923657,0.011496,0.006985,0.382984
15,4,307200,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,4,307200,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000000
15,4,307200,35,gripper,0,"","put banana on flat bowl",-0.069012,-0.047079,0.985566,0.080244,-0.830544,-0.013873,0.550968
15,4,307200,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205105,0.079822,0.887175,0.358647,-0.024305,0.019353,0.932956
15,4,307200,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084691,0.075319,0.878547,0.382207,0.003187,0.013067,0.923979
15,4,307200,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000016
15,4,307200,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000007
15,4,307200,36,gripper,0,"","put carrot on sheet metal",-0.168618,0.122789,1.003057,0.120778,-0.709531,0.248846,0.648116
15,4,307200,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.130173,0.112832,0.889730,0.985634,0.013131,0.091609,-0.141282
15,4,307200,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.114992,-0.075437,0.878547,0.999910,0.013282,0.002053,0.000331
15,4,307200,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000010
15,4,307200,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.204998,0.075008,0.874362,1.000000,0.000000,-0.000001,-0.000468
15,4,307200,37,gripper,0,"","put carrot on sheet metal",-0.228765,-0.099683,0.977676,0.295571,-0.634997,0.185461,0.689217
15,4,307200,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.121788,-0.054918,0.887061,0.389082,-0.016553,0.019932,0.920839
15,4,307200,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923953
15,4,307200,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,4,307200,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
15,4,307200,38,gripper,0,"","put carrot on sheet metal",-0.109196,-0.077163,1.010309,-0.047271,-0.719602,-0.052984,0.690747
15,4,307200,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.247726,0.042538,0.887527,0.766393,-0.016791,0.022766,0.641749
15,4,307200,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204559,-0.074995,0.878547,0.706802,0.007976,0.010879,0.707283
15,4,307200,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
15,4,307200,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
15,4,307200,39,gripper,0,"","put carrot on sheet metal",-0.201422,0.012010,1.004486,-0.046404,-0.713418,-0.104515,0.691345
15,4,307200,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213852,-0.055374,0.887490,0.985851,-0.005751,0.041326,0.162346
15,4,307200,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084999,-0.075438,0.878547,0.999909,0.013270,0.002030,-0.001214
15,4,307200,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074974,0.871344,0.999999,-0.000158,0.001164,0.000096
15,4,307200,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000005
15,4,307200,40,gripper,0,"","put carrot on flat bowl",-0.175976,-0.060808,1.028404,-0.057798,-0.670350,-0.083511,0.735062
15,4,307200,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204216,0.076744,0.887528,0.919609,-0.016890,0.039784,0.390449
15,4,307200,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.114658,-0.075306,0.878547,0.924320,0.011489,0.006954,0.381381
15,4,307200,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
15,4,307200,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000609
15,4,307200,41,gripper,0,"","put carrot on flat bowl",-0.062962,0.058609,0.979939,0.381956,-0.673855,0.129105,0.619162
15,4,307200,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097481,0.082937,0.887422,0.926375,-0.005859,0.012539,0.376347
15,4,307200,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204571,0.074623,0.878547,0.924644,0.011509,0.006952,0.380594
15,4,307200,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
15,4,307200,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000472
15,4,307200,42,gripper,0,"","put carrot on flat bowl",-0.077278,0.059041,1.047011,0.061373,-0.790328,-0.035130,0.608589
15,4,307200,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.098053,-0.064215,0.887269,0.954997,-0.001925,0.026271,0.295445
15,4,307200,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114655,0.044693,0.878547,0.924494,0.011507,0.006957,0.380959
15,4,307200,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
15,4,307200,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
15,4,307200,43,gripper,0,"","put carrot on flat bowl",-0.066856,-0.042165,0.950969,0.154959,-0.751417,0.156666,0.621946
15,4,307200,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092545,-0.085915,0.887289,0.385297,-0.020610,0.014158,0.922454
15,4,307200,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234691,-0.074669,0.878547,0.382280,0.003183,0.013047,0.923949
15,4,307200,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000031
15,4,307200,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000000
15,4,307200,44,gripper,0,"","put banana on sheet metal",-0.190609,-0.038258,0.990847,-0.152269,-0.717868,-0.104398,0.671253
15,4,307200,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.213833,-0.087305,0.887179,0.382151,-0.021404,0.018430,0.923668
15,4,307200,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074657,0.878547,0.384161,0.003216,0.013065,0.923168
15,4,307200,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
15,4,307200,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
15,4,307200,45,gripper,0,"","put banana on sheet metal",-0.039507,-0.002460,1.020117,0.012967,-0.749925,0.031733,0.660634
15,4,307200,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123295,-0.086578,0.887252,0.385041,-0.021062,0.015765,0.922524
15,4,307200,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,0.075344,0.878547,0.384122,0.003216,0.013067,0.923184
15,4,307200,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
15,4,307200,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
15,4,307200,46,gripper,0,"","put banana on sheet metal",-0.055771,0.062872,0.992747,0.130651,-0.806121,0.166407,0.552637
15,4,307200,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246319,0.050766,0.887082,0.934175,0.003606,0.019624,0.356257
15,4,307200,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084656,-0.045309,0.878547,0.924592,0.011514,0.006958,0.380720
15,4,307200,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000048
15,4,307200,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
15,4,307200,47,gripper,0,"","put banana on sheet metal",-0.110361,-0.051273,1.009182,-0.296402,-0.579782,-0.438823,0.619220
15,4,307200,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085892,0.075653,0.888112,0.730104,-0.027022,-0.005321,0.682781
15,4,307200,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.159035,0.040581,0.892369,0.074235,0.719908,-0.688532,0.046308
15,4,307200,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.238289,0.132122,0.872199,0.922989,-0.000001,-0.000001,0.384826
15,4,307200,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.164505,-0.002266,0.870870,0.982782,0.000001,0.000005,-0.184769
15,4,307200,48,gripper,0,"","put plastic bottle on cutting board",-0.148609,0.036077,1.087972,-0.019683,-0.757339,0.068147,0.649158
15,4,307200,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.063416,-0.057938,0.896355,0.973732,-0.027761,0.001644,0.225994
15,4,307200,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.104408,0.173321,0.887891,0.697689,-0.128422,0.698554,0.093594
15,4,307200,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000346
15,4,307200,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085117,0.074947,0.870870,1.000000,0.000000,-0.000000,-0.000012
15,4,307200,49,gripper,0,"","put plastic bottle on cutting board",-0.134766,0.159721,0.986943,0.081423,-0.777918,-0.023349,0.622631
15,4,307200,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.198830,-0.257599,0.022800,-0.100651,0.548922,-0.644651,-0.522474
15,4,307200,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.120655,-0.012074,0.018312,-0.760189,0.182452,0.232497,0.578592
15,4,307200,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115009,-0.044983,0.872199,1.000000,-0.000000,-0.000001,0.000056
15,4,307200,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
15,4,307200,50,gripper,0,"","put plastic bottle on cutting board",-0.112209,-0.122171,0.944726,0.072932,-0.775322,0.089492,0.620925
15,4,307200,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.074223,0.169582,0.891736,-0.385443,-0.557659,0.598185,-0.427345
15,4,307200,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.086733,0.092686,0.892441,-0.078713,-0.651308,0.753609,-0.040935
15,4,307200,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.203617,-0.050327,0.872199,0.999913,-0.000001,-0.000000,0.013190
15,4,307200,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085056,0.074951,0.870871,1.000000,-0.000000,-0.000010,0.000158
15,4,307200,51,gripper,0,"","put plastic bottle on cutting board",-0.105436,0.072815,1.153767,0.153882,-0.767929,0.054723,0.619363
15,4,307200,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.050625,0.085125,0.896471,0.968281,-0.017388,0.016816,-0.248689
15,4,307200,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.403306,-0.209320,0.020973,0.016538,0.921408,0.386713,-0.034440
15,4,307200,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
15,4,307200,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235000,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
15,4,307200,52,gripper,0,"","put hamburger on frying pan",-0.061955,0.047174,1.150002,0.264261,-0.717864,0.221877,0.604656
15,4,307200,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.148722,0.062290,0.892869,0.373234,0.207817,0.047354,0.902921
15,4,307200,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.103365,0.095753,0.887026,0.036870,-0.709382,0.021306,0.703536
15,4,307200,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.213867,0.074547,0.872199,0.999841,-0.000000,-0.000000,-0.017823
15,4,307200,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234970,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000066
15,4,307200,53,gripper,0,"","put hamburger on frying pan",-0.169614,0.042101,1.000366,-0.058172,-0.815869,-0.006580,0.575266
15,4,307200,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.139740,0.161713,0.891736,-0.486332,-0.375846,0.726304,-0.307739
15,4,307200,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.225018,-0.082397,0.888391,0.617235,0.368995,-0.579897,0.382862
15,4,307200,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.237022,0.047035,0.872199,0.999649,0.000000,-0.000001,-0.026472
15,4,307200,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.203453,-0.069984,0.870871,0.999987,0.000000,-0.000009,-0.005158
15,4,307200,54,gripper,0,"","put hamburger on frying pan",-0.207766,-0.065178,0.954149,0.193265,-0.778742,0.128324,0.582874
15,4,307200,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.077244,-0.057560,0.890533,0.154703,-0.017621,-0.018315,0.987634
15,4,307200,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.242805,0.009975,0.887026,0.345044,-0.626369,0.333691,0.614213
15,4,307200,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
15,4,307200,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075005,0.870870,1.000000,0.000000,-0.000000,0.000017
15,4,307200,55,gripper,0,"","put hamburger on frying pan",-0.200586,0.012724,0.950710,-0.039263,-0.724077,-0.040478,0.687411
15,4,307200,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.192795,-0.035393,0.896751,0.525882,-0.005298,0.020611,0.850292
15,4,307200,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.186546,0.089264,0.889539,0.535294,-0.470319,0.533820,0.455299
15,4,307200,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,0.000001,-0.000001,-0.000040
15,4,307200,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.218155,0.078613,0.870883,0.996814,0.000641,0.000760,0.079753
15,4,307200,56,gripper,0,"","put hamburger on cutting board",-0.208858,-0.035200,0.977106,-0.032346,-0.737849,-0.023889,0.673766
15,4,307200,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.090397,0.064362,0.888112,0.918555,-0.027222,0.004166,0.394333
15,4,307200,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.144306,0.240391,0.886091,-0.475537,0.022438,0.000350,-0.879409
15,4,307200,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
15,4,307200,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000053
15,4,307200,57,gripper,0,"","put hamburger on cutting board",-0.112799,0.203371,0.914749,0.093848,-0.755097,0.093230,0.642129
15,4,307200,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.237576,0.069897,0.888112,0.310621,-0.021115,-0.017681,0.950135
15,4,307200,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.163654,-0.030388,0.895590,-0.493872,0.522079,-0.488601,-0.494766
15,4,307200,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205463,-0.044125,0.872200,0.999918,-0.000025,-0.000011,0.012817
15,4,307200,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.073093,-0.126312,0.870870,0.996524,0.000000,-0.000000,0.083308
15,4,307200,58,gripper,0,"","put hamburger on cutting board",-0.181730,-0.026464,0.951092,-0.002687,-0.755022,0.009348,0.655628
15,4,307200,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.097357,-0.062279,0.890539,-0.099490,-0.011144,-0.022390,0.994724
15,4,307200,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.266287,-0.030487,0.887026,0.245571,-0.670551,0.232468,0.660315
15,4,307200,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083635,0.034378,0.872199,0.989690,-0.000001,-0.000001,-0.143227
15,4,307200,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114943,-0.075001,0.870870,1.000000,0.000000,0.000000,0.000030
15,4,307200,59,gripper,0,"","put hamburger on cutting board",-0.236776,-0.031916,0.974541,-0.206625,-0.694087,-0.191363,0.662518
15,4,307200,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.062009,0.062233,0.888260,0.190967,-0.002706,-0.022493,0.981335
15,4,307200,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.133775,-0.065231,0.885720,-0.722306,-0.016989,0.691280,-0.010838
15,4,307200,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234904,-0.075466,0.872199,0.999962,0.000000,-0.000001,-0.008741
15,4,307200,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.042097,-0.123466,0.870870,0.997399,0.000000,-0.000000,0.072079
15,4,307200,60,gripper,0,"","put plastic bottle on frying pan",-0.082372,0.058311,0.916087,0.010633,-0.810730,-0.048715,0.583292
15,4,307200,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.064484,-0.042202,0.892952,0.095071,-0.032375,0.994914,-0.007683
15,4,307200,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.076208,0.058762,0.886129,0.610529,0.369255,-0.597115,0.366551
15,4,307200,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.074997,0.872199,1.000000,-0.000001,-0.000001,0.000046
15,4,307200,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083305,-0.054699,0.870870,0.999664,-0.000000,-0.000001,-0.025907
15,4,307200,61,gripper,0,"","put plastic bottle on frying pan",-0.132316,0.084259,0.915023,0.248839,-0.707054,0.185805,0.635319
15,4,307200,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084576,0.045311,0.888112,0.930086,-0.027086,0.004992,0.366309
15,4,307200,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.176891,0.054199,0.885753,-0.599554,-0.399356,0.548890,-0.423993
15,4,307200,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
15,4,307200,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
15,4,307200,62,gripper,0,"","put plastic bottle on frying pan",-0.147633,0.096313,0.913546,-0.017385,-0.848796,-0.028840,0.527647
15,4,307200,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.131428,0.134964,0.892137,-0.569215,-0.820998,-0.016252,-0.041139
15,4,307200,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.228558,0.173248,0.885704,-0.370084,-0.594765,0.341383,-0.626698
15,4,307200,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.201660,0.045975,0.872199,0.999114,-0.000001,-0.000000,-0.042091
15,4,307200,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000058
15,4,307200,63,gripper,0,"","put plastic bottle on frying pan",-0.189043,0.080444,1.008944,0.061487,-0.798454,0.002251,0.598903
16,1,312320,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.187080,0.001259,0.880003,-0.099014,0.527942,-0.838866,-0.088190
16,1,312320,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.063164,-0.067169,0.881638,0.985354,0.002111,-0.039299,0.165919
16,1,312320,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000001,-0.000001,-0.000053
16,1,312320,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000451,-0.001265,0.000106
16,1,312320,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.151436,-0.000149,1.001977,0.208913,-0.873289,0.008081,0.440065
16,1,312320,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.077374,0.072998,0.885085,-0.615662,-0.331987,0.322821,-0.637598
16,1,312320,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084217,-0.075539,0.884082,0.708559,0.053868,-0.003084,0.703586
16,1,312320,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115120,0.045074,0.869532,0.999998,0.000000,-0.000001,0.002099
16,1,312320,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205006,-0.045006,0.871288,0.999999,-0.000155,-0.001020,-0.000029
16,1,312320,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.129860,0.061153,1.090492,-0.019155,-0.786272,-0.001500,0.617582
16,1,312320,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085354,-0.064011,0.885083,0.556289,0.359001,-0.291393,0.690471
16,1,312320,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081825,0.073029,0.881638,0.675557,0.025819,-0.029722,0.736256
16,1,312320,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085007,-0.075020,0.869532,1.000000,-0.000000,-0.000002,0.000248
16,1,312320,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
16,1,312320,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.143404,-0.047340,1.065668,0.043438,-0.771501,0.036695,0.633682
16,1,312320,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.095251,-0.154564,0.879089,-0.347910,-0.425261,0.183260,-0.815185
16,1,312320,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.052113,-0.088013,0.881638,-0.035528,0.039227,-0.003054,0.998594
16,1,312320,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000011
16,1,312320,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114998,0.044998,0.871288,0.999999,-0.000154,-0.001020,0.000019
16,1,312320,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.111279,-0.096470,0.939590,0.061827,-0.905037,0.021526,0.420263
16,1,312320,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.117400,-0.048080,0.885083,0.750572,0.244751,-0.392340,0.472025
16,1,312320,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205752,0.074440,0.881638,0.923232,0.010854,-0.037836,0.382221
16,1,312320,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114956,-0.075020,0.869532,1.000000,0.000000,-0.000000,-0.000298
16,1,312320,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,-0.044960,0.871288,0.999999,-0.000154,-0.001020,0.000058
16,1,312320,4,gripper,0,"","put ketchup bottle on cloth",-0.123091,0.021439,1.042444,0.112362,-0.725863,0.190594,0.651285
16,1,312320,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.210249,0.062607,0.879089,0.881521,-0.049756,-0.460385,-0.092147
16,1,312320,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085943,0.045120,0.881638,0.999225,-0.004448,-0.039116,-0.000101
16,1,312320,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000006
16,1,312320,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114992,-0.074997,0.871289,0.999999,-0.000158,-0.001019,-0.000020
16,1,312320,5,gripper,0,"","put ketchup bottle on cloth",-0.209630,0.085445,0.951387,0.096249,-0.742413,0.109494,0.653889
16,1,312320,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078110,-0.081787,0.879088,0.338842,0.427268,-0.178530,0.818996
16,1,312320,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.210316,-0.088692,0.975791,0.504534,-0.423424,-0.462467,0.593533
16,1,312320,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000000,0.000015
16,1,312320,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
16,1,312320,6,gripper,0,"","put ketchup bottle on cloth",-0.231937,-0.085194,1.019339,-0.056128,-0.802022,0.009688,0.594573
16,1,312320,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.288578,-0.024216,0.879213,-0.278294,0.015123,0.960371,0.003438
16,1,312320,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205975,-0.074875,0.881638,0.999226,-0.004457,-0.039081,-0.000298
16,1,312320,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
16,1,312320,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000169
16,1,312320,7,gripper,0,"","put ketchup bottle on cloth",-0.294815,-0.064610,0.918925,0.208325,-0.656094,0.450895,0.568186
16,1,312320,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078033,-0.081894,0.879089,0.338645,0.427293,-0.178416,0.819090
16,1,312320,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.229851,0.080822,0.881638,0.425324,0.033480,-0.020665,0.904185
16,1,312320,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000037
16,1,312320,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001020,-0.000027
16,1,312320,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.224277,0.063736,0.962235,0.089330,-0.769109,-0.138103,0.617591
16,1,312320,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.121693,0.068153,0.879089,0.816538,0.178608,-0.427229,0.344732
16,1,312320,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.200962,0.057423,0.887460,0.796175,0.042394,-0.060009,0.600589
16,1,312320,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235050,0.044834,0.869531,0.999997,0.000000,-0.000002,0.002375
16,1,312320,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
16,1,312320,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.226410,0.093458,1.076470,0.143919,-0.722064,0.145404,0.660884
16,1,312320,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.211880,-0.081821,0.879088,0.817997,0.176789,-0.427991,0.341249
16,1,312320,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.237930,0.036152,0.881637,0.907967,0.012282,-0.037378,0.417191
16,1,312320,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
16,1,312320,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
16,1,312320,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.207989,0.027708,0.995108,-0.064326,-0.717583,-0.086791,0.688043
16,1,312320,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244768,-0.074982,0.879087,0.886585,-0.001599,-0.462562,0.000125
16,1,312320,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.188358,0.103611,0.885759,0.776920,0.026990,-0.023322,0.628588
16,1,312320,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234995,0.074993,0.869532,1.000000,-0.000000,-0.000002,-0.000218
16,1,312320,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114979,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000022
16,1,312320,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.129111,0.109638,0.971320,0.110311,-0.737013,0.080381,0.661954
16,1,312320,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085015,-0.084702,0.879088,0.626263,0.326532,-0.328347,0.627184
16,1,312320,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.203537,-0.038979,0.889879,0.682454,0.024847,-0.039040,0.729462
16,1,312320,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.101503,-0.011337,0.869532,0.917604,-0.001426,-0.000618,0.397493
16,1,312320,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205015,-0.074986,0.871282,0.999999,-0.000452,-0.001266,-0.000002
16,1,312320,12,gripper,0,"","put kitchen shovel on cloth",-0.211639,0.003574,0.985242,-0.046228,-0.776980,-0.054778,0.625431
16,1,312320,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.194391,0.125530,0.879212,-0.260834,-0.331874,0.901337,-0.097045
16,1,312320,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235113,-0.075947,0.881638,0.706642,0.024493,-0.030785,0.706477
16,1,312320,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115475,-0.050743,0.869532,0.999686,0.000000,-0.000001,-0.025060
16,1,312320,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.066326,0.076954,0.871288,0.989387,-0.000008,-0.001032,0.145299
16,1,312320,13,gripper,0,"","put kitchen shovel on cloth",-0.216328,0.010839,0.983698,0.046090,-0.712334,-0.035055,0.699448
16,1,312320,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244740,0.075008,0.879088,0.886321,-0.001239,-0.463068,0.000734
16,1,312320,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.070778,-0.031677,0.883844,0.997083,0.028195,-0.045599,-0.054317
16,1,312320,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000016
16,1,312320,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.071148,0.078121,0.871211,0.997661,-0.003617,-0.004385,0.068115
16,1,312320,14,gripper,0,"","put kitchen shovel on cloth",-0.105633,-0.039061,0.918947,-0.101665,-0.849234,-0.133956,0.500521
16,1,312320,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.229477,-0.005306,0.885085,0.576873,0.350501,-0.302625,0.672893
16,1,312320,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084404,0.044239,0.881638,0.382586,0.034397,-0.019069,0.923082
16,1,312320,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234997,-0.044998,0.869532,1.000000,0.000000,-0.000002,-0.000089
16,1,312320,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,0.075012,0.871282,0.999999,-0.000452,-0.001266,0.000020
16,1,312320,15,gripper,0,"","put kitchen shovel on cloth",-0.256281,0.004322,0.939118,-0.003534,-0.763677,0.051804,0.643507
16,1,312320,16,obj,0,"003_bread_1","put bread on newspaper",-0.085533,-0.074890,0.883544,0.999916,0.001791,-0.012535,-0.002772
16,1,312320,16,obj,1,"005_7up can_1","put bread on newspaper",-0.059418,0.099831,0.885849,0.686238,0.074739,0.720380,-0.067409
16,1,312320,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.044998,0.869490,1.000000,0.000180,0.000875,-0.000144
16,1,312320,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075001,0.870367,0.999997,0.000177,-0.001144,0.002090
16,1,312320,16,gripper,0,"","put bread on newspaper",-0.074783,0.057280,0.963833,0.206130,-0.801180,0.073123,0.557022
16,1,312320,17,obj,0,"003_bread_1","put bread on newspaper",-0.198963,-0.048405,0.886406,0.994635,0.003913,-0.009575,0.102929
16,1,312320,17,obj,1,"005_7up can_1","put bread on newspaper",-0.128372,-0.045444,0.885687,0.915122,0.000681,-0.403142,-0.005207
16,1,312320,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
16,1,312320,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235027,-0.074989,0.870448,0.999999,-0.000779,-0.000722,0.000181
16,1,312320,17,gripper,0,"","put bread on newspaper",-0.125252,-0.038935,0.958112,-0.007600,-0.742437,0.005122,0.669853
16,1,312320,18,obj,0,"003_bread_1","put bread on newspaper",-0.076511,-0.038345,0.883544,0.987592,0.003765,-0.012085,0.156530
16,1,312320,18,obj,1,"005_7up can_1","put bread on newspaper",-0.185680,0.062927,0.887733,0.940280,0.044586,-0.084555,0.326706
16,1,312320,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205006,0.075016,0.869490,0.999999,0.000550,0.001429,-0.000045
16,1,312320,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
16,1,312320,18,gripper,0,"","put bread on newspaper",-0.122356,-0.078011,0.970203,0.040713,-0.795936,0.150653,0.584920
16,1,312320,19,obj,0,"003_bread_1","put bread on newspaper",-0.153713,-0.034729,0.976947,0.939805,0.008207,0.014415,0.341307
16,1,312320,19,obj,1,"005_7up can_1","put bread on newspaper",-0.240484,-0.080261,0.885627,0.898414,0.084227,-0.217236,0.372246
16,1,312320,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
16,1,312320,19,recep,1,"003_carpet_1","put bread on newspaper",-0.114988,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000037
16,1,312320,19,gripper,0,"","put bread on newspaper",-0.163651,-0.035612,1.012960,-0.018681,-0.786037,-0.023972,0.617432
16,1,312320,20,obj,0,"003_bread_1","put bread on carpet",-0.201079,0.017731,0.885638,0.994856,0.069313,0.003226,0.073805
16,1,312320,20,obj,1,"005_7up can_1","put bread on carpet",-0.124333,-0.074833,0.885636,0.958608,-0.005133,-0.284681,0.000966
16,1,312320,20,recep,0,"004_newspaper_1","put bread on carpet",-0.205001,0.075008,0.869490,0.999999,0.000549,0.001426,-0.000079
16,1,312320,20,recep,1,"003_carpet_1","put bread on carpet",-0.234974,-0.045120,0.870460,0.999999,0.000019,-0.000158,-0.001049
16,1,312320,20,gripper,0,"","put bread on carpet",-0.102912,-0.017929,1.060462,0.045926,-0.843178,0.015373,0.535448
16,1,312320,21,obj,0,"003_bread_1","put bread on carpet",-0.092886,-0.074200,0.994224,0.690002,-0.049452,-0.040612,0.720973
16,1,312320,21,obj,1,"005_7up can_1","put bread on carpet",-0.069777,-0.076595,0.888829,0.381774,0.621869,-0.515604,0.449089
16,1,312320,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
16,1,312320,21,recep,1,"003_carpet_1","put bread on carpet",-0.085001,-0.074963,0.870461,1.000000,0.000017,-0.000158,-0.000113
16,1,312320,21,gripper,0,"","put bread on carpet",-0.112286,-0.073210,1.037316,-0.106548,-0.747669,-0.043056,0.654053
16,1,312320,22,obj,0,"003_bread_1","put bread on carpet",-0.095650,-0.078091,0.886680,0.958739,0.006301,-0.008839,0.284079
16,1,312320,22,obj,1,"005_7up can_1","put bread on carpet",-0.122608,0.045181,0.885626,0.972476,-0.005059,-0.232947,0.001179
16,1,312320,22,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
16,1,312320,22,recep,1,"003_carpet_1","put bread on carpet",-0.084972,-0.074989,0.870448,0.999999,-0.000923,-0.000845,-0.000034
16,1,312320,22,gripper,0,"","put bread on carpet",-0.164101,-0.008698,1.002755,-0.034562,-0.784241,-0.041899,0.618074
16,1,312320,23,obj,0,"003_bread_1","put bread on carpet",-0.174908,-0.007523,0.883643,0.499425,0.018138,-0.007475,0.866135
16,1,312320,23,obj,1,"005_7up can_1","put bread on carpet",-0.205173,0.065632,0.885636,0.676790,0.197780,-0.204821,0.678886
16,1,312320,23,recep,0,"004_newspaper_1","put bread on carpet",-0.233631,-0.044399,0.869490,0.999983,0.000184,0.000872,-0.005748
16,1,312320,23,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
16,1,312320,23,gripper,0,"","put bread on carpet",-0.196342,0.005903,0.945964,0.055586,-0.823841,0.033720,0.563079
16,1,312320,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.204483,-0.075499,0.883544,0.383563,0.012266,-0.003122,0.923428
16,1,312320,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.116211,-0.022091,0.887009,0.605371,-0.166298,0.166245,0.760417
16,1,312320,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
16,1,312320,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084984,-0.074986,0.870447,0.999999,-0.000923,-0.000845,-0.000114
16,1,312320,24,gripper,0,"","put 7up can on newspaper",-0.096355,-0.035603,0.971908,-0.072088,-0.790197,-0.037423,0.607446
16,1,312320,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,-0.045515,0.883544,0.924472,0.006457,-0.010886,0.381041
16,1,312320,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.208927,0.003056,0.951479,0.654999,-0.218313,0.305503,0.655732
16,1,312320,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
16,1,312320,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.075018,0.870447,0.999999,-0.000922,-0.000845,-0.000021
16,1,312320,25,gripper,0,"","put 7up can on newspaper",-0.202396,0.000848,0.992209,0.034527,-0.752516,0.001519,0.657666
16,1,312320,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.192322,0.071392,0.884532,0.706646,0.029023,0.016557,0.706778
16,1,312320,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.085163,-0.084333,0.885636,0.677162,0.197655,-0.204913,0.678524
16,1,312320,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235073,0.045017,0.869490,1.000000,0.000179,0.000873,0.000238
16,1,312320,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
16,1,312320,26,gripper,0,"","put 7up can on newspaper",-0.090086,-0.093484,0.987641,0.090669,-0.744176,0.079669,0.656989
16,1,312320,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.235130,0.074453,0.883544,0.709166,0.010117,-0.007605,0.704928
16,1,312320,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.161903,-0.011656,0.886898,0.596165,0.326166,-0.243620,0.691991
16,1,312320,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204971,-0.045015,0.869490,1.000000,0.000191,0.000891,0.000008
16,1,312320,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
16,1,312320,27,gripper,0,"","put 7up can on newspaper",-0.155796,0.005927,1.082855,-0.005511,-0.758795,0.017570,0.651069
16,1,312320,28,obj,0,"003_bread_1","put 7up can on carpet",-0.084760,-0.077091,0.883917,0.694054,0.026079,-0.014303,0.719308
16,1,312320,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.230456,-0.195875,0.885733,0.727591,-0.265307,0.398306,0.491504
16,1,312320,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
16,1,312320,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.205277,-0.045313,0.870447,0.999998,-0.000854,-0.000788,0.001341
16,1,312320,28,gripper,0,"","put 7up can on carpet",-0.091151,-0.071921,0.939586,0.141182,-0.764792,0.139567,0.612928
16,1,312320,29,obj,0,"003_bread_1","put 7up can on carpet",-0.075945,0.088690,0.886505,0.759441,0.011328,-0.005627,0.650453
16,1,312320,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.085171,-0.082602,0.885626,0.686792,0.161149,-0.168298,0.688494
16,1,312320,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
16,1,312320,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.085157,0.075262,0.870347,0.999999,-0.000187,-0.001570,-0.000629
16,1,312320,29,gripper,0,"","put 7up can on carpet",-0.119137,0.033572,1.036763,0.117460,-0.741280,-0.046527,0.659198
16,1,312320,30,obj,0,"003_bread_1","put 7up can on carpet",-0.234486,-0.075497,0.883544,0.383807,0.012270,-0.003115,0.923327
16,1,312320,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.077888,0.069672,0.885636,0.334912,0.264800,-0.104516,0.898216
16,1,312320,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114994,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000049
16,1,312320,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
16,1,312320,30,gripper,0,"","put 7up can on carpet",-0.087463,0.045474,0.942018,-0.245458,-0.751635,-0.309340,0.528303
16,1,312320,31,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,0.045128,0.883544,0.999915,0.001782,-0.012529,-0.002974
16,1,312320,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.022579,0.070782,0.885757,-0.783681,0.040576,0.618340,0.043050
16,1,312320,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
16,1,312320,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
16,1,312320,31,gripper,0,"","put 7up can on carpet",-0.031792,0.070563,0.977754,-0.031505,-0.782245,-0.033093,0.621293
16,1,312320,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240311,-0.079981,0.887339,0.994461,-0.001410,0.036191,-0.098664
16,1,312320,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.205017,0.074515,0.878547,0.999909,0.013351,0.002065,0.000576
16,1,312320,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
16,1,312320,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
16,1,312320,32,gripper,0,"","put carrot on sheet metal",-0.211559,-0.057001,0.960078,-0.165002,-0.682501,-0.118560,0.702075
16,1,312320,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208286,-0.047922,0.887531,0.358215,-0.015704,0.009629,0.933457
16,1,312320,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
16,1,312320,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
16,1,312320,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000000
16,1,312320,33,gripper,0,"","put carrot on sheet metal",-0.191481,-0.039570,0.989100,-0.019738,-0.750887,-0.028038,0.659540
16,1,312320,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207291,-0.045514,0.887423,0.741120,-0.020902,0.026375,0.670528
16,1,312320,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,0.075006,0.878547,0.706837,0.007987,0.010899,0.707247
16,1,312320,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
16,1,312320,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
16,1,312320,34,gripper,0,"","put carrot on sheet metal",-0.202999,-0.046904,0.985170,-0.035390,-0.704626,-0.060524,0.706107
16,1,312320,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088026,-0.071455,0.887291,0.911665,-0.014803,0.020677,0.410146
16,1,312320,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204672,-0.045309,0.878547,0.923637,0.011492,0.006983,0.383033
16,1,312320,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
16,1,312320,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
16,1,312320,35,gripper,0,"","put carrot on sheet metal",-0.077239,-0.017004,1.040841,0.073928,-0.757990,0.103908,0.639678
16,1,312320,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209016,-0.077836,0.887465,0.352486,-0.038694,0.012770,0.934930
16,1,312320,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,-0.074682,0.878548,0.382196,0.003187,0.013066,0.923984
16,1,312320,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000158,0.001164,-0.000016
16,1,312320,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
16,1,312320,36,gripper,0,"","put carrot on flat bowl",-0.162022,-0.058566,0.963477,0.085951,-0.720715,0.061044,0.685169
16,1,312320,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118498,-0.076960,0.887500,0.358683,-0.038982,0.015843,0.932510
16,1,312320,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,0.045315,0.878547,0.382218,0.003182,0.013052,0.923975
16,1,312320,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
16,1,312320,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000001,-0.000000
16,1,312320,37,gripper,0,"","put carrot on flat bowl",-0.082900,-0.034287,1.013639,0.209036,-0.791847,0.196034,0.539307
16,1,312320,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.116940,0.043920,0.887497,0.740198,-0.014694,0.018430,0.671975
16,1,312320,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204563,-0.044995,0.878546,0.706797,0.007936,0.010836,0.707289
16,1,312320,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
16,1,312320,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
16,1,312320,38,gripper,0,"","put carrot on flat bowl",-0.067797,0.055997,0.988518,0.315783,-0.754331,0.146529,0.556592
16,1,312320,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.193829,-0.049914,0.960459,0.986352,-0.146106,-0.061913,-0.043934
16,1,312320,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204994,0.044556,0.878547,0.999910,0.013292,0.002053,0.000284
16,1,312320,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
16,1,312320,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114540,-0.045400,0.874363,0.999816,-0.000000,0.000000,-0.019186
16,1,312320,39,gripper,0,"","put carrot on flat bowl",-0.190552,-0.046281,1.013839,0.006893,-0.760063,0.031573,0.649045
16,1,312320,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203201,0.076443,0.887528,0.999039,-0.000316,0.043218,0.007301
16,1,312320,40,obj,1,"013_banana_1","put banana on sheet metal",-0.114998,-0.045435,0.878547,0.999910,0.013288,0.002051,0.000119
16,1,312320,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000025
16,1,312320,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000062
16,1,312320,40,gripper,0,"","put banana on sheet metal",-0.047768,0.135248,1.016801,0.134278,-0.790251,0.128396,0.583941
16,1,312320,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087662,-0.046989,0.887230,0.348211,-0.019359,0.000892,0.937216
16,1,312320,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,0.045332,0.878547,0.382448,0.003184,0.013045,0.923880
16,1,312320,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
16,1,312320,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000156
16,1,312320,41,gripper,0,"","put banana on sheet metal",-0.209919,0.065272,0.978193,0.006038,-0.737116,-0.000791,0.675739
16,1,312320,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203415,0.075573,0.887529,0.999053,-0.000214,0.043220,0.004929
16,1,312320,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234982,-0.075441,0.878546,0.999910,0.013260,0.002049,0.000208
16,1,312320,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
16,1,312320,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
16,1,312320,42,gripper,0,"","put banana on sheet metal",-0.131582,-0.020811,1.028173,-0.273800,-0.743877,-0.143742,0.592468
16,1,312320,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086958,0.074533,0.887552,0.740227,-0.022949,0.022209,0.671598
16,1,312320,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114555,-0.044985,0.878547,0.707069,0.007954,0.010848,0.707017
16,1,312320,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
16,1,312320,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000104
16,1,312320,43,gripper,0,"","put banana on sheet metal",-0.074875,-0.023806,1.004862,-0.017176,-0.746628,0.008912,0.664960
16,1,312320,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087096,0.077045,0.887246,0.910573,-0.002045,0.017010,0.412993
16,1,312320,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
16,1,312320,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.044996,0.871344,0.999999,-0.000158,0.001165,-0.000005
16,1,312320,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000001,0.000000
16,1,312320,44,gripper,0,"","put banana on flat bowl",-0.065971,-0.031630,0.986293,-0.169960,-0.781061,-0.100869,0.592354
16,1,312320,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203354,0.076317,0.887529,0.998914,-0.000752,0.043216,0.017418
16,1,312320,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084980,0.074562,0.878547,0.999910,0.013293,0.002048,0.000117
16,1,312320,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000011
16,1,312320,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
16,1,312320,45,gripper,0,"","put banana on flat bowl",-0.037131,0.073415,1.045013,0.222525,-0.806433,0.163979,0.522743
16,1,312320,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
16,1,312320,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
16,1,312320,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
16,1,312320,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
16,1,312320,46,gripper,0,"","put banana on flat bowl",-0.037176,0.105908,1.001415,0.196045,-0.769935,0.143989,0.589944
16,1,312320,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204216,0.076744,0.887528,0.919597,-0.016893,0.039783,0.390478
16,1,312320,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
16,1,312320,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
16,1,312320,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
16,1,312320,47,gripper,0,"","put banana on flat bowl",-0.048147,0.084062,1.005646,-0.005178,-0.797862,-0.070708,0.598657
16,1,312320,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.196350,0.072365,0.895449,0.596065,-0.127252,-0.086496,0.788056
16,1,312320,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.255905,-0.024895,0.887026,0.269334,-0.661692,0.256611,0.650979
16,1,312320,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000005
16,1,312320,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
16,1,312320,48,gripper,0,"","put hamburger on frying pan",-0.175411,0.039928,1.096586,0.144199,-0.796511,0.215180,0.546329
16,1,312320,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085217,0.046116,0.888112,0.925575,-0.027144,0.004664,0.377561
16,1,312320,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.213806,-0.023163,0.887026,0.650973,-0.285924,0.649561,0.269355
16,1,312320,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
16,1,312320,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870858,1.000000,0.000460,0.000698,-0.000060
16,1,312320,49,gripper,0,"","put hamburger on frying pan",-0.201559,0.010006,0.960896,-0.112335,-0.756807,-0.038157,0.642782
16,1,312320,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.201313,-0.073757,0.888112,0.244893,-0.019851,-0.019089,0.969159
16,1,312320,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106525,-0.055012,0.887026,0.266457,-0.662820,0.253689,0.652159
16,1,312320,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
16,1,312320,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
16,1,312320,50,gripper,0,"","put hamburger on frying pan",-0.191572,-0.053043,0.960313,-0.031742,-0.790671,0.045889,0.609693
16,1,312320,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.104460,-0.031033,0.888131,0.991512,-0.017238,0.019321,-0.127408
16,1,312320,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055590,0.075806,0.887027,0.704495,-0.016859,0.709508,0.001001
16,1,312320,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
16,1,312320,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
16,1,312320,51,gripper,0,"","put hamburger on frying pan",-0.097441,-0.027161,0.953635,0.141942,-0.793454,0.054261,0.589355
16,1,312320,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.091014,0.190411,0.891736,-0.323492,-0.634094,0.516458,-0.475971
16,1,312320,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.118849,-0.023159,0.887066,0.136777,-0.679924,0.122488,0.709924
16,1,312320,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
16,1,312320,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.047822,0.126686,0.870871,0.964610,-0.000000,-0.000001,0.263680
16,1,312320,52,gripper,0,"","put hamburger on cutting board",-0.164850,-0.025688,0.932267,0.328958,-0.764237,0.113094,0.543083
16,1,312320,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
16,1,312320,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256369,0.094902,0.887027,0.266344,-0.662863,0.253574,0.652207
16,1,312320,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
16,1,312320,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
16,1,312320,53,gripper,0,"","put hamburger on cutting board",-0.187529,-0.088552,0.981854,-0.046721,-0.694116,-0.018778,0.718100
16,1,312320,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.114388,0.045956,0.888112,0.999590,-0.023259,0.014751,-0.007793
16,1,312320,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.061077,-0.074726,0.887820,0.805646,-0.006435,0.592291,0.009210
16,1,312320,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
16,1,312320,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
16,1,312320,54,gripper,0,"","put hamburger on cutting board",-0.082962,-0.035658,0.943891,0.053890,-0.791318,0.034524,0.608046
16,1,312320,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
16,1,312320,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.193439,-0.013824,0.984404,0.736132,-0.010967,0.199390,0.646710
16,1,312320,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
16,1,312320,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
16,1,312320,55,gripper,0,"","put hamburger on cutting board",-0.222046,-0.007841,1.018186,0.053083,-0.721096,0.050573,0.688945
16,1,312320,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206070,0.074787,0.888112,0.402357,-0.022752,-0.015531,0.915068
16,1,312320,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.148300,-0.061531,0.887026,0.226298,-0.677022,0.212905,0.667160
16,1,312320,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236076,-0.044521,0.872199,0.999999,-0.000000,-0.000001,-0.001203
16,1,312320,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
16,1,312320,56,gripper,0,"","put plastic bottle on frying pan",-0.133503,-0.058752,0.958167,-0.105376,-0.713980,-0.153916,0.674861
16,1,312320,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205242,0.076138,0.888112,0.925390,-0.027146,0.004646,0.378015
16,1,312320,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.214317,-0.028976,0.887068,0.668059,-0.274992,0.631039,0.282607
16,1,312320,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
16,1,312320,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.111641,-0.087482,0.870870,0.998111,0.000000,-0.000001,-0.061433
16,1,312320,57,gripper,0,"","put plastic bottle on frying pan",-0.201920,-0.022724,0.948066,0.164809,-0.751782,0.114200,0.628188
16,1,312320,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
16,1,312320,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.241215,-0.078468,0.887027,0.444156,-0.560745,0.435023,0.546851
16,1,312320,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
16,1,312320,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000011
16,1,312320,58,gripper,0,"","put plastic bottle on frying pan",-0.202164,-0.063643,0.998439,0.027353,-0.734864,0.065740,0.674466
16,1,312320,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085196,0.076088,0.888112,0.935301,-0.027012,0.005383,0.352780
16,1,312320,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.180719,-0.046471,0.888179,0.619523,-0.249325,0.715466,0.205272
16,1,312320,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.082872,-0.075047,0.872199,0.999942,-0.000000,-0.000001,-0.010782
16,1,312320,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234976,0.045113,0.870876,1.000000,0.000346,0.000353,0.000336
16,1,312320,59,gripper,0,"","put plastic bottle on frying pan",-0.176229,-0.026632,0.948679,-0.001484,-0.762204,-0.035059,0.646385
16,1,312320,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085224,0.046089,0.888112,0.926089,-0.027136,0.004700,0.376298
16,1,312320,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.158838,0.094593,0.887025,0.639933,-0.311418,0.637504,0.295116
16,1,312320,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
16,1,312320,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234994,-0.045002,0.870862,1.000000,0.000074,-0.000001,0.000007
16,1,312320,60,gripper,0,"","put plastic bottle on cutting board",-0.153162,0.107813,0.951934,0.195151,-0.709006,0.042772,0.676311
16,1,312320,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.198380,0.017200,0.949051,0.830183,0.016965,-0.081195,0.551286
16,1,312320,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.095055,0.096493,0.887026,0.649712,-0.288944,0.648225,0.272379
16,1,312320,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000010
16,1,312320,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
16,1,312320,61,gripper,0,"","put plastic bottle on cutting board",-0.198803,0.016853,0.993530,-0.018361,-0.748827,-0.066607,0.659154
16,1,312320,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235958,-0.074394,0.888112,0.713418,-0.026890,-0.005974,0.700197
16,1,312320,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.114815,-0.014301,0.887026,0.469285,-0.539754,0.460817,0.525438
16,1,312320,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
16,1,312320,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
16,1,312320,62,gripper,0,"","put plastic bottle on cutting board",-0.118956,-0.005219,0.945303,-0.100262,-0.813847,-0.104779,0.562692
16,1,312320,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085972,-0.044373,0.888112,0.712159,-0.026874,-0.006023,0.701478
16,1,312320,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.210560,0.115978,0.887608,0.510991,-0.478618,0.420061,0.577375
16,1,312320,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000021
16,1,312320,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
16,1,312320,63,gripper,0,"","put plastic bottle on cutting board",-0.189417,0.126535,0.943296,0.042034,-0.777979,0.062626,0.623747
16,2,317440,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.187080,0.001259,0.880004,-0.098819,0.527992,-0.838869,-0.088080
16,2,317440,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.045601,-0.064880,0.881638,0.966237,0.005661,-0.038929,0.254633
16,2,317440,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.044998,0.869532,1.000000,0.000001,-0.000001,-0.000301
16,2,317440,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000177
16,2,317440,0,gripper,0,"","put ketchup bottle on cloth",-0.125828,-0.034134,1.017596,-0.077797,-0.909602,0.067624,0.402492
16,2,317440,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.077374,0.073006,0.885085,-0.615354,-0.332132,0.322643,-0.637910
16,2,317440,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084221,-0.075600,0.884082,0.709918,0.053870,-0.003179,0.702214
16,2,317440,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115120,0.045074,0.869532,0.999997,-0.000000,-0.000001,0.002247
16,2,317440,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205006,-0.045006,0.871288,1.000000,-0.000156,-0.001020,-0.000050
16,2,317440,1,gripper,0,"","put ketchup bottle on cloth",-0.140457,0.061550,1.011172,0.135448,-0.795757,0.151113,0.570604
16,2,317440,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085350,-0.064148,0.885084,0.556345,0.359451,-0.291908,0.689974
16,2,317440,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081825,0.073021,0.881638,0.675665,0.025806,-0.029718,0.736158
16,2,317440,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085007,-0.075020,0.869532,1.000000,-0.000001,-0.000002,0.000262
16,2,317440,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,-0.074989,0.871282,0.999999,-0.000449,-0.001263,0.000013
16,2,317440,2,gripper,0,"","put ketchup bottle on cloth",-0.068478,0.090977,0.988950,-0.002255,-0.796100,-0.044479,0.603524
16,2,317440,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.131933,-0.055908,0.879729,0.396056,0.570655,-0.620486,0.363990
16,2,317440,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.052118,-0.088013,0.881638,-0.035720,0.039255,-0.003044,0.998586
16,2,317440,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235003,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000012
16,2,317440,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.115000,0.044998,0.871288,0.999999,-0.000154,-0.001019,0.000039
16,2,317440,3,gripper,0,"","put ketchup bottle on cloth",-0.152893,0.012436,0.997206,0.072894,-0.881002,0.095778,0.457546
16,2,317440,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.117402,-0.048080,0.885085,0.750351,0.245093,-0.392878,0.471752
16,2,317440,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.109259,0.001564,0.874809,-0.032008,0.559903,-0.821837,-0.100335
16,2,317440,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114956,-0.075020,0.869532,1.000000,0.000000,0.000000,-0.000420
16,2,317440,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235010,-0.044960,0.871288,0.999999,-0.000153,-0.001020,0.000058
16,2,317440,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.162766,0.059799,0.939696,-0.058807,-0.721956,-0.104534,0.681464
16,2,317440,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.153099,0.076462,0.879526,0.962476,-0.022908,0.249799,0.103515
16,2,317440,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085941,0.045120,0.881638,0.999225,-0.004445,-0.039117,-0.000019
16,2,317440,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000007
16,2,317440,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,-0.074997,0.871288,0.999999,-0.000154,-0.001020,-0.000028
16,2,317440,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.159660,0.069702,0.933427,-0.038661,-0.748201,-0.018490,0.662086
16,2,317440,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.084957,0.006691,0.879116,0.050592,-0.858046,0.503950,0.085038
16,2,317440,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.138580,-0.008728,0.945138,0.670468,0.052457,-0.039689,0.739017
16,2,317440,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
16,2,317440,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000053
16,2,317440,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.154451,-0.015957,0.981182,0.027041,-0.769270,-0.091451,0.631766
16,2,317440,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.288578,-0.024216,0.879213,-0.278292,0.015123,0.960371,0.003438
16,2,317440,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.164497,-0.081070,0.881621,0.954577,0.004799,0.029849,-0.296427
16,2,317440,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084381,-0.075500,0.869532,0.999973,-0.004266,-0.005881,0.000758
16,2,317440,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000242
16,2,317440,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.178125,-0.063385,0.922682,0.011470,-0.721695,0.025364,0.691652
16,2,317440,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078033,-0.081894,0.879089,0.338623,0.427309,-0.178411,0.819092
16,2,317440,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.197556,0.048306,0.881638,0.234944,0.036967,-0.013516,0.971212
16,2,317440,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.189415,-0.072258,0.869532,0.998826,0.000000,-0.000001,-0.048434
16,2,317440,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000155,-0.001019,-0.000062
16,2,317440,8,gripper,0,"","put kitchen shovel on cloth",-0.203835,-0.007242,1.019242,-0.057115,-0.760567,-0.056999,0.644226
16,2,317440,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.116344,0.074593,0.879375,0.918899,0.038501,-0.079346,0.384508
16,2,317440,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.182961,0.026905,0.885785,0.697291,0.005679,0.003308,0.716758
16,2,317440,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235802,0.046894,0.869532,0.999989,0.000001,-0.000001,-0.004740
16,2,317440,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
16,2,317440,9,gripper,0,"","put kitchen shovel on cloth",-0.195852,0.034338,0.970678,-0.008232,-0.788230,-0.026829,0.614741
16,2,317440,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211884,-0.081818,0.879088,0.818004,0.176780,-0.427999,0.341227
16,2,317440,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.156452,0.086411,0.888204,0.867240,-0.046122,-0.004075,0.495732
16,2,317440,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
16,2,317440,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000158,-0.001019,0.000025
16,2,317440,10,gripper,0,"","put kitchen shovel on cloth",-0.198887,0.124884,0.968455,0.182595,-0.742047,0.198181,0.613799
16,2,317440,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244770,-0.074982,0.879087,0.886582,-0.001607,-0.462569,0.000112
16,2,317440,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.186144,0.063187,0.885759,0.622699,0.031462,-0.016990,0.781644
16,2,317440,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.233147,0.039303,0.869532,0.998737,-0.000001,-0.000001,0.050244
16,2,317440,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114973,-0.044994,0.871288,0.999999,-0.000153,-0.001019,-0.000041
16,2,317440,11,gripper,0,"","put kitchen shovel on cloth",-0.229078,0.049412,0.949842,-0.003439,-0.737805,-0.001785,0.675003
16,2,317440,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085015,-0.084702,0.879088,0.626264,0.326532,-0.328348,0.627182
16,2,317440,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.107669,0.007095,0.887373,0.670609,-0.039261,0.020386,0.740491
16,2,317440,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.101388,-0.011444,0.869532,0.915430,-0.000001,-0.000002,0.402478
16,2,317440,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.206868,-0.080059,0.871282,0.999480,-0.000410,-0.001279,0.032199
16,2,317440,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.130307,-0.004822,0.995320,-0.029363,-0.758853,-0.066747,0.647167
16,2,317440,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.097694,0.001335,0.885208,-0.161560,-0.780203,0.560201,-0.226620
16,2,317440,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235113,-0.075947,0.881638,0.706579,0.024516,-0.030801,0.706538
16,2,317440,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115458,-0.050770,0.869532,0.999696,0.000001,-0.000001,-0.024640
16,2,317440,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.066330,0.076954,0.871288,0.989372,-0.000004,-0.001031,0.145403
16,2,317440,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.211859,-0.003824,0.978334,-0.044567,-0.688516,-0.083770,0.718987
16,2,317440,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.236305,0.066109,0.879812,0.988861,-0.014766,0.110468,0.098654
16,2,317440,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.068794,-0.031967,0.883764,0.997437,0.033122,0.036694,-0.051732
16,2,317440,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000004
16,2,317440,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.071148,0.078121,0.871211,0.997664,-0.003619,-0.004385,0.068071
16,2,317440,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.244917,0.075115,0.922350,0.327490,-0.629548,0.364883,0.602727
16,2,317440,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.190701,0.045708,0.887464,-0.870324,-0.187638,-0.283849,0.356031
16,2,317440,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",0.215145,0.268780,0.004849,0.047873,0.502571,0.859403,0.080973
16,2,317440,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",0.047119,0.091190,0.000732,0.684578,0.000000,-0.000000,-0.728939
16,2,317440,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075012,0.871282,0.999999,-0.000452,-0.001266,0.000051
16,2,317440,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.303240,-0.082848,0.955085,0.022486,-0.719757,-0.040374,0.692686
16,2,317440,16,obj,0,"003_bread_1","put bread on carpet",-0.085495,-0.074799,0.883545,0.999911,0.001768,-0.012539,-0.004264
16,2,317440,16,obj,1,"005_7up can_1","put bread on carpet",-0.029488,0.118137,0.885949,0.345439,0.250347,0.898661,-0.102009
16,2,317440,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.044994,0.869490,1.000000,0.000180,0.000875,-0.000331
16,2,317440,16,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.074997,0.870447,0.999991,-0.000539,-0.000513,0.004043
16,2,317440,16,gripper,0,"","put bread on carpet",-0.078243,-0.068380,0.955566,-0.085366,-0.790568,-0.054418,0.603948
16,2,317440,17,obj,0,"003_bread_1","put bread on carpet",-0.198963,-0.048405,0.886407,0.994549,0.003946,-0.009534,0.103760
16,2,317440,17,obj,1,"005_7up can_1","put bread on carpet",-0.130600,-0.038250,0.885687,0.854183,0.147442,-0.375219,0.328395
16,2,317440,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
16,2,317440,17,recep,1,"003_carpet_1","put bread on carpet",-0.235027,-0.074993,0.870448,0.999999,-0.000779,-0.000722,0.000149
16,2,317440,17,gripper,0,"","put bread on carpet",-0.107014,-0.042021,0.997612,0.150414,-0.792716,0.030313,0.589965
16,2,317440,18,obj,0,"003_bread_1","put bread on carpet",-0.066418,0.066814,0.886461,0.962192,0.008007,-0.007915,0.272139
16,2,317440,18,obj,1,"005_7up can_1","put bread on carpet",-0.185696,0.062916,0.887733,0.940437,0.044570,-0.084616,0.326238
16,2,317440,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205017,0.075008,0.869490,0.999999,0.000551,0.001428,-0.000830
16,2,317440,18,recep,1,"003_carpet_1","put bread on carpet",-0.085011,0.075043,0.870461,1.000000,0.000018,-0.000158,-0.000174
16,2,317440,18,gripper,0,"","put bread on carpet",-0.164045,-0.080822,0.980735,0.058141,-0.755331,0.061531,0.649853
16,2,317440,19,obj,0,"003_bread_1","put bread on carpet",-0.154356,-0.021530,0.883544,0.946264,0.005770,-0.011271,0.323145
16,2,317440,19,obj,1,"005_7up can_1","put bread on carpet",0.002789,0.126682,0.885746,0.775955,0.144972,-0.579327,0.203120
16,2,317440,19,recep,0,"004_newspaper_1","put bread on carpet",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000005
16,2,317440,19,recep,1,"003_carpet_1","put bread on carpet",-0.115004,0.045029,0.870447,0.999999,-0.000923,-0.000844,-0.000249
16,2,317440,19,gripper,0,"","put bread on carpet",-0.205313,0.071505,0.979904,0.272787,-0.728269,0.201821,0.595382
16,2,317440,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.201079,0.017731,0.885638,0.994856,0.069293,0.003231,0.073822
16,2,317440,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.134221,-0.043736,0.888118,0.702673,-0.023439,-0.708862,0.056708
16,2,317440,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205001,0.075008,0.869490,0.999999,0.000550,0.001425,-0.000079
16,2,317440,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234974,-0.045120,0.870460,0.999999,0.000019,-0.000158,-0.001049
16,2,317440,20,gripper,0,"","put 7up can on newspaper",-0.141596,-0.046192,0.941338,-0.007712,-0.751354,-0.016112,0.659657
16,2,317440,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.096292,-0.016209,0.883986,-0.155240,-0.874528,0.426579,0.170681
16,2,317440,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.068396,-0.082642,0.888867,0.258309,0.710481,-0.577888,0.307470
16,2,317440,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
16,2,317440,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085135,-0.074783,0.870448,0.999999,-0.000126,-0.000158,0.001163
16,2,317440,21,gripper,0,"","put 7up can on newspaper",-0.182760,-0.106974,0.943601,0.088532,-0.746548,0.108308,0.650459
16,2,317440,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.096447,-0.075226,0.886560,0.950280,0.006971,-0.009621,0.311170
16,2,317440,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.122280,0.047371,0.885636,0.958600,-0.004283,-0.284698,0.003823
16,2,317440,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
16,2,317440,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084957,-0.074936,0.870350,0.999998,-0.000461,-0.001808,-0.000775
16,2,317440,22,gripper,0,"","put 7up can on newspaper",-0.145718,0.054098,0.948942,0.021482,-0.763605,0.018575,0.645058
16,2,317440,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.173996,-0.006794,0.883544,0.514019,0.011673,-0.004875,0.857686
16,2,317440,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242134,0.149349,0.885948,-0.227316,0.732637,-0.577505,-0.279388
16,2,317440,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.233818,-0.044319,0.869490,0.999991,0.000184,0.000873,-0.004187
16,2,317440,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
16,2,317440,23,gripper,0,"","put 7up can on newspaper",-0.150206,0.009214,1.022771,-0.004176,-0.736671,-0.016510,0.676037
16,2,317440,24,obj,0,"003_bread_1","put 7up can on carpet",-0.235344,0.078032,0.883544,-0.445326,-0.012041,0.003942,-0.895279
16,2,317440,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.106331,-0.010326,0.885831,0.540324,-0.456499,0.515798,0.483332
16,2,317440,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000038
16,2,317440,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.078781,-0.077106,0.870418,0.999800,-0.000524,-0.001108,-0.019951
16,2,317440,24,gripper,0,"","put 7up can on carpet",-0.137348,-0.010782,0.930288,-0.004168,-0.813391,-0.035799,0.580600
16,2,317440,25,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.045515,0.883544,0.924586,0.006453,-0.010887,0.380762
16,2,317440,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.212036,-0.000698,0.885746,0.633404,-0.323723,0.331539,0.619745
16,2,317440,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
16,2,317440,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.075033,0.870447,0.999999,-0.000923,-0.000845,-0.000052
16,2,317440,25,gripper,0,"","put 7up can on carpet",-0.207205,-0.025574,0.942690,0.087475,-0.710626,0.048281,0.696440
16,2,317440,26,obj,0,"003_bread_1","put 7up can on carpet",-0.192322,0.071400,0.884532,0.706617,0.029015,0.016559,0.706808
16,2,317440,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.049164,0.186159,0.885765,-0.649787,0.355345,-0.480249,-0.469966
16,2,317440,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235073,0.045019,0.869490,1.000000,0.000179,0.000874,0.000331
16,2,317440,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.085022,0.075071,0.870447,0.999999,-0.000916,-0.000839,0.000026
16,2,317440,26,gripper,0,"","put 7up can on carpet",-0.124865,0.037889,0.973463,0.157378,-0.767423,0.040231,0.620222
16,2,317440,27,obj,0,"003_bread_1","put 7up can on carpet",-0.235130,0.074453,0.883544,0.709086,0.010119,-0.007606,0.705008
16,2,317440,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.161148,-0.012072,0.886984,0.595943,0.333778,-0.249147,0.686564
16,2,317440,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204723,-0.045029,0.869490,0.999999,0.000218,0.000927,-0.001184
16,2,317440,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
16,2,317440,27,gripper,0,"","put 7up can on carpet",-0.206660,0.076914,0.980736,-0.075948,-0.743142,-0.048440,0.663042
16,2,317440,28,obj,0,"003_bread_1","put bread on newspaper",-0.174251,-0.042849,0.886378,0.627118,0.015248,-0.005001,0.778759
16,2,317440,28,obj,1,"005_7up can_1","put bread on newspaper",-0.230457,-0.195875,0.885733,0.727667,-0.265247,0.398353,0.491386
16,2,317440,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
16,2,317440,28,recep,1,"003_carpet_1","put bread on newspaper",-0.205266,-0.045326,0.870448,0.999999,-0.000125,-0.000158,0.001234
16,2,317440,28,gripper,0,"","put bread on newspaper",-0.189928,-0.151242,1.002925,0.001446,-0.779806,-0.019187,0.625725
16,2,317440,29,obj,0,"003_bread_1","put bread on newspaper",-0.078657,0.092447,0.886548,0.701713,0.010811,-0.003915,0.712367
16,2,317440,29,obj,1,"005_7up can_1","put bread on newspaper",-0.180706,0.231258,0.885987,-0.122394,0.630175,-0.760894,-0.094546
16,2,317440,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.236050,0.075195,0.869490,1.000000,0.000180,0.000874,-0.000107
16,2,317440,29,recep,1,"003_carpet_1","put bread on newspaper",-0.085310,0.076363,0.870448,0.999997,-0.000923,-0.000844,-0.002117
16,2,317440,29,gripper,0,"","put bread on newspaper",-0.254452,-0.039834,0.945356,0.109296,-0.719052,0.134952,0.672909
16,2,317440,30,obj,0,"003_bread_1","put bread on newspaper",-0.174351,0.076105,1.005185,0.520461,0.047341,-0.046264,0.851316
16,2,317440,30,obj,1,"005_7up can_1","put bread on newspaper",-0.077892,0.069672,0.885636,0.334941,0.264819,-0.104534,0.898197
16,2,317440,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000090
16,2,317440,30,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.075006,0.870452,0.999998,0.001568,0.001266,0.000051
16,2,317440,30,gripper,0,"","put bread on newspaper",-0.178402,0.075962,1.041412,0.197285,-0.753480,0.207321,0.591917
16,2,317440,31,obj,0,"003_bread_1","put bread on newspaper",-0.211010,0.023260,0.883563,0.982143,0.001362,-0.010139,-0.187859
16,2,317440,31,obj,1,"005_7up can_1","put bread on newspaper",-0.022579,0.070782,0.885757,-0.783676,0.040632,0.618337,0.043121
16,2,317440,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
16,2,317440,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
16,2,317440,31,gripper,0,"","put bread on newspaper",-0.203932,0.028728,0.929731,0.037819,-0.782146,0.008725,0.621886
16,2,317440,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.248207,-0.079724,0.887422,0.999465,-0.002107,0.029784,0.013316
16,2,317440,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.205017,0.074515,0.878547,0.999909,0.013318,0.002063,0.000576
16,2,317440,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
16,2,317440,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
16,2,317440,32,gripper,0,"","put carrot on flat bowl",-0.169258,-0.082152,1.004098,-0.114751,-0.677769,-0.180572,0.703460
16,2,317440,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210350,-0.049888,0.887481,0.365749,-0.038947,0.013959,0.929794
16,2,317440,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
16,2,317440,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
16,2,317440,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874362,1.000000,0.000001,0.000000,0.000000
16,2,317440,33,gripper,0,"","put carrot on flat bowl",-0.176453,-0.034123,0.977427,-0.063768,-0.733613,-0.109270,0.667687
16,2,317440,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.220650,-0.041428,0.887450,0.815752,-0.015314,0.022061,0.577779
16,2,317440,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,0.075006,0.878547,0.706837,0.007993,0.010906,0.707247
16,2,317440,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
16,2,317440,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
16,2,317440,34,gripper,0,"","put carrot on flat bowl",-0.220533,-0.076056,0.942950,0.099324,-0.768378,0.049034,0.630338
16,2,317440,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090807,-0.070437,0.887294,0.916319,-0.008570,0.011504,0.400192
16,2,317440,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204672,-0.045309,0.878547,0.923637,0.011497,0.006986,0.383033
16,2,317440,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
16,2,317440,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
16,2,317440,35,gripper,0,"","put carrot on flat bowl",-0.037496,0.052535,1.014838,0.349938,-0.660581,0.330048,0.576406
16,2,317440,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210857,-0.080822,0.887532,0.364330,-0.040338,0.015764,0.930262
16,2,317440,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074683,0.878547,0.382189,0.003178,0.013040,0.923986
16,2,317440,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
16,2,317440,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
16,2,317440,36,gripper,0,"","put banana on sheet metal",-0.053688,-0.020523,0.999275,0.109813,-0.725202,0.052296,0.677709
16,2,317440,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120205,-0.080256,0.887411,0.369853,-0.030436,0.009655,0.928542
16,2,317440,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,0.045315,0.878547,0.382218,0.003181,0.013051,0.923975
16,2,317440,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
16,2,317440,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000001,0.000001,-0.000000
16,2,317440,37,gripper,0,"","put banana on sheet metal",-0.072065,-0.027342,1.028915,0.211290,-0.737557,0.256752,0.587746
16,2,317440,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.119911,0.043325,0.887353,0.746823,-0.024853,0.021660,0.664206
16,2,317440,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204563,-0.044995,0.878547,0.706797,0.007959,0.010863,0.707288
16,2,317440,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
16,2,317440,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
16,2,317440,38,gripper,0,"","put banana on sheet metal",-0.154163,-0.002134,0.983197,0.112715,-0.728607,0.204113,0.644022
16,2,317440,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.191902,-0.068013,0.892854,0.968212,0.226766,-0.105299,-0.007400
16,2,317440,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204994,0.044557,0.878547,0.999910,0.013284,0.002052,0.000284
16,2,317440,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
16,2,317440,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114475,-0.045373,0.874363,0.999829,-0.000000,0.000000,-0.018499
16,2,317440,39,gripper,0,"","put banana on sheet metal",-0.176928,0.060255,0.970778,0.023437,-0.733590,0.035411,0.678265
16,2,317440,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203201,0.076481,0.887528,0.999055,-0.000201,0.043220,0.004624
16,2,317440,40,obj,1,"013_banana_1","put banana on flat bowl",-0.114998,-0.045437,0.878547,0.999910,0.013268,0.002046,-0.000135
16,2,317440,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074974,0.871344,0.999999,-0.000157,0.001164,-0.000050
16,2,317440,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000141
16,2,317440,40,gripper,0,"","put banana on flat bowl",-0.049400,0.061564,1.004823,0.141664,-0.784212,-0.057350,0.601377
16,2,317440,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089973,-0.049839,0.887337,0.359784,-0.035198,0.008181,0.932335
16,2,317440,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.045334,0.878547,0.382722,0.003193,0.013061,0.923766
16,2,317440,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
16,2,317440,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000305
16,2,317440,41,gripper,0,"","put banana on flat bowl",-0.191170,0.065408,0.994630,-0.068317,-0.751510,-0.074027,0.651986
16,2,317440,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203415,0.075611,0.887529,0.999063,-0.000095,0.043222,0.002162
16,2,317440,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234978,-0.075443,0.878547,0.999909,0.013291,0.002047,-0.000067
16,2,317440,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
16,2,317440,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
16,2,317440,42,gripper,0,"","put banana on flat bowl",-0.176683,-0.036171,1.049462,-0.031333,-0.726050,-0.013005,0.686804
16,2,317440,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090851,0.073885,0.887545,0.751531,-0.022712,0.023428,0.658891
16,2,317440,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114553,-0.044983,0.878547,0.707343,0.007943,0.010827,0.706743
16,2,317440,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
16,2,317440,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000190
16,2,317440,43,gripper,0,"","put banana on flat bowl",-0.058522,-0.012204,0.987590,0.183688,-0.772727,0.125014,0.594578
16,2,317440,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090833,0.080843,0.887468,0.920527,-0.014378,0.038267,0.388534
16,2,317440,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
16,2,317440,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.044996,0.871344,0.999999,-0.000158,0.001164,-0.000005
16,2,317440,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874362,1.000000,0.000000,-0.000000,-0.000000
16,2,317440,44,gripper,0,"","put carrot on sheet metal",-0.105244,0.086246,1.000456,0.199556,-0.770217,0.087499,0.599405
16,2,317440,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203354,0.076317,0.887529,0.998914,-0.000752,0.043216,0.017415
16,2,317440,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084978,0.074560,0.878547,0.999909,0.013313,0.002047,-0.000023
16,2,317440,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.045000,0.871344,0.999999,-0.000158,0.001164,-0.000013
16,2,317440,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
16,2,317440,45,gripper,0,"","put carrot on sheet metal",-0.181031,-0.015400,1.033309,-0.099230,-0.701906,-0.114998,0.695886
16,2,317440,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205143,0.076708,0.887529,0.706080,-0.030582,0.030548,0.706812
16,2,317440,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
16,2,317440,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
16,2,317440,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000001,0.000103
16,2,317440,46,gripper,0,"","put carrot on sheet metal",-0.182732,0.091323,0.966728,0.120665,-0.778094,0.110250,0.606510
16,2,317440,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204216,0.076744,0.887528,0.919596,-0.016893,0.039782,0.390481
16,2,317440,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
16,2,317440,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
16,2,317440,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
16,2,317440,47,gripper,0,"","put carrot on sheet metal",-0.183033,0.093246,0.992094,0.128173,-0.686500,0.126099,0.704548
16,2,317440,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.124817,0.074753,0.890788,0.688116,-0.026648,-0.006904,0.725078
16,2,317440,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255882,-0.024899,0.887026,0.269300,-0.661705,0.256576,0.650994
16,2,317440,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204979,0.075729,0.872199,0.999886,-0.000000,-0.000001,-0.015112
16,2,317440,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075005,0.870870,1.000000,0.000000,-0.000000,-0.000014
16,2,317440,48,gripper,0,"","put hamburger on cutting board",-0.169216,0.017710,1.053302,0.042012,-0.711609,0.062888,0.698494
16,2,317440,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085217,0.046116,0.888112,0.925091,-0.027150,0.004628,0.378745
16,2,317440,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.216614,-0.022724,0.887026,0.645136,-0.299582,0.643378,0.283046
16,2,317440,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000004
16,2,317440,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870858,1.000000,0.000460,0.000697,-0.000063
16,2,317440,49,gripper,0,"","put hamburger on cutting board",-0.209692,-0.014315,1.000232,0.042057,-0.764072,-0.006744,0.643723
16,2,317440,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.179653,0.115536,0.890521,0.276102,-0.018825,-0.015532,0.960818
16,2,317440,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106525,-0.055012,0.887026,0.266458,-0.662820,0.253690,0.652159
16,2,317440,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,2,317440,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205051,0.074986,0.870870,1.000000,0.000004,0.000003,0.000216
16,2,317440,50,gripper,0,"","put hamburger on cutting board",-0.131718,0.102423,1.136744,0.070989,-0.746278,0.084928,0.656367
16,2,317440,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.119881,-0.026592,0.888112,0.976180,-0.019687,0.019259,-0.215207
16,2,317440,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055590,0.075806,0.887027,0.704495,-0.016806,0.709509,0.000949
16,2,317440,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
16,2,317440,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
16,2,317440,51,gripper,0,"","put hamburger on cutting board",-0.126111,-0.027544,0.967661,-0.119743,-0.766418,-0.093592,0.624104
16,2,317440,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.091013,0.190411,0.891736,-0.323511,-0.634093,0.516463,-0.475955
16,2,317440,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.059559,-0.029922,0.885720,-0.152391,-0.677286,0.139396,-0.706137
16,2,317440,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.150758,0.095608,0.873487,0.972376,-0.000046,-0.014651,0.232959
16,2,317440,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.047584,0.127155,0.870870,0.965888,-0.000001,0.000001,0.258961
16,2,317440,52,gripper,0,"","put plastic bottle on frying pan",-0.100248,0.016306,0.914290,0.021793,-0.837123,-0.020874,0.546182
16,2,317440,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,-0.075222,0.888112,0.388422,-0.022507,-0.015874,0.921070
16,2,317440,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256369,0.094898,0.887026,0.266335,-0.662865,0.253563,0.652212
16,2,317440,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000329
16,2,317440,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000016
16,2,317440,53,gripper,0,"","put plastic bottle on frying pan",0.012857,0.071609,0.954194,0.081017,-0.808870,0.058685,0.579415
16,2,317440,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.129547,-0.024460,0.889604,0.992272,-0.008362,-0.009271,0.123452
16,2,317440,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055477,-0.074184,0.887026,0.704495,-0.016435,0.709518,0.000580
16,2,317440,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.203815,-0.075138,0.872199,0.999719,-0.000001,-0.000000,-0.023715
16,2,317440,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235367,0.076241,0.870870,0.999967,0.000000,-0.000001,0.008098
16,2,317440,54,gripper,0,"","put plastic bottle on frying pan",-0.143145,-0.028833,0.926933,-0.067859,-0.757118,-0.089861,0.643500
16,2,317440,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085213,0.076092,0.888113,0.925030,-0.027149,0.004624,0.378895
16,2,317440,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.196987,0.003643,0.887026,0.532863,-0.476120,0.526304,0.460837
16,2,317440,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
16,2,317440,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234985,-0.075184,0.870870,0.999998,0.000000,-0.000001,-0.001747
16,2,317440,55,gripper,0,"","put plastic bottle on frying pan",-0.195629,0.019506,0.968568,0.006889,-0.687657,0.040070,0.724896
16,2,317440,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206070,0.074802,0.888112,0.411639,-0.022903,-0.015297,0.910931
16,2,317440,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.150215,-0.062893,0.887027,0.235143,-0.674134,0.221882,0.664093
16,2,317440,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236076,-0.044521,0.872199,0.999999,-0.000000,-0.000001,-0.000992
16,2,317440,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000006
16,2,317440,56,gripper,0,"","put plastic bottle on cutting board",-0.072643,0.046743,0.982010,0.121243,-0.761666,-0.005222,0.636505
16,2,317440,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.063850,-0.072281,0.890572,0.906960,-0.027682,0.006688,0.420253
16,2,317440,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.201283,-0.019527,0.886100,0.914114,-0.018201,0.013982,0.404806
16,2,317440,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,2,317440,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.102623,-0.083611,0.870871,0.993345,0.000000,-0.000000,-0.115180
16,2,317440,57,gripper,0,"","put plastic bottle on cutting board",-0.199961,-0.021603,0.918117,0.262928,-0.687380,0.236181,0.634505
16,2,317440,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.108913,-0.018486,0.890678,0.365600,-0.020755,-0.013366,0.930445
16,2,317440,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.241211,-0.078449,0.887027,0.444476,-0.560492,0.435354,0.546587
16,2,317440,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,2,317440,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.045010,0.870870,1.000000,0.000000,-0.000000,0.000044
16,2,317440,58,gripper,0,"","put plastic bottle on cutting board",-0.156057,-0.034321,1.027839,0.034707,-0.728514,0.077277,0.679772
16,2,317440,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085161,0.076084,0.888112,0.944299,-0.026859,0.006095,0.327936
16,2,317440,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.197184,-0.049358,0.887066,0.682569,-0.242204,0.642854,0.249350
16,2,317440,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.082865,-0.075043,0.872199,0.999941,0.000000,-0.000001,-0.010885
16,2,317440,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235941,0.045544,0.870870,0.999982,0.000000,-0.000000,-0.005922
16,2,317440,59,gripper,0,"","put plastic bottle on cutting board",-0.169008,-0.023310,0.943999,0.041989,-0.774320,0.004173,0.631386
16,2,317440,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.189679,0.027569,0.893825,-0.330339,-0.769037,0.102131,-0.537613
16,2,317440,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.163758,0.103939,0.887026,0.619082,-0.352568,0.615934,0.336242
16,2,317440,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114981,-0.074993,0.872199,1.000000,-0.000001,-0.000000,-0.000232
16,2,317440,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234994,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000007
16,2,317440,60,gripper,0,"","put hamburger on frying pan",-0.096717,-0.052660,1.033071,-0.037500,-0.763203,-0.044363,0.643542
16,2,317440,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.180149,0.035927,0.909819,0.775997,0.008556,0.010661,0.630588
16,2,317440,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.095055,0.096493,0.887026,0.649709,-0.288950,0.648223,0.272385
16,2,317440,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000031
16,2,317440,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204975,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000043
16,2,317440,61,gripper,0,"","put hamburger on frying pan",-0.175788,0.039444,0.965371,-0.117084,-0.777723,-0.092384,0.610658
16,2,317440,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.201759,-0.029381,0.908564,0.510944,-0.037650,0.023133,0.858478
16,2,317440,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.114761,-0.012939,0.887026,0.479811,-0.530328,0.471634,0.515844
16,2,317440,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,2,317440,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
16,2,317440,62,gripper,0,"","put hamburger on frying pan",-0.195770,-0.032532,0.960642,-0.006787,-0.773391,-0.087286,0.627854
16,2,317440,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.064854,0.108761,0.893055,0.813515,-0.080364,0.250205,0.518780
16,2,317440,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.211315,0.119381,0.887026,0.471360,-0.537926,0.462950,0.523577
16,2,317440,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000040
16,2,317440,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
16,2,317440,63,gripper,0,"","put hamburger on frying pan",-0.084427,0.087873,1.159100,0.060287,-0.733438,0.096921,0.670105
16,3,322560,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.185951,0.001045,0.879875,-0.070978,0.537188,-0.837795,-0.067003
16,3,322560,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.177338,-0.050186,0.879074,0.019618,0.668862,-0.732495,-0.125264
16,3,322560,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235100,-0.045013,0.869532,1.000000,0.000000,-0.000000,0.000910
16,3,322560,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000266
16,3,322560,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.202152,-0.018822,0.967974,-0.015270,-0.704492,-0.033188,0.708771
16,3,322560,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.077492,0.073029,0.885085,-0.614942,-0.332347,0.322442,-0.638296
16,3,322560,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.119717,0.032478,0.887410,0.779024,-0.028534,0.018331,0.626076
16,3,322560,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115116,0.045074,0.869532,0.999998,0.000001,-0.000001,0.002104
16,3,322560,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205109,-0.044510,0.871288,0.999996,-0.000155,-0.001023,0.002774
16,3,322560,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.186447,0.054638,1.117341,0.106408,-0.719162,0.112815,0.677315
16,3,322560,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085346,-0.064232,0.885085,0.556776,0.359237,-0.292108,0.689654
16,3,322560,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.102978,0.055214,0.881638,0.466670,0.032481,-0.022179,0.883556
16,3,322560,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085007,-0.075020,0.869532,1.000000,-0.000000,-0.000002,0.000242
16,3,322560,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205036,-0.074989,0.871282,0.999999,-0.000451,-0.001264,0.000023
16,3,322560,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.129816,0.003452,0.958306,-0.232950,-0.807474,-0.206528,0.501065
16,3,322560,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.143902,-0.047829,0.879375,-0.674868,-0.068084,0.056069,-0.732649
16,3,322560,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.052126,-0.088013,0.881638,-0.035903,0.039227,-0.003039,0.998581
16,3,322560,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.228813,0.071419,0.869532,0.995758,0.000000,-0.000001,-0.092015
16,3,322560,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115440,0.043602,0.871288,0.999965,-0.000145,-0.001021,0.008338
16,3,322560,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.174603,-0.057072,0.914471,0.033197,-0.765692,0.028232,0.641729
16,3,322560,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.117405,-0.048080,0.885085,0.750346,0.245087,-0.392823,0.471809
16,3,322560,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.109396,0.001404,0.875043,-0.050412,0.560395,-0.819991,-0.105025
16,3,322560,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114956,-0.075020,0.869532,1.000000,-0.000000,-0.000000,-0.000367
16,3,322560,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235010,-0.044960,0.871288,1.000000,-0.000154,-0.001019,0.000058
16,3,322560,4,gripper,0,"","put kitchen shovel on cloth",-0.134020,0.028214,1.132236,0.030014,-0.813026,0.056454,0.578706
16,3,322560,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.102343,0.033112,0.883513,0.909647,0.013239,-0.153991,0.385556
16,3,322560,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.062912,0.036270,0.881877,0.989963,-0.011135,-0.038423,-0.135546
16,3,322560,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000006
16,3,322560,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114996,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000012
16,3,322560,5,gripper,0,"","put kitchen shovel on cloth",-0.149403,0.111889,0.933636,0.089335,-0.753909,0.009267,0.650811
16,3,322560,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.081528,-0.001190,0.879703,0.241841,-0.765148,0.438493,0.404703
16,3,322560,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.153530,0.067657,0.887451,0.770452,-0.003764,-0.000450,0.637487
16,3,322560,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235035,0.074966,0.869532,0.999999,0.000000,-0.000002,0.000946
16,3,322560,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000104
16,3,322560,6,gripper,0,"","put kitchen shovel on cloth",-0.235182,0.079926,0.972836,0.102980,-0.777301,0.072346,0.616412
16,3,322560,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.288578,-0.024216,0.879213,-0.278293,0.015123,0.960371,0.003438
16,3,322560,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.139969,-0.094887,0.878076,0.076189,0.578597,0.805195,0.105265
16,3,322560,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082802,-0.075928,0.869532,0.999999,-0.000002,-0.000009,-0.001506
16,3,322560,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000307
16,3,322560,7,gripper,0,"","put kitchen shovel on cloth",-0.148191,-0.072380,0.951995,-0.005212,-0.769458,-0.011849,0.638566
16,3,322560,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078033,-0.081894,0.879089,0.338613,0.427319,-0.178411,0.819090
16,3,322560,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.179382,0.044243,0.881637,0.069994,0.047446,-0.007305,0.996392
16,3,322560,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.170731,-0.092712,0.869532,0.971508,0.000000,0.000000,-0.237008
16,3,322560,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001020,-0.000100
16,3,322560,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.212395,0.016836,0.914098,0.045833,-0.766089,0.054531,0.638775
16,3,322560,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.150505,0.040359,0.881231,0.701804,0.326053,-0.326171,0.542931
16,3,322560,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.191467,0.012154,0.885761,0.784414,0.025546,-0.022136,0.619315
16,3,322560,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.238754,0.044544,0.869532,0.997955,-0.000004,-0.000000,-0.063922
16,3,322560,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000009
16,3,322560,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.225174,0.042458,0.985926,-0.003984,-0.786940,-0.007856,0.616966
16,3,322560,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.211887,-0.081818,0.879088,0.818014,0.176767,-0.428004,0.341202
16,3,322560,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.067463,-0.012226,0.884551,0.606726,-0.058314,0.071158,0.789569
16,3,322560,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085224,-0.075047,0.869532,0.999981,-0.000001,-0.000001,-0.006081
16,3,322560,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114998,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000032
16,3,322560,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.201416,-0.049162,0.978647,0.007372,-0.709111,0.046525,0.703522
16,3,322560,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.207443,-0.065002,0.878982,0.758991,0.012465,0.650957,-0.005685
16,3,322560,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.186136,0.063148,0.885758,0.623568,0.031525,-0.017080,0.780946
16,3,322560,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.233147,0.039303,0.869532,0.998745,0.000000,-0.000000,0.050076
16,3,322560,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114967,-0.044994,0.871288,1.000000,-0.000154,-0.001019,-0.000059
16,3,322560,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.227974,-0.024878,0.953431,0.157185,-0.773579,0.086680,0.607746
16,3,322560,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.181879,-0.069893,0.887871,0.624749,0.329193,-0.317434,0.632895
16,3,322560,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.107536,0.006702,0.887376,0.668747,-0.039614,0.020711,0.742145
16,3,322560,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.101408,-0.011478,0.869532,0.915055,-0.000001,-0.000000,0.403330
16,3,322560,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.206868,-0.080059,0.871282,0.999481,-0.000410,-0.001279,0.032199
16,3,322560,12,gripper,0,"","put ketchup bottle on cloth",-0.177296,-0.063835,1.073595,0.016927,-0.737347,-0.019328,0.675025
16,3,322560,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.097765,0.001328,0.885209,-0.161656,-0.779980,0.560504,-0.226570
16,3,322560,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.236553,-0.077034,0.881643,0.667743,0.023979,-0.027517,0.743496
16,3,322560,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115479,-0.050770,0.869532,0.999691,0.000000,-0.000002,-0.024870
16,3,322560,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.066330,0.076950,0.871288,0.989356,-0.000004,-0.001031,0.145515
16,3,322560,13,gripper,0,"","put ketchup bottle on cloth",-0.247550,-0.076496,0.920037,-0.084876,-0.795555,-0.059346,0.596965
16,3,322560,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.232105,0.065556,0.879373,0.955692,-0.022135,0.277356,0.096103
16,3,322560,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.068832,-0.031963,0.883766,0.997364,0.033196,0.036813,-0.052990
16,3,322560,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000012
16,3,322560,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.071148,0.078125,0.871211,0.997668,-0.003619,-0.004385,0.068019
16,3,322560,14,gripper,0,"","put ketchup bottle on cloth",-0.199677,0.072300,0.967576,-0.046409,-0.779933,-0.016428,0.623924
16,3,322560,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.191025,0.047028,0.888110,-0.880316,-0.124168,-0.250233,0.383419
16,3,322560,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",0.215145,0.268784,0.004849,0.047870,0.502544,0.859419,0.080974
16,3,322560,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",0.047119,0.091190,0.000732,0.684542,0.000000,0.000000,-0.728973
16,3,322560,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,0.075012,0.871282,0.999999,-0.000452,-0.001266,-0.000001
16,3,322560,15,gripper,0,"","put ketchup bottle on cloth",-0.128796,-0.017820,1.103295,-0.059208,-0.838069,-0.039146,0.540928
16,3,322560,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.084473,-0.060467,0.883544,0.977813,-0.000828,-0.012626,-0.209097
16,3,322560,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.029488,0.118137,0.885949,0.345459,0.250157,0.898715,-0.101935
16,3,322560,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235001,0.044994,0.869490,1.000000,0.000180,0.000875,-0.000514
16,3,322560,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.074993,0.870420,0.999982,-0.000198,-0.000804,0.005997
16,3,322560,16,gripper,0,"","put 7up can on newspaper",-0.096146,-0.056856,0.922815,0.051524,-0.796479,-0.010341,0.602378
16,3,322560,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.198975,-0.048397,0.886403,0.994447,0.003738,-0.010126,0.104686
16,3,322560,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132198,-0.046669,0.885741,0.743238,0.212952,-0.563792,0.290493
16,3,322560,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
16,3,322560,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235027,-0.074993,0.870448,0.999999,-0.000778,-0.000722,0.000139
16,3,322560,17,gripper,0,"","put 7up can on newspaper",-0.124531,-0.073690,0.943340,0.117347,-0.713542,0.114850,0.681099
16,3,322560,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.066414,0.066830,0.886461,0.962219,0.008005,-0.007907,0.272043
16,3,322560,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.185703,0.062832,0.887631,0.939433,0.046185,-0.086513,0.328403
16,3,322560,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204983,0.075005,0.869490,0.999998,0.000549,0.001416,-0.001179
16,3,322560,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085014,0.075054,0.870460,1.000000,0.000019,-0.000158,-0.000173
16,3,322560,18,gripper,0,"","put 7up can on newspaper",-0.138542,0.095161,1.158504,0.029903,-0.793278,0.173931,0.582721
16,3,322560,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.180986,0.058170,0.886187,0.947825,0.028779,-0.042912,0.314577
16,3,322560,19,obj,1,"005_7up can_1","put 7up can on newspaper",0.002790,0.126686,0.885746,0.776291,0.144024,-0.579555,0.201852
16,3,322560,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235025,0.075008,0.869493,0.999936,-0.006566,-0.009186,0.000047
16,3,322560,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115084,0.062260,0.870447,0.997340,-0.003305,-0.002499,-0.072769
16,3,322560,19,gripper,0,"","put 7up can on newspaper",-0.136149,0.065155,1.122168,0.080036,-0.794039,0.128190,0.588781
16,3,322560,20,obj,0,"003_bread_1","put 7up can on carpet",-0.201080,0.017731,0.885638,0.994856,0.069317,0.003216,0.073793
16,3,322560,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.140438,-0.045761,0.885885,0.522125,0.037940,-0.851519,0.029359
16,3,322560,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205001,0.075008,0.869490,0.999999,0.000550,0.001425,-0.000079
16,3,322560,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.234974,-0.045120,0.870460,0.999999,0.000019,-0.000159,-0.001049
16,3,322560,20,gripper,0,"","put 7up can on carpet",-0.117043,-0.030008,1.112383,-0.015309,-0.742567,-0.002210,0.669593
16,3,322560,21,obj,0,"003_bread_1","put 7up can on carpet",-0.070063,-0.014896,0.884880,-0.067737,-0.635484,0.707180,0.302436
16,3,322560,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.042973,-0.087856,0.888881,0.284479,0.659683,-0.633423,0.287516
16,3,322560,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
16,3,322560,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.057144,-0.077705,0.870448,0.996903,-0.000135,-0.000147,-0.078637
16,3,322560,21,gripper,0,"","put 7up can on carpet",-0.109388,-0.034294,0.935294,0.003715,-0.822364,-0.008314,0.568889
16,3,322560,22,obj,0,"003_bread_1","put 7up can on carpet",-0.101646,-0.063400,0.886715,0.911679,0.007646,-0.008804,0.410738
16,3,322560,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.074062,0.044991,0.885949,0.360202,0.004926,0.932832,-0.007468
16,3,322560,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
16,3,322560,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.085007,-0.074867,0.870448,0.999987,-0.000925,-0.000842,-0.004990
16,3,322560,22,gripper,0,"","put 7up can on carpet",-0.148100,0.003891,1.022332,-0.010689,-0.723109,-0.019221,0.690384
16,3,322560,23,obj,0,"003_bread_1","put 7up can on carpet",-0.178837,-0.002438,0.884048,0.506634,0.033943,-0.007906,0.861456
16,3,322560,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.242134,0.149349,0.885948,-0.227388,0.732509,-0.577656,-0.279355
16,3,322560,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234596,-0.044750,0.869490,0.999998,0.000181,0.000874,-0.001557
16,3,322560,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
16,3,322560,23,gripper,0,"","put 7up can on carpet",-0.116587,-0.017748,1.008954,-0.118097,-0.817372,-0.104821,0.554048
16,3,322560,24,obj,0,"003_bread_1","put bread on newspaper",-0.109077,0.102989,0.955042,-0.584663,-0.004827,-0.110815,-0.803658
16,3,322560,24,obj,1,"005_7up can_1","put bread on newspaper",-0.106354,-0.010286,0.885830,0.539889,-0.456793,0.516680,0.482599
16,3,322560,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000054
16,3,322560,24,recep,1,"003_carpet_1","put bread on newspaper",-0.078781,-0.078810,0.870350,0.999888,-0.000118,-0.001454,-0.014914
16,3,322560,24,gripper,0,"","put bread on newspaper",-0.110050,0.103709,0.989694,0.000917,-0.739080,0.019153,0.673345
16,3,322560,25,obj,0,"003_bread_1","put bread on newspaper",-0.170807,-0.060394,0.885124,0.913136,0.018331,0.024213,0.406523
16,3,322560,25,obj,1,"005_7up can_1","put bread on newspaper",-0.212326,0.000309,0.885677,0.618180,-0.345730,0.361207,0.606510
16,3,322560,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,-0.074982,0.869490,1.000000,0.000180,0.000875,0.000241
16,3,322560,25,recep,1,"003_carpet_1","put bread on newspaper",-0.114979,0.075035,0.870351,0.999998,-0.000672,-0.002009,-0.000147
16,3,322560,25,gripper,0,"","put bread on newspaper",-0.199799,-0.050753,0.972918,0.157399,-0.712473,0.113444,0.674343
16,3,322560,26,obj,0,"003_bread_1","put bread on newspaper",-0.192322,0.071409,0.884532,0.706737,0.029019,0.016540,0.706687
16,3,322560,26,obj,1,"005_7up can_1","put bread on newspaper",-0.049263,0.185856,0.885747,-0.655545,0.349634,-0.474211,-0.472378
16,3,322560,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235073,0.045021,0.869490,1.000000,0.000179,0.000874,0.000446
16,3,322560,26,recep,1,"003_carpet_1","put bread on newspaper",-0.085022,0.075085,0.870447,0.999999,-0.000922,-0.000845,-0.000008
16,3,322560,26,gripper,0,"","put bread on newspaper",-0.115738,-0.128722,0.977769,0.079189,-0.769512,0.126739,0.620901
16,3,322560,27,obj,0,"003_bread_1","put bread on newspaper",-0.235130,0.074453,0.883544,0.709009,0.010114,-0.007599,0.705085
16,3,322560,27,obj,1,"005_7up can_1","put bread on newspaper",-0.160526,-0.012167,0.886970,0.596817,0.333249,-0.249757,0.685840
16,3,322560,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204479,-0.045036,0.869490,0.999998,0.000228,0.000941,-0.001955
16,3,322560,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084969,-0.074986,0.870418,1.000000,-0.000219,-0.000848,-0.000156
16,3,322560,27,gripper,0,"","put bread on newspaper",-0.239572,0.075621,0.947918,0.267618,-0.642732,0.307728,0.648520
16,3,322560,28,obj,0,"003_bread_1","put bread on carpet",-0.174251,-0.042849,0.886378,0.627118,0.015248,-0.005002,0.778759
16,3,322560,28,obj,1,"005_7up can_1","put bread on carpet",-0.230457,-0.195875,0.885733,0.727699,-0.265219,0.398367,0.491341
16,3,322560,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
16,3,322560,28,recep,1,"003_carpet_1","put bread on carpet",-0.205266,-0.045326,0.870448,0.999999,-0.000125,-0.000158,0.001234
16,3,322560,28,gripper,0,"","put bread on carpet",-0.172239,0.017129,1.105137,0.093758,-0.824598,0.012799,0.557748
16,3,322560,29,obj,0,"003_bread_1","put bread on carpet",-0.080233,0.094507,0.886575,0.666808,0.012641,-0.004998,0.745105
16,3,322560,29,obj,1,"005_7up can_1","put bread on carpet",-0.180706,0.231258,0.885987,-0.122390,0.630183,-0.760888,-0.094545
16,3,322560,29,recep,0,"004_newspaper_1","put bread on carpet",-0.236010,0.075180,0.869490,1.000000,0.000180,0.000875,-0.000044
16,3,322560,29,recep,1,"003_carpet_1","put bread on carpet",-0.085075,0.076765,0.870417,0.999997,-0.000582,-0.001198,-0.001848
16,3,322560,29,gripper,0,"","put bread on carpet",-0.147770,0.007627,0.966922,-0.038066,-0.770113,0.056983,0.634216
16,3,322560,30,obj,0,"003_bread_1","put bread on carpet",-0.176048,0.091644,0.886455,0.573608,0.013360,-0.003382,0.819014
16,3,322560,30,obj,1,"005_7up can_1","put bread on carpet",-0.011429,0.027777,0.885766,-0.327545,0.572503,-0.258303,-0.705857
16,3,322560,30,recep,0,"004_newspaper_1","put bread on carpet",-0.114994,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000129
16,3,322560,30,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074982,0.870448,0.999998,-0.001349,-0.001213,-0.000004
16,3,322560,30,gripper,0,"","put bread on carpet",-0.113295,-0.050765,0.965737,0.088258,-0.767824,0.056152,0.632063
16,3,322560,31,obj,0,"003_bread_1","put bread on carpet",-0.195995,-0.057180,0.886051,0.968286,-0.003847,0.006682,-0.249727
16,3,322560,31,obj,1,"005_7up can_1","put bread on carpet",-0.022579,0.070782,0.885757,-0.783669,0.040722,0.618332,0.043235
16,3,322560,31,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.074989,0.869490,1.000000,0.000180,0.000874,0.000053
16,3,322560,31,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
16,3,322560,31,gripper,0,"","put bread on carpet",-0.169432,-0.007737,1.014678,-0.043767,-0.770872,0.001945,0.635482
16,3,322560,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.252792,-0.079229,0.887157,0.999173,-0.008831,0.029259,-0.026837
16,3,322560,32,obj,1,"013_banana_1","put banana on sheet metal",-0.205017,0.074515,0.878547,0.999908,0.013362,0.002066,0.000576
16,3,322560,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
16,3,322560,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
16,3,322560,32,gripper,0,"","put banana on sheet metal",-0.121605,0.058314,1.002834,-0.136670,-0.703302,-0.133009,0.684833
16,3,322560,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.213623,-0.054799,0.887240,0.382585,-0.032533,0.005326,0.923332
16,3,322560,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
16,3,322560,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
16,3,322560,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000000
16,3,322560,33,gripper,0,"","put banana on sheet metal",-0.037430,-0.020249,0.979501,0.180391,-0.697033,0.218619,0.658643
16,3,322560,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.221542,-0.041339,0.887529,0.818565,-0.017866,0.027600,0.573472
16,3,322560,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,0.075005,0.878547,0.706837,0.007973,0.010883,0.707247
16,3,322560,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
16,3,322560,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
16,3,322560,34,gripper,0,"","put banana on sheet metal",-0.132980,0.061932,1.140653,0.073180,-0.683606,0.096849,0.719686
16,3,322560,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.092575,-0.069187,0.887455,0.920022,-0.010242,0.023743,0.391012
16,3,322560,35,obj,1,"013_banana_1","put banana on sheet metal",-0.204672,-0.045309,0.878547,0.923637,0.011497,0.006986,0.383033
16,3,322560,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
16,3,322560,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
16,3,322560,35,gripper,0,"","put banana on sheet metal",-0.132726,-0.009054,1.060800,-0.214403,-0.637706,-0.216454,0.707468
16,3,322560,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.212553,-0.084635,0.887242,0.382001,-0.023736,0.017589,0.923689
16,3,322560,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,-0.074683,0.878548,0.382182,0.003187,0.013065,0.923989
16,3,322560,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
16,3,322560,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
16,3,322560,36,gripper,0,"","put banana on flat bowl",-0.058967,0.005194,1.011460,0.208138,-0.733250,0.266702,0.589824
16,3,322560,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122549,-0.083954,0.887292,0.387516,-0.021087,0.014411,0.921509
16,3,322560,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,0.045315,0.878547,0.382218,0.003186,0.013063,0.923974
16,3,322560,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
16,3,322560,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
16,3,322560,37,gripper,0,"","put banana on flat bowl",-0.079698,0.096851,1.012149,0.174942,-0.743695,0.058352,0.642579
16,3,322560,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.123325,0.042765,0.887543,0.755601,-0.023393,0.024956,0.654138
16,3,322560,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204563,-0.044995,0.878547,0.706797,0.007958,0.010862,0.707288
16,3,322560,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
16,3,322560,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
16,3,322560,38,gripper,0,"","put banana on flat bowl",-0.139830,-0.015249,0.988952,0.091729,-0.733616,0.153486,0.655619
16,3,322560,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.191902,-0.068013,0.892853,0.968213,0.226763,-0.105299,-0.007405
16,3,322560,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204994,0.044556,0.878547,0.999909,0.013300,0.002053,0.000284
16,3,322560,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
16,3,322560,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114475,-0.045373,0.874363,0.999829,0.000000,-0.000001,-0.018499
16,3,322560,39,gripper,0,"","put banana on flat bowl",-0.161217,0.060082,1.007264,-0.228596,-0.657161,-0.354939,0.624422
16,3,322560,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203201,0.076519,0.887528,0.999063,-0.000087,0.043220,0.002005
16,3,322560,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.114998,-0.045439,0.878547,0.999910,0.013267,0.002042,-0.000413
16,3,322560,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000073
16,3,322560,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000220
16,3,322560,40,gripper,0,"","put carrot on sheet metal",-0.066360,0.101468,0.997333,0.043684,-0.760727,-0.032595,0.646779
16,3,322560,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091248,-0.052771,0.887409,0.368139,-0.024576,0.008064,0.929411
16,3,322560,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234692,0.045338,0.878547,0.383002,0.003191,0.013041,0.923650
16,3,322560,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
16,3,322560,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000456
16,3,322560,41,gripper,0,"","put carrot on sheet metal",-0.060537,-0.019591,0.992916,0.029580,-0.840128,0.110806,0.530124
16,3,322560,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203415,0.075649,0.887529,0.999065,0.000026,0.043222,-0.000641
16,3,322560,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234974,-0.075445,0.878547,0.999909,0.013294,0.002044,-0.000358
16,3,322560,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
16,3,322560,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
16,3,322560,42,gripper,0,"","put carrot on sheet metal",-0.181787,0.094786,0.968888,0.012183,-0.761203,0.022963,0.647993
16,3,322560,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.098774,0.072794,0.887306,0.777011,-0.023028,0.020051,0.628745
16,3,322560,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114552,-0.044979,0.878547,0.707620,0.007967,0.010848,0.706465
16,3,322560,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
16,3,322560,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.045000,0.874362,1.000000,-0.000000,-0.000000,0.000276
16,3,322560,43,gripper,0,"","put carrot on sheet metal",-0.068363,0.069819,1.007672,0.131357,-0.771665,0.121185,0.610404
16,3,322560,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094641,0.083019,0.887564,0.926198,-0.007179,0.025942,0.376075
16,3,322560,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,-0.075308,0.878547,0.923619,0.011487,0.006981,0.383075
16,3,322560,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.044996,0.871344,0.999999,-0.000157,0.001164,-0.000005
16,3,322560,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
16,3,322560,44,gripper,0,"","put carrot on flat bowl",-0.098602,0.094301,1.043726,0.008878,-0.683388,0.028468,0.729446
16,3,322560,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203354,0.076317,0.887529,0.998914,-0.000752,0.043216,0.017414
16,3,322560,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084978,0.074560,0.878547,0.999909,0.013304,0.002045,-0.000159
16,3,322560,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.045002,0.871344,0.999999,-0.000157,0.001164,-0.000014
16,3,322560,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
16,3,322560,45,gripper,0,"","put carrot on flat bowl",-0.117202,0.014162,1.029890,-0.182456,-0.644294,-0.268267,0.692551
16,3,322560,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205143,0.076704,0.887529,0.706060,-0.030583,0.030547,0.706832
16,3,322560,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
16,3,322560,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
16,3,322560,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000288
16,3,322560,46,gripper,0,"","put carrot on flat bowl",-0.163055,0.093920,0.971849,0.026185,-0.706606,-0.022669,0.706759
16,3,322560,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204216,0.076744,0.887528,0.919609,-0.016891,0.039784,0.390450
16,3,322560,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
16,3,322560,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
16,3,322560,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
16,3,322560,47,gripper,0,"","put carrot on flat bowl",-0.168356,0.055919,1.048957,-0.068575,-0.759272,-0.079996,0.642186
16,3,322560,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.126640,0.069256,0.890779,0.682227,-0.027296,-0.006501,0.730602
16,3,322560,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.162560,0.021896,0.892719,0.597368,-0.340842,0.576363,0.441344
16,3,322560,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204216,0.075417,0.872199,0.999995,-0.000000,-0.000001,-0.003144
16,3,322560,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084930,0.075016,0.870870,1.000000,0.000000,-0.000002,-0.000492
16,3,322560,48,gripper,0,"","put plastic bottle on frying pan",-0.186356,0.036217,1.031270,-0.018823,-0.769858,-0.025381,0.637432
16,3,322560,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085220,0.046116,0.888112,0.924607,-0.027154,0.004595,0.379927
16,3,322560,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.222733,-0.032082,0.888547,0.829364,-0.185003,0.397737,0.346027
16,3,322560,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
16,3,322560,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074997,0.870858,1.000000,0.000461,0.000697,-0.000067
16,3,322560,49,gripper,0,"","put plastic bottle on frying pan",-0.203989,-0.044601,0.952505,-0.040007,-0.775822,-0.067038,0.626103
16,3,322560,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.179661,0.115540,0.890520,0.275970,-0.018831,-0.015539,0.960856
16,3,322560,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.111759,-0.023716,0.886937,0.241741,-0.656886,0.228125,0.676772
16,3,322560,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,3,322560,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205051,0.074982,0.870870,1.000000,0.000007,0.000007,0.000375
16,3,322560,50,gripper,0,"","put plastic bottle on frying pan",-0.106075,-0.024374,0.945535,0.060486,-0.763673,0.040766,0.641470
16,3,322560,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.123280,-0.012436,0.888112,0.985751,-0.020626,0.018248,-0.165942
16,3,322560,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.075094,0.080315,0.888429,0.792261,-0.184899,0.250215,0.524907
16,3,322560,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
16,3,322560,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
16,3,322560,51,gripper,0,"","put plastic bottle on frying pan",-0.107009,0.091911,0.915449,0.114342,-0.785923,0.095370,0.600130
16,3,322560,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.091014,0.190411,0.891736,-0.323505,-0.634071,0.516480,-0.475969
16,3,322560,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.122679,0.011806,0.018226,0.048123,0.706792,0.064281,-0.702850
16,3,322560,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.150758,0.095608,0.873487,0.972377,-0.000048,-0.014651,0.232957
16,3,322560,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.047584,0.127155,0.870870,0.965888,-0.000001,0.000001,0.258961
16,3,322560,52,gripper,0,"","put plastic bottle on cutting board",0.000470,-0.014917,0.997480,0.019862,-0.856417,-0.098280,0.506454
16,3,322560,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388414,-0.022509,-0.015874,0.921073
16,3,322560,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.225744,0.023033,0.919178,0.358104,-0.628234,0.310615,0.616929
16,3,322560,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000498
16,3,322560,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.112267,0.041893,0.870870,0.999595,-0.000000,-0.000001,0.028471
16,3,322560,53,gripper,0,"","put plastic bottle on cutting board",-0.198545,0.043125,0.964210,-0.188381,-0.732973,-0.208879,0.619381
16,3,322560,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.134331,-0.022964,0.888112,0.963771,-0.018665,0.020247,-0.265307
16,3,322560,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.042305,-0.079098,0.887033,0.702122,0.063351,0.704911,-0.078180
16,3,322560,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.203815,-0.075138,0.872199,0.999717,-0.000001,-0.000000,-0.023775
16,3,322560,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235367,0.076241,0.870870,0.999967,0.000000,-0.000001,0.008085
16,3,322560,54,gripper,0,"","put plastic bottle on cutting board",-0.071775,-0.061712,0.963966,-0.133227,-0.788682,-0.284721,0.528361
16,3,322560,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085217,0.076092,0.888113,0.924629,-0.027154,0.004595,0.379871
16,3,322560,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.200096,0.005642,0.887027,0.469433,-0.539623,0.460971,0.525305
16,3,322560,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
16,3,322560,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234985,-0.075188,0.870870,0.999998,0.000000,-0.000000,-0.001741
16,3,322560,55,gripper,0,"","put plastic bottle on cutting board",-0.179441,0.029772,0.956543,-0.014768,-0.788053,-0.011838,0.615316
16,3,322560,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.212006,0.018539,0.890301,0.312221,0.033824,0.092225,0.944917
16,3,322560,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.153427,-0.060543,0.887026,0.192190,-0.686938,0.178313,0.677778
16,3,322560,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236092,-0.044525,0.872199,1.000000,0.000000,-0.000001,-0.000484
16,3,322560,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000005
16,3,322560,56,gripper,0,"","put hamburger on frying pan",-0.125553,-0.062437,0.955137,0.035475,-0.775119,-0.012946,0.630686
16,3,322560,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.059986,-0.072235,0.890571,0.916645,-0.027498,0.007371,0.398688
16,3,322560,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.196056,-0.014168,0.886091,0.874907,-0.019078,0.011814,0.483771
16,3,322560,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,3,322560,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.099293,-0.081665,0.870870,0.990186,0.000001,-0.000000,-0.139753
16,3,322560,57,gripper,0,"","put hamburger on frying pan",-0.183874,-0.017731,0.948476,0.049489,-0.744465,-0.010262,0.665746
16,3,322560,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.101795,-0.002354,0.890593,0.376580,-0.020902,-0.013119,0.926055
16,3,322560,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.241211,-0.078449,0.887027,0.444495,-0.560477,0.435373,0.546572
16,3,322560,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,3,322560,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.113636,-0.042099,0.870870,0.999915,0.000000,-0.000000,-0.013047
16,3,322560,58,gripper,0,"","put hamburger on frying pan",-0.113491,-0.003492,0.976468,0.204911,-0.783603,0.151392,0.566620
16,3,322560,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085123,0.076077,0.888112,0.950372,-0.026741,0.006605,0.309896
16,3,322560,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.202097,-0.049583,0.887064,0.674362,-0.253957,0.644541,0.255555
16,3,322560,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.082865,-0.075043,0.872199,0.999941,0.000000,-0.000000,-0.010867
16,3,322560,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235958,0.045544,0.870870,0.999982,0.000000,-0.000000,-0.005971
16,3,322560,59,gripper,0,"","put hamburger on frying pan",-0.187714,-0.042439,0.947684,-0.090804,-0.753849,-0.107113,0.641867
16,3,322560,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.188915,0.021805,0.892691,-0.408857,-0.764366,0.284001,-0.409786
16,3,322560,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.159409,-0.014141,0.887440,0.403272,0.590890,-0.353819,0.602522
16,3,322560,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114968,-0.074997,0.872199,1.000000,-0.000001,-0.000001,-0.000448
16,3,322560,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235093,-0.045452,0.870884,0.999997,0.000700,0.000719,-0.002021
16,3,322560,60,gripper,0,"","put hamburger on cutting board",-0.163400,-0.004227,0.971116,-0.164934,-0.794205,-0.128555,0.570534
16,3,322560,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.186895,0.017643,0.888112,0.656787,-0.026342,-0.008048,0.753573
16,3,322560,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.095055,0.096493,0.887026,0.649705,-0.288961,0.648217,0.272396
16,3,322560,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000055
16,3,322560,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204971,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
16,3,322560,61,gripper,0,"","put hamburger on cutting board",-0.186136,0.035181,0.958630,0.019267,-0.765129,0.025846,0.643070
16,3,322560,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197414,0.100689,0.890445,0.607936,-0.026617,-0.007290,0.793506
16,3,322560,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.114014,-0.012337,0.887026,0.480067,-0.530094,0.471899,0.515604
16,3,322560,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
16,3,322560,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075012,0.870870,1.000000,0.000001,-0.000000,-0.000105
16,3,322560,62,gripper,0,"","put hamburger on cutting board",-0.193514,0.072180,1.086071,0.059820,-0.788836,0.094814,0.604293
16,3,322560,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.064854,0.108761,0.893054,0.813526,-0.080296,0.250161,0.518794
16,3,322560,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.211311,0.119385,0.887026,0.471164,-0.538099,0.462749,0.523753
16,3,322560,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114998,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000145
16,3,322560,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
16,3,322560,63,gripper,0,"","put hamburger on cutting board",-0.077787,0.106276,0.986358,0.156201,-0.738230,0.092892,0.649607
16,4,327680,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.183327,0.005943,0.880397,0.179225,0.525652,-0.827431,0.083224
16,4,327680,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.173271,-0.082230,0.878077,0.083192,0.637364,-0.759527,-0.099828
16,4,327680,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.239494,-0.054497,0.869532,0.998623,0.000000,-0.000001,-0.052461
16,4,327680,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075012,0.871282,0.999999,-0.000450,-0.001265,0.000325
16,4,327680,0,gripper,0,"","put kitchen shovel on cloth",-0.139519,-0.071465,0.950289,-0.040039,-0.754404,-0.030759,0.654466
16,4,327680,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078022,0.071587,0.885083,-0.613521,-0.332675,0.321169,-0.640133
16,4,327680,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.120308,0.030647,0.887391,0.778877,0.016033,-0.037219,0.625867
16,4,327680,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115078,0.045029,0.869532,0.999997,-0.000000,0.000000,0.002213
16,4,327680,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205109,-0.044510,0.871288,0.999996,-0.000152,-0.001021,0.002768
16,4,327680,1,gripper,0,"","put kitchen shovel on cloth",-0.156893,0.058895,1.009366,0.103709,-0.782037,0.054496,0.612122
16,4,327680,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085358,-0.064255,0.885085,0.556802,0.359246,-0.292149,0.689611
16,4,327680,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.102978,0.055214,0.881638,0.466589,0.032509,-0.022188,0.883598
16,4,327680,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085007,-0.075020,0.869532,1.000000,-0.000000,-0.000002,0.000250
16,4,327680,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205036,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000034
16,4,327680,2,gripper,0,"","put kitchen shovel on cloth",-0.135515,0.061722,0.955913,-0.020103,-0.781241,-0.013152,0.623767
16,4,327680,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.118063,0.185516,0.879087,0.630407,0.323970,-0.329943,0.623513
16,4,327680,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.052130,-0.088013,0.881638,-0.036071,0.039252,-0.003031,0.998573
16,4,327680,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.228811,0.071396,0.869531,0.995742,0.000000,-0.000001,-0.092185
16,4,327680,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.115440,0.043602,0.871288,0.999965,-0.000146,-0.001021,0.008339
16,4,327680,3,gripper,0,"","put kitchen shovel on cloth",-0.206191,-0.060268,0.916644,0.041996,-0.787541,0.130624,0.600793
16,4,327680,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.117405,-0.048080,0.885085,0.750330,0.245104,-0.392852,0.471801
16,4,327680,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.109396,0.001404,0.875043,-0.050414,0.560395,-0.819991,-0.105025
16,4,327680,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114956,-0.075020,0.869532,1.000000,-0.000000,-0.000000,-0.000366
16,4,327680,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235010,-0.044960,0.871288,1.000000,-0.000154,-0.001020,0.000058
16,4,327680,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.173162,-0.003998,1.125157,0.033116,-0.837056,0.099536,0.536967
16,4,327680,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.216339,-0.031204,0.885085,0.671038,0.301283,-0.351639,0.579039
16,4,327680,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.062553,0.036194,0.881782,0.990403,-0.007933,-0.020088,-0.136512
16,4,327680,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235016,-0.044991,0.869532,1.000000,-0.000001,-0.000001,0.000050
16,4,327680,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.115009,-0.074997,0.871288,0.999999,-0.000154,-0.001020,0.000041
16,4,327680,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.227139,-0.021564,1.095293,0.103714,-0.742537,0.144559,0.645744
16,4,327680,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.203091,0.096497,0.885225,0.536904,-0.456717,0.530806,0.470520
16,4,327680,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.153759,0.066994,0.887425,0.769039,0.022215,-0.031860,0.638021
16,4,327680,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235050,0.074982,0.869532,0.999999,-0.000002,0.000000,0.001058
16,4,327680,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000165
16,4,327680,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.205006,0.081348,1.118031,0.081155,-0.803210,0.178689,0.562439
16,4,327680,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.271141,-0.025841,0.879303,-0.909329,0.012472,0.414929,0.028272
16,4,327680,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.139927,-0.094887,0.878076,0.076193,0.578659,0.805152,0.105256
16,4,327680,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082802,-0.075928,0.869533,0.999999,-0.000009,-0.000028,-0.001497
16,4,327680,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235001,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000380
16,4,327680,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.277384,-0.027660,0.931435,-0.045797,-0.754124,-0.054037,0.652900
16,4,327680,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.103271,-0.080849,0.882524,0.597179,0.396370,-0.230154,0.658253
16,4,327680,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.179459,0.044464,0.881638,0.071173,0.038702,-0.007220,0.996687
16,4,327680,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.171730,-0.092842,0.869532,0.971410,0.000001,-0.000000,-0.237408
16,4,327680,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000124
16,4,327680,8,gripper,0,"","put ketchup bottle on cloth",-0.168312,-0.062605,0.993192,0.067265,-0.805081,0.071267,0.585014
16,4,327680,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.206150,-0.013947,0.881559,0.450464,0.536452,-0.472523,0.534812
16,4,327680,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.191074,0.014145,0.885759,0.781159,-0.017497,0.032087,0.623262
16,4,327680,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.238735,0.044556,0.869532,0.998007,0.000001,0.000001,-0.063098
16,4,327680,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,-0.074989,0.871282,0.999999,-0.000452,-0.001265,0.000014
16,4,327680,9,gripper,0,"","put ketchup bottle on cloth",-0.194796,0.020060,1.039805,0.134918,-0.735902,0.198704,0.633057
16,4,327680,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.081379,0.081013,0.887787,0.800008,0.200521,-0.408539,0.390990
16,4,327680,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.067451,-0.012203,0.884546,0.606040,-0.057760,0.070916,0.790158
16,4,327680,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085205,-0.075047,0.869532,0.999980,-0.000001,-0.000000,-0.006288
16,4,327680,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114998,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000033
16,4,327680,10,gripper,0,"","put ketchup bottle on cloth",-0.123465,0.093172,1.144279,0.201479,-0.719812,0.315628,0.584513
16,4,327680,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.197933,-0.061096,0.879034,0.749262,-0.029619,0.660301,0.041618
16,4,327680,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.165934,0.054306,0.885760,0.759608,0.027605,-0.022582,0.649403
16,4,327680,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.228010,0.051521,0.869532,0.998244,-0.000003,-0.000005,-0.059235
16,4,327680,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114962,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000073
16,4,327680,11,gripper,0,"","put ketchup bottle on cloth",-0.233204,-0.057243,0.917506,-0.075596,-0.803612,-0.026058,0.589757
16,4,327680,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.283360,0.032150,0.879372,0.151292,-0.273810,0.049472,0.948521
16,4,327680,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.107572,0.006271,0.887404,0.687068,-0.004487,-0.011585,0.726487
16,4,327680,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.101364,-0.011456,0.869532,0.915464,-0.000003,-0.000002,0.402400
16,4,327680,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.206703,-0.080521,0.871291,0.999480,-0.000301,-0.001126,0.032214
16,4,327680,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.225605,-0.091825,0.921903,0.013021,-0.763255,0.000157,0.645966
16,4,327680,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.079473,0.004635,0.885209,-0.161807,-0.779599,0.561033,-0.226463
16,4,327680,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204765,-0.081657,0.882267,0.626145,0.025687,-0.030991,0.778667
16,4,327680,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.096613,-0.046776,0.869532,0.999927,-0.000000,-0.000001,-0.012057
16,4,327680,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.066332,0.076950,0.871288,0.989340,-0.000005,-0.001031,0.145618
16,4,327680,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.211624,-0.075953,0.953031,-0.150477,-0.776382,-0.115365,0.601064
16,4,327680,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.203358,-0.001778,0.879439,0.963888,0.001689,0.266023,0.012181
16,4,327680,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.068897,-0.031956,0.883767,0.997237,0.033324,0.037075,-0.055067
16,4,327680,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,-0.076588,0.869532,0.999762,-0.011024,0.000207,-0.018838
16,4,327680,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.071148,0.078125,0.871211,0.997670,-0.003619,-0.004385,0.067986
16,4,327680,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.224154,0.033239,0.929050,-0.082146,-0.747152,-0.000675,0.659557
16,4,327680,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191101,0.046970,0.888109,-0.879189,-0.124839,-0.249902,0.385993
16,4,327680,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",0.215145,0.268784,0.004849,0.047867,0.502507,0.859440,0.080977
16,4,327680,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",0.047119,0.091190,0.000732,0.684515,0.000000,-0.000000,-0.728999
16,4,327680,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,0.075012,0.871282,0.999999,-0.000453,-0.001266,-0.000054
16,4,327680,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.109365,-0.058388,1.111537,0.039463,-0.789946,0.116478,0.600717
16,4,327680,16,obj,0,"003_bread_1","put 7up can on carpet",-0.161110,-0.045242,0.886419,0.931008,-0.000749,-0.006864,-0.364933
16,4,327680,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.029488,0.118137,0.885949,0.345474,0.250054,0.898743,-0.101896
16,4,327680,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235001,0.044991,0.869490,0.999999,0.000180,0.000874,-0.000694
16,4,327680,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.205025,-0.074993,0.870448,0.999976,-0.000514,-0.000501,0.006838
16,4,327680,16,gripper,0,"","put 7up can on carpet",-0.049347,0.108150,0.957302,0.218008,-0.727914,0.194197,0.620404
16,4,327680,17,obj,0,"003_bread_1","put 7up can on carpet",-0.202892,-0.049503,0.886435,0.999949,0.002174,-0.009807,-0.000203
16,4,327680,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.148571,-0.047550,0.885675,0.732784,0.226075,-0.282816,0.576136
16,4,327680,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
16,4,327680,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.235027,-0.074993,0.870448,0.999999,-0.000772,-0.000716,0.000137
16,4,327680,17,gripper,0,"","put 7up can on carpet",-0.143015,-0.051010,0.974371,-0.024140,-0.782457,-0.021631,0.621860
16,4,327680,18,obj,0,"003_bread_1","put 7up can on carpet",-0.066414,0.066830,0.886461,0.962212,0.008006,-0.007911,0.272068
16,4,327680,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.185608,0.062805,0.887629,0.939416,0.046228,-0.086574,0.328429
16,4,327680,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204899,0.075001,0.869490,0.999998,0.000547,0.001417,-0.001331
16,4,327680,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.085014,0.075050,0.870460,1.000000,0.000019,-0.000158,-0.000158
16,4,327680,18,gripper,0,"","put 7up can on carpet",-0.116571,0.067228,1.151327,0.007982,-0.795148,0.176715,0.580042
16,4,327680,19,obj,0,"003_bread_1","put 7up can on carpet",-0.180983,0.058216,0.886190,0.947848,0.026741,-0.041783,0.314839
16,4,327680,19,obj,1,"005_7up can_1","put 7up can on carpet",0.002790,0.126686,0.885746,0.776607,0.143128,-0.579769,0.200658
16,4,327680,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235023,0.075012,0.869493,0.999936,-0.006564,-0.009187,0.000242
16,4,327680,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.115086,0.062260,0.870447,0.997326,-0.003305,-0.002499,-0.072961
16,4,327680,19,gripper,0,"","put 7up can on carpet",-0.140537,-0.022537,1.079302,0.018664,-0.856778,0.013773,0.515164
16,4,327680,20,obj,0,"003_bread_1","put bread on newspaper",-0.201079,0.017731,0.885638,0.994858,0.069315,0.003224,0.073775
16,4,327680,20,obj,1,"005_7up can_1","put bread on newspaper",-0.155784,-0.037708,0.885963,0.361770,-0.019432,-0.932006,-0.010458
16,4,327680,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.205001,0.075008,0.869490,0.999999,0.000550,0.001425,-0.000079
16,4,327680,20,recep,1,"003_carpet_1","put bread on newspaper",-0.234974,-0.045120,0.870460,0.999999,0.000019,-0.000158,-0.001049
16,4,327680,20,gripper,0,"","put bread on newspaper",-0.116807,-0.134947,0.945998,0.190916,-0.728046,0.087950,0.652507
16,4,327680,21,obj,0,"003_bread_1","put bread on newspaper",-0.075695,-0.011475,0.883615,-0.002108,-0.664360,0.742079,0.089107
16,4,327680,21,obj,1,"005_7up can_1","put bread on newspaper",-0.042950,-0.087955,0.888874,0.282708,0.660663,-0.634208,0.285272
16,4,327680,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
16,4,327680,21,recep,1,"003_carpet_1","put bread on newspaper",-0.057137,-0.077705,0.870448,0.996901,-0.000138,-0.000147,-0.078664
16,4,327680,21,gripper,0,"","put bread on newspaper",-0.165219,-0.017576,0.937774,0.044897,-0.778967,0.012043,0.625339
16,4,327680,22,obj,0,"003_bread_1","put bread on newspaper",-0.107506,-0.056282,0.886679,0.892992,0.007542,-0.005902,0.449971
16,4,327680,22,obj,1,"005_7up can_1","put bread on newspaper",-0.102108,0.032047,0.885929,0.466016,-0.377364,0.765504,0.233300
16,4,327680,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
16,4,327680,22,recep,1,"003_carpet_1","put bread on newspaper",-0.085007,-0.074867,0.870420,0.999964,-0.000671,-0.001250,-0.008351
16,4,327680,22,gripper,0,"","put bread on newspaper",-0.105471,0.021187,0.970194,0.168879,-0.766394,0.137668,0.604291
16,4,327680,23,obj,0,"003_bread_1","put bread on newspaper",-0.163841,-0.000435,0.883544,0.456636,0.011974,-0.004104,0.889563
16,4,327680,23,obj,1,"005_7up can_1","put bread on newspaper",-0.242134,0.149349,0.885948,-0.227413,0.732439,-0.577757,-0.279311
16,4,327680,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.235706,-0.044739,0.869489,0.999960,0.000172,0.000876,0.008943
16,4,327680,23,recep,1,"003_carpet_1","put bread on newspaper",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
16,4,327680,23,gripper,0,"","put bread on newspaper",-0.134569,-0.043547,1.004388,0.050855,-0.768711,0.041827,0.636198
16,4,327680,24,obj,0,"003_bread_1","put bread on carpet",-0.099480,-0.073362,0.886614,-0.632422,-0.012956,0.004877,-0.774500
16,4,327680,24,obj,1,"005_7up can_1","put bread on carpet",-0.106354,-0.010286,0.885830,0.539885,-0.456798,0.516674,0.482606
16,4,327680,24,recep,0,"004_newspaper_1","put bread on carpet",-0.073479,0.068981,0.869490,0.998299,0.000128,0.000883,0.058294
16,4,327680,24,recep,1,"003_carpet_1","put bread on carpet",-0.078835,-0.079678,0.870355,0.999924,-0.000300,-0.001572,-0.012239
16,4,327680,24,gripper,0,"","put bread on carpet",-0.173862,-0.035248,1.054749,0.029014,-0.778930,0.012077,0.626323
16,4,327680,25,obj,0,"003_bread_1","put bread on carpet",-0.170578,-0.060650,0.885200,0.915510,0.017775,0.033414,0.400512
16,4,327680,25,obj,1,"005_7up can_1","put bread on carpet",-0.133335,-0.013445,0.885980,0.320609,0.597597,-0.678717,0.281833
16,4,327680,25,recep,0,"004_newspaper_1","put bread on carpet",-0.205070,-0.075014,0.869490,1.000000,0.000194,0.000895,-0.000177
16,4,327680,25,recep,1,"003_carpet_1","put bread on carpet",-0.112656,0.074404,0.870460,0.999986,0.000018,-0.000158,-0.005277
16,4,327680,25,gripper,0,"","put bread on carpet",-0.144770,-0.019968,0.926633,0.098623,-0.816129,-0.016854,0.569143
16,4,327680,26,obj,0,"003_bread_1","put bread on carpet",-0.172531,0.115032,0.884021,-0.297964,0.027895,0.019043,0.953979
16,4,327680,26,obj,1,"005_7up can_1","put bread on carpet",-0.049263,0.185869,0.885747,-0.656231,0.348944,-0.474720,-0.471423
16,4,327680,26,recep,0,"004_newspaper_1","put bread on carpet",-0.219940,0.048998,0.869490,0.999983,0.000185,0.000874,-0.005830
16,4,327680,26,recep,1,"003_carpet_1","put bread on carpet",-0.085022,0.075102,0.870447,0.999999,-0.000923,-0.000845,-0.000042
16,4,327680,26,gripper,0,"","put bread on carpet",-0.199675,0.054695,0.967630,0.096514,-0.756777,0.025075,0.646022
16,4,327680,27,obj,0,"003_bread_1","put bread on carpet",-0.120317,0.035475,0.952419,0.667011,-0.000370,0.016585,0.744863
16,4,327680,27,obj,1,"005_7up can_1","put bread on carpet",-0.160044,-0.012215,0.886956,0.597329,0.332760,-0.250118,0.685499
16,4,327680,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204390,-0.045033,0.869490,0.999997,0.000207,0.000909,-0.002147
16,4,327680,27,recep,1,"003_carpet_1","put bread on carpet",-0.084942,-0.075005,0.870448,1.000000,-0.000278,-0.000290,0.000419
16,4,327680,27,gripper,0,"","put bread on carpet",-0.126950,0.043354,0.984688,0.076970,-0.781628,0.208453,0.582821
16,4,327680,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.174251,-0.042849,0.886378,0.627118,0.015248,-0.005001,0.778759
16,4,327680,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.194568,-0.109474,0.885946,0.389741,-0.504655,0.718623,0.277499
16,4,327680,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
16,4,327680,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205266,-0.045326,0.870448,0.999999,-0.000126,-0.000158,0.001234
16,4,327680,28,gripper,0,"","put 7up can on newspaper",-0.191668,-0.103949,0.979239,0.114775,-0.738513,0.268156,0.607880
16,4,327680,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.078888,0.096233,0.886581,0.628442,0.012770,-0.004848,0.777737
16,4,327680,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.180706,0.231258,0.885987,-0.122398,0.630173,-0.760895,-0.094549
16,4,327680,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.236027,0.075180,0.869490,1.000000,0.000180,0.000874,-0.000066
16,4,327680,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084606,0.076885,0.870417,0.999998,-0.000590,-0.001220,0.001309
16,4,327680,29,gripper,0,"","put 7up can on newspaper",-0.104618,-0.034230,0.974994,0.061228,-0.747907,0.032594,0.660169
16,4,327680,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.176048,0.091686,0.886452,0.571576,0.012299,-0.002140,0.820454
16,4,327680,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.011429,0.027782,0.885766,-0.327935,0.572355,-0.258617,-0.705681
16,4,327680,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,-0.044996,0.869490,1.000000,0.000180,0.000874,0.000165
16,4,327680,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074982,0.870448,0.999998,-0.001353,-0.001215,0.000023
16,4,327680,30,gripper,0,"","put 7up can on newspaper",-0.020617,0.007540,0.981465,-0.126964,-0.859760,-0.144703,0.473026
16,4,327680,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.196003,-0.057199,0.886052,0.970001,-0.003672,0.006691,-0.242980
16,4,327680,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.187874,0.011822,0.885904,0.558386,-0.441391,0.509798,0.483203
16,4,327680,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204979,-0.074997,0.869490,1.000000,0.000180,0.000874,-0.000112
16,4,327680,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081505,-0.075464,0.870448,0.999961,-0.000594,-0.000554,-0.008836
16,4,327680,31,gripper,0,"","put 7up can on newspaper",-0.196478,-0.032002,0.983746,0.090411,-0.785118,0.036139,0.611644
16,4,327680,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.252792,-0.079229,0.887157,0.999173,-0.008832,0.029258,-0.026837
16,4,327680,32,obj,1,"013_banana_1","put banana on flat bowl",-0.205017,0.074515,0.878547,0.999909,0.013318,0.002062,0.000576
16,4,327680,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
16,4,327680,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
16,4,327680,32,gripper,0,"","put banana on flat bowl",-0.046108,-0.022126,1.007559,-0.046248,-0.758842,-0.024660,0.649162
16,4,327680,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.216122,-0.057974,0.887380,0.394468,-0.035920,0.011141,0.918140
16,4,327680,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
16,4,327680,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
16,4,327680,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
16,4,327680,33,gripper,0,"","put banana on flat bowl",-0.040873,-0.015651,1.000817,0.207030,-0.738629,0.144331,0.625087
16,4,327680,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.222664,-0.041916,0.887573,0.817573,-0.019601,0.022628,0.575046
16,4,327680,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,0.075006,0.878547,0.706837,0.007991,0.010904,0.707247
16,4,327680,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
16,4,327680,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
16,4,327680,34,gripper,0,"","put banana on flat bowl",-0.172325,0.086233,0.968225,-0.185941,-0.682325,-0.127222,0.695466
16,4,327680,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.095465,-0.066597,0.887630,0.922495,-0.017425,0.041934,0.383329
16,4,327680,35,obj,1,"013_banana_1","put banana on flat bowl",-0.204672,-0.045309,0.878547,0.923637,0.011492,0.006983,0.383033
16,4,327680,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
16,4,327680,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
16,4,327680,35,gripper,0,"","put banana on flat bowl",-0.161414,-0.024881,0.976400,-0.108878,-0.691061,-0.108612,0.706246
16,4,327680,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.214114,-0.087298,0.887186,0.398495,-0.023911,0.020296,0.916634
16,4,327680,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074683,0.878547,0.382179,0.003179,0.013040,0.923991
16,4,327680,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
16,4,327680,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000001
16,4,327680,36,gripper,0,"","put carrot on sheet metal",-0.152744,-0.057983,0.998362,0.065426,-0.730764,0.119890,0.668827
16,4,327680,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.124310,-0.086510,0.887414,0.397111,-0.024028,0.012081,0.917376
16,4,327680,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,0.045316,0.878547,0.382218,0.003188,0.013071,0.923974
16,4,327680,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
16,4,327680,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
16,4,327680,37,gripper,0,"","put carrot on sheet metal",-0.078220,-0.056472,0.979600,0.007030,-0.734064,0.010126,0.678968
16,4,327680,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.125622,0.041945,0.887233,0.763605,-0.014499,0.029360,0.644852
16,4,327680,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204563,-0.044995,0.878547,0.706797,0.007940,0.010841,0.707289
16,4,327680,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
16,4,327680,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
16,4,327680,38,gripper,0,"","put carrot on sheet metal",-0.085609,0.053358,0.992229,0.044094,-0.734367,0.021913,0.676965
16,4,327680,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.162155,-0.079837,0.890982,0.943879,0.067193,0.077747,-0.313899
16,4,327680,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204994,0.044556,0.878547,0.999910,0.013290,0.002053,0.000284
16,4,327680,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
16,4,327680,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.102715,-0.026901,0.874363,0.982154,0.000000,-0.000001,0.188080
16,4,327680,39,gripper,0,"","put carrot on sheet metal",-0.123772,-0.106967,0.949807,0.062102,-0.757201,0.094739,0.643284
16,4,327680,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203194,0.076555,0.887528,0.999065,0.000025,0.043219,-0.000597
16,4,327680,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.114990,-0.045441,0.878547,0.999909,0.013298,0.002041,-0.000694
16,4,327680,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000107
16,4,327680,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000298
16,4,327680,40,gripper,0,"","put carrot on flat bowl",-0.061264,0.111484,1.002796,0.074275,-0.772424,0.055220,0.628327
16,4,327680,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093597,-0.056393,0.887555,0.383798,-0.025508,0.007443,0.923035
16,4,327680,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234692,0.045340,0.878547,0.383273,0.003201,0.013059,0.923537
16,4,327680,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
16,4,327680,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000606
16,4,327680,41,gripper,0,"","put carrot on flat bowl",-0.077353,0.056580,1.031495,-0.260971,-0.713046,-0.273651,0.590402
16,4,327680,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203411,0.075687,0.887529,0.999059,0.000149,0.043221,-0.003477
16,4,327680,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234974,-0.075447,0.878547,0.999910,0.013265,0.002038,-0.000650
16,4,327680,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
16,4,327680,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
16,4,327680,42,gripper,0,"","put carrot on flat bowl",-0.134579,0.087407,1.037915,-0.025331,-0.753742,0.062171,0.653732
16,4,327680,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.104372,0.079987,0.887378,0.827659,-0.014510,0.017747,0.560763
16,4,327680,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114548,-0.044975,0.878547,0.707916,0.007959,0.010830,0.706168
16,4,327680,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
16,4,327680,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000361
16,4,327680,43,gripper,0,"","put carrot on flat bowl",-0.059665,0.098323,0.992060,0.208298,-0.830089,0.063592,0.513342
16,4,327680,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.098155,0.085697,0.887317,0.932342,-0.014661,0.024863,0.360425
16,4,327680,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084686,-0.075308,0.878547,0.923619,0.011493,0.006984,0.383075
16,4,327680,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.044996,0.871344,0.999999,-0.000158,0.001164,-0.000005
16,4,327680,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,0.000000
16,4,327680,44,gripper,0,"","put banana on sheet metal",-0.056736,-0.019610,1.011050,-0.006134,-0.753529,-0.000074,0.657386
16,4,327680,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203354,0.076315,0.887529,0.998913,-0.000754,0.043216,0.017457
16,4,327680,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084976,0.074558,0.878547,0.999909,0.013314,0.002044,-0.000314
16,4,327680,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.045004,0.871344,0.999999,-0.000158,0.001163,-0.000015
16,4,327680,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
16,4,327680,45,gripper,0,"","put banana on sheet metal",-0.046668,0.096560,0.996171,0.085589,-0.760752,0.113000,0.633373
16,4,327680,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205143,0.076702,0.887529,0.706059,-0.030584,0.030549,0.706833
16,4,327680,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084549,0.075020,0.878547,0.707910,0.007968,0.010844,0.706174
16,4,327680,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
16,4,327680,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000472
16,4,327680,46,gripper,0,"","put banana on sheet metal",-0.093618,0.085132,0.988105,0.241531,-0.785258,0.189085,0.537848
16,4,327680,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204216,0.076744,0.887528,0.919609,-0.016890,0.039784,0.390449
16,4,327680,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
16,4,327680,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
16,4,327680,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
16,4,327680,47,gripper,0,"","put banana on sheet metal",-0.099360,0.054463,1.009103,-0.079628,-0.765207,-0.127155,0.626058
16,4,327680,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.126610,0.069157,0.890788,0.680662,-0.026610,-0.007214,0.732078
16,4,327680,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.162560,0.021896,0.892718,0.597283,-0.340984,0.576219,0.441536
16,4,327680,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.204216,0.075417,0.872199,0.999995,0.000000,-0.000001,-0.003273
16,4,327680,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084930,0.075016,0.870870,1.000000,0.000000,-0.000000,-0.000549
16,4,327680,48,gripper,0,"","put plastic bottle on cutting board",-0.111198,0.030413,1.130737,0.048041,-0.855814,0.118559,0.501217
16,4,327680,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085220,0.046116,0.888112,0.924130,-0.027160,0.004560,0.381085
16,4,327680,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.214222,-0.023296,0.887026,0.650287,-0.287572,0.648833,0.271006
16,4,327680,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
16,4,327680,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074997,0.870858,1.000000,0.000462,0.000699,-0.000082
16,4,327680,49,gripper,0,"","put plastic bottle on cutting board",-0.217516,-0.000078,0.948677,-0.090685,-0.751397,-0.040751,0.652318
16,4,327680,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.179291,0.115860,0.890427,0.271896,-0.019378,-0.016435,0.961991
16,4,327680,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115719,0.006794,0.886979,0.388904,-0.592993,-0.354453,-0.609488
16,4,327680,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085018,0.076107,0.872199,0.999987,-0.000000,-0.000000,-0.005089
16,4,327680,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204441,0.075325,0.870883,0.999953,0.000691,0.000716,0.009671
16,4,327680,50,gripper,0,"","put plastic bottle on cutting board",-0.092699,-0.008839,0.975275,0.025719,-0.803987,-0.119238,0.582001
16,4,327680,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.123384,-0.012665,0.888112,0.980453,-0.020087,0.018846,-0.194814
16,4,327680,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.109137,0.061211,0.920725,0.619695,-0.350496,0.625101,0.319968
16,4,327680,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205013,0.075024,0.872199,1.000000,0.000000,-0.000001,0.000851
16,4,327680,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
16,4,327680,51,gripper,0,"","put plastic bottle on cutting board",-0.110585,0.059227,0.965161,0.220564,-0.750303,0.196681,0.591366
16,4,327680,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.091013,0.190411,0.891736,-0.323519,-0.634074,0.516478,-0.475958
16,4,327680,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.122679,0.011806,0.018226,0.048123,0.706792,0.064281,-0.702850
16,4,327680,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.150758,0.095608,0.873487,0.972377,-0.000046,-0.014650,0.232957
16,4,327680,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.047584,0.127155,0.870870,0.965888,-0.000001,0.000001,0.258961
16,4,327680,52,gripper,0,"","put hamburger on frying pan",-0.135983,-0.155851,0.965922,0.131475,-0.778776,0.082691,0.607770
16,4,327680,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.198139,-0.066883,0.896466,0.417968,-0.024890,-0.014294,0.908008
16,4,327680,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.223963,0.022575,0.887026,0.340316,-0.628910,0.328867,0.616850
16,4,327680,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000569
16,4,327680,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.112267,0.041893,0.870870,0.999595,-0.000000,-0.000001,0.028472
16,4,327680,53,gripper,0,"","put hamburger on frying pan",-0.152415,-0.125448,1.028394,0.066441,-0.779789,0.118377,0.611148
16,4,327680,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.134327,-0.022980,0.888112,0.960767,-0.018440,0.020454,-0.275986
16,4,327680,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.308350,-0.038029,0.018226,0.693025,0.111923,0.700828,-0.126611
16,4,327680,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.203815,-0.075138,0.872199,0.999716,-0.000001,-0.000000,-0.023835
16,4,327680,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235367,0.076241,0.870870,0.999967,0.000000,-0.000001,0.008076
16,4,327680,54,gripper,0,"","put hamburger on frying pan",-0.096363,-0.110155,0.966474,-0.102401,-0.763993,-0.119232,0.625790
16,4,327680,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085217,0.076092,0.888113,0.924175,-0.027159,0.004564,0.380975
16,4,327680,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.196804,0.004780,0.887027,0.499489,-0.511604,0.491882,0.496814
16,4,327680,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
16,4,327680,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075191,0.870870,0.999998,0.000001,-0.000000,-0.001733
16,4,327680,55,gripper,0,"","put hamburger on frying pan",-0.145861,-0.005722,1.024613,-0.089874,-0.744573,-0.053848,0.659267
16,4,327680,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.096176,0.096977,0.890778,0.451079,-0.022902,-0.010922,0.892124
16,4,327680,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.153427,-0.060539,0.887026,0.192215,-0.686931,0.178338,0.677772
16,4,327680,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235878,-0.049862,0.872199,0.999665,-0.000001,-0.000000,-0.025868
16,4,327680,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085030,0.075024,0.870870,1.000000,0.000000,0.000000,-0.000043
16,4,327680,56,gripper,0,"","put hamburger on cutting board",-0.101242,0.083071,1.048892,0.099626,-0.702187,0.109215,0.696477
16,4,327680,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.059803,-0.072254,0.890571,0.916680,-0.027501,0.007375,0.398606
16,4,327680,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.195774,-0.013840,0.886092,0.872720,-0.019130,0.011725,0.487705
16,4,327680,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
16,4,327680,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.099125,-0.081593,0.870870,0.990026,0.000000,0.000000,-0.140886
16,4,327680,57,gripper,0,"","put hamburger on cutting board",-0.178095,-0.039621,0.969228,0.119369,-0.798640,-0.009415,0.589777
16,4,327680,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.101795,-0.002346,0.890594,0.376824,-0.020919,-0.013085,0.925956
16,4,327680,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.241211,-0.078449,0.887027,0.444513,-0.560461,0.435392,0.546557
16,4,327680,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
16,4,327680,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.113636,-0.042095,0.870870,0.999915,0.000000,-0.000000,-0.013040
16,4,327680,58,gripper,0,"","put hamburger on cutting board",-0.145695,0.044662,1.118451,0.064622,-0.785244,0.138888,0.599938
16,4,327680,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085087,0.076073,0.888112,0.952889,-0.026683,0.006823,0.302068
16,4,327680,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.201769,-0.048702,0.887026,0.660109,-0.262724,0.659288,0.246113
16,4,327680,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.082865,-0.075043,0.872199,0.999941,-0.000000,-0.000001,-0.010853
16,4,327680,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235970,0.045544,0.870870,0.999982,0.000001,-0.000001,-0.005991
16,4,327680,59,gripper,0,"","put hamburger on cutting board",-0.192376,-0.056574,0.990195,-0.011583,-0.779443,0.029580,0.625668
16,4,327680,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.201451,0.020294,0.891736,-0.402911,-0.532231,0.620908,-0.410933
16,4,327680,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.164780,-0.013462,0.887496,0.355068,0.621874,-0.318412,0.621139
16,4,327680,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114964,-0.074993,0.872199,1.000000,-0.000000,-0.000001,-0.000499
16,4,327680,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.238454,-0.048470,0.870884,0.999991,0.000694,0.000721,0.004192
16,4,327680,60,gripper,0,"","put plastic bottle on frying pan",-0.138237,-0.045698,0.993908,-0.181435,-0.757190,-0.144405,0.610649
16,4,327680,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.185886,0.020649,0.888112,0.604672,-0.025742,-0.009798,0.795998
16,4,327680,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.049482,0.091423,0.912432,0.058711,-0.478587,0.876064,-0.004313
16,4,327680,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000078
16,4,327680,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204966,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000066
16,4,327680,61,gripper,0,"","put plastic bottle on frying pan",-0.078066,0.097921,0.953377,0.253642,-0.779628,0.151402,0.552199
16,4,327680,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.197399,0.100700,0.890444,0.607715,-0.026621,-0.007289,0.793675
16,4,327680,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.153801,0.170860,0.887026,0.686659,-0.174099,0.688023,0.157525
16,4,327680,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085014,0.075016,0.872199,1.000000,-0.000000,-0.000000,-0.000035
16,4,327680,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075024,0.870869,1.000000,0.000001,0.000000,-0.000131
16,4,327680,62,gripper,0,"","put plastic bottle on frying pan",-0.105667,0.018435,1.015239,0.011382,-0.753844,-0.006843,0.656919
16,4,327680,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.055779,0.098793,0.892457,0.654875,0.039046,0.196332,0.728744
16,4,327680,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.163658,0.102757,0.908002,0.316871,-0.692270,0.584171,0.281247
16,4,327680,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.105049,0.060669,0.872199,0.999864,-0.000000,-0.000001,0.016507
16,4,327680,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
16,4,327680,63,gripper,0,"","put plastic bottle on frying pan",-0.186438,0.101151,0.929961,-0.020014,-0.759863,-0.039355,0.648582
17,1,332800,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.197647,-0.074112,0.878982,0.756214,-0.048119,0.649316,0.064916
17,1,332800,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205963,0.045113,0.881638,0.999225,-0.004462,-0.039112,-0.000400
17,1,332800,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000026
17,1,332800,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,-0.044991,0.871288,0.999999,-0.000153,-0.001019,0.000005
17,1,332800,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.230751,-0.056870,0.943040,0.016234,-0.760293,0.076947,0.644802
17,1,332800,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.178322,0.071091,0.879212,-0.277094,0.093096,0.955968,0.026036
17,1,332800,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085960,0.075119,0.881638,0.999225,-0.004454,-0.039113,-0.000267
17,1,332800,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
17,1,332800,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
17,1,332800,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.192766,0.082088,0.948244,-0.068586,-0.743301,-0.134578,0.651681
17,1,332800,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.134525,-0.036537,0.885369,0.496546,-0.235219,0.148763,0.822182
17,1,332800,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204407,0.074257,0.881638,0.382524,0.034435,-0.019085,0.923106
17,1,332800,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115009,-0.075012,0.869532,1.000000,-0.000002,-0.000006,-0.000148
17,1,332800,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000014
17,1,332800,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.169472,-0.031029,0.943320,-0.115506,-0.767363,-0.057155,0.628129
17,1,332800,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.052557,0.105652,0.884977,0.494424,-0.489013,0.429848,0.575883
17,1,332800,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085752,-0.075554,0.881638,0.923181,0.010859,-0.037836,0.382345
17,1,332800,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084991,0.075005,0.869532,1.000000,0.000000,-0.000000,-0.000012
17,1,332800,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000058
17,1,332800,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.208657,0.000504,0.977249,-0.180844,-0.697904,-0.120757,0.682380
17,1,332800,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.150454,-0.059219,0.885369,0.601020,-0.213524,0.178621,0.749184
17,1,332800,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.104315,0.069695,0.881638,0.235789,0.036965,-0.013548,0.971007
17,1,332800,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205010,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000034
17,1,332800,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.044998,0.871289,1.000000,-0.000154,-0.001019,-0.000006
17,1,332800,4,gripper,0,"","put ketchup bottle on cloth",-0.233220,-0.065559,0.958773,-0.048386,-0.782526,-0.087758,0.614500
17,1,332800,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.101612,-0.044312,0.879375,0.511868,0.078057,-0.041058,0.854524
17,1,332800,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084404,-0.075737,0.881638,0.382334,0.034439,-0.019074,0.923185
17,1,332800,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
17,1,332800,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114996,0.044998,0.871288,0.999999,-0.000154,-0.001019,0.000022
17,1,332800,5,gripper,0,"","put ketchup bottle on cloth",-0.174044,-0.080151,0.916173,-0.191728,-0.845899,-0.170907,0.467424
17,1,332800,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205013,-0.084709,0.879089,0.626321,0.326496,-0.328365,0.627136
17,1,332800,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085110,0.074020,0.881638,0.706832,0.024504,-0.030812,0.706285
17,1,332800,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
17,1,332800,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000154,-0.001020,0.000044
17,1,332800,6,gripper,0,"","put ketchup bottle on cloth",-0.166435,0.025166,0.997725,0.062575,-0.741464,0.004368,0.668054
17,1,332800,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.090839,0.000160,0.879408,0.587244,0.315348,-0.266734,0.696098
17,1,332800,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205109,-0.075974,0.881638,0.706780,0.024487,-0.030793,0.706338
17,1,332800,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074974,0.869532,1.000000,-0.000000,-0.000000,-0.000107
17,1,332800,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000154,-0.001020,0.000044
17,1,332800,7,gripper,0,"","put ketchup bottle on cloth",-0.128441,-0.001797,0.915335,-0.117514,-0.800627,-0.055306,0.584917
17,1,332800,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085014,-0.084728,0.879089,0.626223,0.326555,-0.328328,0.627221
17,1,332800,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.184792,0.079166,0.885747,0.666953,0.038157,-0.024906,0.743706
17,1,332800,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234985,0.075005,0.869532,1.000000,-0.000000,-0.000002,0.000144
17,1,332800,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205009,-0.074959,0.871282,0.999999,-0.000450,-0.001264,0.000094
17,1,332800,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.185234,0.053259,0.998775,-0.019978,-0.722870,-0.113807,0.681254
17,1,332800,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.208649,0.040783,0.885122,0.459260,0.532540,-0.560834,0.436974
17,1,332800,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.114399,0.076157,0.883211,0.705579,-0.015254,0.047860,0.706848
17,1,332800,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234943,0.044960,0.869532,1.000000,-0.000000,-0.000000,-0.000746
17,1,332800,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
17,1,332800,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.114042,0.070353,0.918295,0.113151,-0.819229,-0.001223,0.562191
17,1,332800,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.055115,0.046803,0.884977,-0.521083,0.468180,-0.452624,-0.551735
17,1,332800,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085766,-0.075611,0.881638,0.923233,0.010857,-0.037845,0.382218
17,1,332800,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085007,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000167
17,1,332800,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234955,-0.044964,0.871308,0.999999,-0.000656,-0.001166,-0.000231
17,1,332800,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.238253,-0.031487,0.926781,-0.188288,-0.773472,-0.130453,0.590991
17,1,332800,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097622,-0.087669,0.879125,0.585813,0.294794,-0.715019,0.242214
17,1,332800,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201267,0.081322,0.881639,0.944728,0.012599,-0.048569,0.323992
17,1,332800,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000003
17,1,332800,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
17,1,332800,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.207428,0.096207,0.926847,0.000775,-0.767514,0.042391,0.639629
17,1,332800,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.119459,-0.020382,0.888237,0.234854,0.554590,-0.781722,0.161813
17,1,332800,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083895,0.074299,0.883293,0.706099,0.041938,-0.007827,0.706827
17,1,332800,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204998,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000026
17,1,332800,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000015
17,1,332800,12,gripper,0,"","put kitchen shovel on cloth",-0.138824,0.013437,1.020097,0.130585,-0.662557,0.258539,0.690741
17,1,332800,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097605,0.062332,0.879125,0.585789,0.294860,-0.714994,0.242266
17,1,332800,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.247583,-0.071278,0.881637,0.902216,0.012803,-0.037232,0.429485
17,1,332800,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,0.000000,0.000017
17,1,332800,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205294,0.045139,0.871288,0.999997,-0.000156,-0.001018,-0.002235
17,1,332800,13,gripper,0,"","put kitchen shovel on cloth",-0.272840,-0.041870,0.938283,0.117385,-0.747263,0.130286,0.640971
17,1,332800,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244740,0.075008,0.879088,0.886321,-0.001239,-0.463068,0.000734
17,1,332800,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.022957,0.058239,0.881641,0.980673,-0.012015,0.038328,0.191485
17,1,332800,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
17,1,332800,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
17,1,332800,14,gripper,0,"","put kitchen shovel on cloth",-0.042625,0.110620,0.967002,0.196717,-0.741505,0.156337,0.622118
17,1,332800,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228291,-0.027760,0.961745,0.609402,0.370033,-0.313795,0.627086
17,1,332800,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.108173,-0.035278,0.889963,0.658262,-0.045207,0.015886,0.751262
17,1,332800,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205013,-0.074993,0.869532,1.000000,-0.000000,-0.000001,0.000071
17,1,332800,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000153,-0.001019,0.000029
17,1,332800,15,gripper,0,"","put kitchen shovel on cloth",-0.211571,-0.029293,0.996287,0.005725,-0.738787,-0.051394,0.671952
17,1,332800,16,obj,0,"003_bread_1","put bread on newspaper",-0.123848,0.078716,0.886583,0.485155,0.026360,0.001738,0.874029
17,1,332800,16,obj,1,"005_7up can_1","put bread on newspaper",-0.198555,-0.081715,0.885636,0.365801,0.261052,-0.113633,0.886075
17,1,332800,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000051
17,1,332800,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074989,0.870448,0.999999,-0.000923,-0.000844,-0.000023
17,1,332800,16,gripper,0,"","put bread on newspaper",-0.188847,-0.052771,0.955489,0.107896,-0.775659,0.061803,0.618783
17,1,332800,17,obj,0,"003_bread_1","put bread on newspaper",-0.242172,0.081829,0.886572,0.966325,0.010450,0.004753,0.257068
17,1,332800,17,obj,1,"005_7up can_1","put bread on newspaper",-0.091728,-0.081486,0.885636,0.885291,0.104185,-0.264978,0.367685
17,1,332800,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235107,0.074738,0.869490,1.000000,0.000180,0.000874,-0.000396
17,1,332800,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
17,1,332800,17,gripper,0,"","put bread on newspaper",-0.161602,0.036772,0.982409,0.145608,-0.745816,0.118237,0.639201
17,1,332800,18,obj,0,"003_bread_1","put bread on newspaper",-0.182129,-0.084866,0.885563,0.421293,0.025029,0.006414,0.906556
17,1,332800,18,obj,1,"005_7up can_1","put bread on newspaper",-0.175758,0.064426,0.887768,0.522810,0.372912,-0.204929,0.738654
17,1,332800,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205032,-0.074997,0.869490,0.999999,0.000546,0.001421,-0.000028
17,1,332800,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.044994,0.870460,1.000000,0.000024,-0.000153,-0.000037
17,1,332800,18,gripper,0,"","put bread on newspaper",-0.145948,-0.087118,0.990611,-0.025902,-0.785122,-0.002723,0.618793
17,1,332800,19,obj,0,"003_bread_1","put bread on newspaper",-0.084480,0.074524,0.883544,0.383712,0.012269,-0.003128,0.923366
17,1,332800,19,obj,1,"005_7up can_1","put bread on newspaper",-0.204880,0.064564,0.888805,0.679430,0.286290,-0.319558,0.595227
17,1,332800,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114994,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000017
17,1,332800,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204987,0.075005,0.870460,1.000000,0.000019,-0.000158,0.000025
17,1,332800,19,gripper,0,"","put bread on newspaper",-0.150010,0.035765,1.123115,0.084373,-0.793737,0.058607,0.599523
17,1,332800,20,obj,0,"003_bread_1","put bread on carpet",-0.115493,-0.045513,0.883544,0.924257,0.006465,-0.010883,0.381560
17,1,332800,20,obj,1,"005_7up can_1","put bread on carpet",-0.209838,0.134247,0.885987,0.473174,0.525336,-0.526681,0.471950
17,1,332800,20,recep,0,"004_newspaper_1","put bread on carpet",-0.082475,0.073677,0.869490,0.999499,0.000152,0.000880,0.031629
17,1,332800,20,recep,1,"003_carpet_1","put bread on carpet",-0.234998,-0.075024,0.870461,1.000000,0.000019,-0.000159,-0.000134
17,1,332800,20,gripper,0,"","put bread on carpet",-0.194618,0.071171,0.933396,0.109218,-0.767343,0.011655,0.631760
17,1,332800,21,obj,0,"003_bread_1","put bread on carpet",-0.207712,0.085743,0.886449,0.975570,0.006822,-0.008773,0.219409
17,1,332800,21,obj,1,"005_7up can_1","put bread on carpet",-0.163609,-0.064816,0.922735,0.803556,-0.007179,-0.110691,0.584803
17,1,332800,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
17,1,332800,21,recep,1,"003_carpet_1","put bread on carpet",-0.234991,0.075005,0.870461,1.000000,-0.000073,-0.000242,-0.000007
17,1,332800,21,gripper,0,"","put bread on carpet",-0.171252,-0.062077,0.951767,0.098770,-0.765729,0.126317,0.622855
17,1,332800,22,obj,0,"003_bread_1","put bread on carpet",-0.126839,-0.046040,0.886750,0.997917,0.004217,0.005117,0.064168
17,1,332800,22,obj,1,"005_7up can_1","put bread on carpet",-0.214363,0.075153,0.885636,0.958609,-0.005208,-0.284677,0.000707
17,1,332800,22,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000016
17,1,332800,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
17,1,332800,22,gripper,0,"","put bread on carpet",-0.139259,-0.057173,0.972482,0.016797,-0.806544,-0.024047,0.590446
17,1,332800,23,obj,0,"003_bread_1","put bread on carpet",-0.171566,-0.034042,0.885226,0.958542,-0.004501,0.008899,-0.284778
17,1,332800,23,obj,1,"005_7up can_1","put bread on carpet",-0.092609,-0.074829,0.885627,0.972478,-0.005044,-0.232936,0.001243
17,1,332800,23,recep,0,"004_newspaper_1","put bread on carpet",-0.205048,-0.076096,0.869490,0.999991,0.000183,0.000874,-0.004172
17,1,332800,23,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000033
17,1,332800,23,gripper,0,"","put bread on carpet",-0.181189,-0.034172,0.947717,0.066677,-0.759565,0.101057,0.639063
17,1,332800,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.095406,-0.018356,0.886673,0.970693,-0.075759,0.028852,0.226235
17,1,332800,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.210487,-0.050247,0.885627,0.897996,0.084471,-0.217151,0.373246
17,1,332800,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084999,-0.074995,0.869490,1.000000,0.000180,0.000875,-0.000051
17,1,332800,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,0.075012,0.870447,0.999991,-0.003111,-0.002731,-0.000011
17,1,332800,24,gripper,0,"","put 7up can on newspaper",-0.129585,-0.021054,0.939350,0.000007,-0.787110,-0.051863,0.614628
17,1,332800,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.201199,0.035902,0.887819,0.983830,0.031332,-0.025046,-0.174553
17,1,332800,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242710,0.045170,0.885626,0.972475,-0.004892,-0.232950,0.001877
17,1,332800,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
17,1,332800,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.044987,0.870447,0.999999,-0.000923,-0.000845,-0.000011
17,1,332800,25,gripper,0,"","put 7up can on newspaper",-0.199541,0.030126,0.935054,0.093547,-0.766515,0.031991,0.634571
17,1,332800,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.234482,0.074512,0.883544,0.383696,0.012265,-0.003128,0.923373
17,1,332800,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.129322,-0.014923,0.991433,-0.565862,0.268506,-0.494610,-0.602549
17,1,332800,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084652,0.075245,0.869490,0.999995,0.000177,0.000875,0.003031
17,1,332800,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,-0.045000,0.870403,1.000000,0.000065,-0.000723,-0.000046
17,1,332800,26,gripper,0,"","put 7up can on newspaper",-0.129169,-0.013858,1.036631,0.042579,-0.708510,0.058411,0.701989
17,1,332800,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.199053,-0.022795,0.885062,0.954967,0.038007,0.016796,-0.293787
17,1,332800,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092604,0.075182,0.885627,0.972473,-0.005086,-0.232956,0.001070
17,1,332800,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204432,0.043913,0.869490,0.999341,0.000147,0.000880,0.036297
17,1,332800,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
17,1,332800,27,gripper,0,"","put 7up can on newspaper",-0.187586,-0.013478,0.962010,-0.039321,-0.789161,-0.038466,0.611718
17,1,332800,28,obj,0,"003_bread_1","put 7up can on carpet",-0.104670,0.002222,0.909465,0.447574,0.068848,-0.004206,0.891583
17,1,332800,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.079750,-0.080498,0.885627,0.370621,0.213324,-0.093716,0.899083
17,1,332800,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
17,1,332800,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.236393,0.076836,0.870423,0.999956,-0.000591,-0.001167,0.009312
17,1,332800,28,gripper,0,"","put 7up can on carpet",-0.119861,-0.000952,0.944136,0.132649,-0.787904,0.037442,0.600175
17,1,332800,29,obj,0,"003_bread_1","put 7up can on carpet",-0.204479,-0.075487,0.883544,0.383675,0.012263,-0.003134,0.923381
17,1,332800,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.075659,0.015287,0.885687,0.720325,0.250993,-0.315480,0.564454
17,1,332800,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
17,1,332800,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
17,1,332800,29,gripper,0,"","put 7up can on carpet",-0.078446,-0.070325,0.989755,-0.076658,-0.740645,-0.143540,0.651894
17,1,332800,30,obj,0,"003_bread_1","put 7up can on carpet",-0.239193,-0.038332,0.883544,0.606935,0.011058,-0.006155,0.794651
17,1,332800,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.188972,-0.046207,0.886011,0.063540,-0.932568,0.274413,0.225779
17,1,332800,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.045002,0.869490,1.000000,0.000180,0.000874,0.000043
17,1,332800,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.112827,-0.075497,0.870448,0.999950,-0.000931,-0.000835,-0.009932
17,1,332800,30,gripper,0,"","put 7up can on carpet",-0.192942,-0.051837,0.955187,-0.052309,-0.751641,-0.039903,0.656283
17,1,332800,31,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
17,1,332800,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.170654,0.062548,0.920858,0.690991,0.252301,-0.251979,0.628794
17,1,332800,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
17,1,332800,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
17,1,332800,31,gripper,0,"","put 7up can on carpet",-0.190144,0.064198,0.966266,0.049626,-0.796206,0.063751,0.599607
17,1,332800,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086227,0.075422,0.887137,0.706118,0.015603,-0.014411,0.707775
17,1,332800,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234535,-0.074990,0.878547,0.706824,0.007951,0.010859,0.707262
17,1,332800,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,1,332800,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
17,1,332800,32,gripper,0,"","put carrot on sheet metal",-0.066288,0.075405,0.956586,0.203154,-0.745718,0.085226,0.628784
17,1,332800,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087677,-0.075761,0.887515,0.745377,-0.021163,0.022082,0.665941
17,1,332800,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007940,0.010843,0.707246
17,1,332800,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
17,1,332800,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,-0.000000,-0.000000
17,1,332800,33,gripper,0,"","put carrot on sheet metal",-0.030895,-0.031798,0.927310,0.147814,-0.891639,0.206326,0.374913
17,1,332800,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086945,-0.072216,0.887246,0.996811,0.005162,0.032742,0.072586
17,1,332800,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
17,1,332800,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
17,1,332800,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
17,1,332800,34,gripper,0,"","put carrot on sheet metal",-0.089294,-0.023717,1.016020,0.040558,-0.819437,0.008689,0.571666
17,1,332800,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237097,0.077346,0.887512,0.910174,-0.003632,0.015623,0.413915
17,1,332800,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011499,0.006988,0.383040
17,1,332800,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,1,332800,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000000
17,1,332800,35,gripper,0,"","put carrot on sheet metal",-0.188091,0.089435,0.988388,-0.001583,-0.709637,-0.000133,0.704566
17,1,332800,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206369,-0.075562,0.887364,0.739504,-0.021462,0.030199,0.672132
17,1,332800,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084559,0.075006,0.878547,0.706806,0.007937,0.010839,0.707280
17,1,332800,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
17,1,332800,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
17,1,332800,36,gripper,0,"","put carrot on flat bowl",-0.162071,-0.049674,0.973844,0.039518,-0.729465,0.001912,0.682873
17,1,332800,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209276,0.078501,0.887211,0.371659,-0.029098,0.003154,0.927908
17,1,332800,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234692,-0.074684,0.878547,0.382227,0.003179,0.013033,0.923971
17,1,332800,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,1,332800,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
17,1,332800,37,gripper,0,"","put carrot on flat bowl",-0.157280,0.089585,0.993705,-0.009978,-0.708560,0.014786,0.705425
17,1,332800,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007858
17,1,332800,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.114994,-0.075442,0.878547,0.999910,0.013286,0.002050,0.000317
17,1,332800,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
17,1,332800,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
17,1,332800,38,gripper,0,"","put carrot on flat bowl",-0.179562,0.070284,1.007984,0.046905,-0.730559,0.070164,0.677614
17,1,332800,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117493,0.073015,0.887409,0.356172,-0.024384,0.011147,0.934036
17,1,332800,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.044685,0.878547,0.382253,0.003187,0.013062,0.923960
17,1,332800,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
17,1,332800,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
17,1,332800,39,gripper,0,"","put carrot on flat bowl",-0.088409,0.094810,0.981952,0.219129,-0.736124,0.158627,0.620437
17,1,332800,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239334,-0.075958,0.887479,0.946055,-0.009140,0.025355,0.322884
17,1,332800,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,0.074696,0.878547,0.923872,0.011511,0.006984,0.382464
17,1,332800,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,-0.045008,0.871345,0.999999,-0.000158,0.001164,-0.000059
17,1,332800,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
17,1,332800,40,gripper,0,"","put banana on sheet metal",-0.086773,0.073338,0.983185,-0.113019,-0.730954,-0.130316,0.660265
17,1,332800,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236347,0.044659,0.887143,0.914133,-0.002184,0.030105,0.404290
17,1,332800,41,obj,1,"013_banana_1","put banana on sheet metal",-0.204678,-0.075312,0.878547,0.923801,0.011496,0.006978,0.382636
17,1,332800,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
17,1,332800,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
17,1,332800,41,gripper,0,"","put banana on sheet metal",-0.147335,-0.034838,1.002720,-0.099014,-0.683483,-0.048301,0.721606
17,1,332800,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086891,0.077404,0.887544,0.996084,-0.003354,0.043417,0.076943
17,1,332800,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,0.044558,0.878547,0.999910,0.013262,0.002046,-0.000180
17,1,332800,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
17,1,332800,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
17,1,332800,42,gripper,0,"","put banana on sheet metal",-0.134289,0.036743,1.043916,0.029824,-0.751074,-0.062450,0.656581
17,1,332800,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117708,0.072741,0.887572,0.352722,-0.023581,0.012493,0.935347
17,1,332800,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.044674,0.878547,0.382500,0.003193,0.013070,0.923858
17,1,332800,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,1,332800,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
17,1,332800,43,gripper,0,"","put banana on sheet metal",-0.016063,-0.001019,0.967080,0.051222,-0.746357,0.076525,0.659144
17,1,332800,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205657,0.076988,0.887528,0.707162,-0.030534,0.030593,0.705729
17,1,332800,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084562,-0.074993,0.878547,0.706792,0.007918,0.010825,0.707294
17,1,332800,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.075001,0.871345,0.999999,-0.000158,0.001164,-0.000027
17,1,332800,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
17,1,332800,44,gripper,0,"","put banana on flat bowl",-0.061097,-0.016685,1.001300,0.082908,-0.792773,0.134674,0.588642
17,1,332800,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117393,0.048946,0.887171,0.996758,0.006733,0.023003,0.076800
17,1,332800,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075438,0.878547,0.999909,0.013301,0.002043,-0.000194
17,1,332800,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,1,332800,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
17,1,332800,45,gripper,0,"","put banana on flat bowl",-0.114445,-0.015039,1.020851,0.053788,-0.755847,-0.013894,0.652387
17,1,332800,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236378,0.077219,0.887492,0.909963,-0.011506,0.022653,0.413911
17,1,332800,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923826,0.011486,0.006973,0.382576
17,1,332800,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
17,1,332800,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000000,-0.000000,0.000140
17,1,332800,46,gripper,0,"","put banana on flat bowl",-0.178919,-0.026596,0.989740,-0.072770,-0.696535,-0.017182,0.713616
17,1,332800,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237434,-0.081928,0.887542,0.960761,-0.010444,0.030045,0.275549
17,1,332800,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
17,1,332800,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
17,1,332800,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
17,1,332800,47,gripper,0,"","put banana on flat bowl",-0.131678,0.104200,1.003781,-0.098953,-0.749050,-0.147171,0.638337
17,1,332800,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.112129,-0.028103,0.888112,0.663448,-0.026412,-0.007814,0.747715
17,1,332800,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085907,0.104305,0.887026,0.497157,-0.513902,0.489480,0.499149
17,1,332800,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
17,1,332800,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.044991,0.870870,1.000000,-0.000002,-0.000002,0.000020
17,1,332800,48,gripper,0,"","put hamburger on frying pan",-0.149773,-0.034813,0.930407,-0.081170,-0.797275,-0.078914,0.592905
17,1,332800,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.131172,0.030548,0.888112,0.998295,-0.024091,0.013346,0.051465
17,1,332800,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.084377,-0.076385,0.888932,0.706102,-0.068123,0.704728,0.011780
17,1,332800,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000234
17,1,332800,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
17,1,332800,49,gripper,0,"","put hamburger on frying pan",-0.096655,-0.054090,0.944410,0.023776,-0.736678,0.103024,0.667927
17,1,332800,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086029,-0.074375,0.888112,0.714001,-0.026891,-0.005944,0.699603
17,1,332800,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.115784,0.074368,0.887026,0.497402,-0.513662,0.489733,0.498903
17,1,332800,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
17,1,332800,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
17,1,332800,50,gripper,0,"","put hamburger on frying pan",-0.088694,-0.070631,0.972076,-0.043138,-0.786397,0.011558,0.616105
17,1,332800,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.211515,0.097244,0.896383,0.849817,-0.031472,-0.006240,0.526100
17,1,332800,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085840,-0.045643,0.887026,0.497258,-0.513804,0.489583,0.499049
17,1,332800,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000030
17,1,332800,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
17,1,332800,51,gripper,0,"","put hamburger on frying pan",-0.172205,0.071388,1.086085,0.084806,-0.784155,0.090530,0.608041
17,1,332800,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.149933,-0.000881,0.894288,0.736290,0.165096,-0.562812,0.337436
17,1,332800,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085615,-0.074207,0.887026,0.704495,-0.017159,0.709500,0.001299
17,1,332800,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
17,1,332800,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234994,-0.045002,0.870862,1.000000,0.000074,-0.000001,0.000007
17,1,332800,52,gripper,0,"","put hamburger on cutting board",-0.083265,-0.046003,0.988220,-0.159045,-0.706053,-0.130680,0.677581
17,1,332800,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206001,0.074776,0.888112,0.387985,-0.022508,-0.015885,0.921254
17,1,332800,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.260744,-0.050667,0.887027,0.207020,-0.682863,0.193348,0.673393
17,1,332800,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
17,1,332800,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
17,1,332800,53,gripper,0,"","put hamburger on cutting board",-0.167827,-0.027149,0.982512,0.016343,-0.772544,-0.020869,0.634408
17,1,332800,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.101936,-0.061520,0.890543,0.998767,-0.026320,0.014538,0.039510
17,1,332800,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055630,0.045761,0.887026,0.704494,-0.016989,0.709506,0.001130
17,1,332800,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
17,1,332800,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115005,-0.075005,0.870870,1.000000,0.000000,-0.000001,0.000004
17,1,332800,54,gripper,0,"","put hamburger on cutting board",-0.171721,-0.026812,1.084372,0.037527,-0.735552,0.042605,0.675085
17,1,332800,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.078888,0.034073,0.888113,0.957276,-0.026580,0.007223,0.287862
17,1,332800,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.105537,0.089592,0.899575,0.264976,-0.605091,0.551942,0.508933
17,1,332800,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
17,1,332800,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000013
17,1,332800,55,gripper,0,"","put hamburger on cutting board",-0.135942,0.082083,0.930702,-0.049374,-0.769016,-0.109535,0.627837
17,1,332800,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.213173,-0.037388,0.888112,0.022419,-0.015091,-0.023040,0.999369
17,1,332800,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.121681,0.089832,0.895287,0.482658,-0.526569,0.470014,0.518510
17,1,332800,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084824,0.075035,0.872199,0.999997,-0.000000,-0.000001,-0.002589
17,1,332800,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235184,0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000239
17,1,332800,56,gripper,0,"","put plastic bottle on frying pan",-0.135349,0.089848,1.048582,-0.068041,-0.662476,-0.091654,0.740335
17,1,332800,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.095421,0.020817,0.888112,0.705007,-0.026813,-0.006285,0.708666
17,1,332800,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.117985,0.050274,0.925768,0.479914,-0.552636,0.489808,0.473672
17,1,332800,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
17,1,332800,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
17,1,332800,57,gripper,0,"","put plastic bottle on frying pan",-0.115522,0.052114,0.951759,-0.009303,-0.805202,-0.016427,0.592700
17,1,332800,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
17,1,332800,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.200249,-0.079140,0.887026,0.692760,-0.144551,0.694833,0.128049
17,1,332800,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
17,1,332800,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000009
17,1,332800,58,gripper,0,"","put plastic bottle on frying pan",-0.174976,-0.093719,1.007350,0.097472,-0.747916,-0.010759,0.656510
17,1,332800,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206095,-0.075230,0.888112,0.388540,-0.022510,-0.015871,0.921020
17,1,332800,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235939,0.054848,0.887026,0.353770,-0.621545,0.342591,0.609229
17,1,332800,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
17,1,332800,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
17,1,332800,59,gripper,0,"","put plastic bottle on frying pan",-0.214963,0.060472,0.977543,-0.078656,-0.757659,-0.097195,0.640561
17,1,332800,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115384,0.046070,0.888112,0.929921,-0.027086,0.004980,0.366727
17,1,332800,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.168866,0.096401,0.891532,0.312333,-0.583765,0.698976,0.270368
17,1,332800,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
17,1,332800,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
17,1,332800,60,gripper,0,"","put plastic bottle on cutting board",-0.195456,0.099194,0.916016,0.078466,-0.742982,-0.002540,0.664691
17,1,332800,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205227,-0.008305,0.888859,0.974855,-0.076059,0.016682,0.208792
17,1,332800,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.080091,-0.052372,0.896272,0.579908,-0.413975,0.463245,0.527006
17,1,332800,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
17,1,332800,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204952,-0.075058,0.870870,1.000000,-0.000000,-0.000001,-0.000254
17,1,332800,61,gripper,0,"","put plastic bottle on cutting board",-0.088334,-0.052015,0.925451,0.063274,-0.756932,0.021901,0.650054
17,1,332800,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086105,-0.075253,0.888112,0.387303,-0.022486,-0.015901,0.921541
17,1,332800,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.097355,0.067543,0.892454,0.022209,-0.770231,0.636670,0.030048
17,1,332800,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
17,1,332800,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084503,0.074844,0.870870,1.000000,0.000000,-0.000002,0.000777
17,1,332800,62,gripper,0,"","put plastic bottle on cutting board",-0.093206,0.078543,1.052394,-0.041498,-0.714290,-0.069340,0.695169
17,1,332800,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
17,1,332800,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.182968,0.060364,0.944343,0.535759,-0.477799,0.513083,0.470550
17,1,332800,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
17,1,332800,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
17,1,332800,63,gripper,0,"","put plastic bottle on cutting board",-0.160595,0.054590,0.980176,0.094580,-0.801763,0.019076,0.589803
17,2,337920,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.182121,-0.108704,0.879372,0.957513,-0.016243,0.277780,0.075786
17,2,337920,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205971,0.045113,0.881638,0.999226,-0.004469,-0.039081,-0.000547
17,2,337920,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000049
17,2,337920,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,-0.044991,0.871288,1.000000,-0.000153,-0.001019,0.000005
17,2,337920,0,gripper,0,"","put ketchup bottle on cloth",-0.234196,-0.106312,0.914731,-0.024219,-0.777176,0.002188,0.628814
17,2,337920,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.139698,0.097122,0.883619,-0.228431,0.457612,0.848863,0.133573
17,2,337920,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085960,0.075119,0.881638,0.999226,-0.004457,-0.039084,-0.000304
17,2,337920,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
17,2,337920,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000171
17,2,337920,1,gripper,0,"","put ketchup bottle on cloth",-0.156910,0.090485,0.918551,-0.194323,-0.814655,-0.214544,0.502540
17,2,337920,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.124897,-0.046944,0.885847,0.543645,0.178756,-0.120448,0.811165
17,2,337920,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.170872,0.029869,0.884426,0.592646,-0.016231,-0.013158,0.805192
17,2,337920,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.112839,-0.077316,0.869532,0.999115,-0.000001,-0.000001,-0.042059
17,2,337920,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084854,0.045135,0.871288,0.999999,-0.000154,-0.001018,-0.001262
17,2,337920,2,gripper,0,"","put ketchup bottle on cloth",-0.210657,-0.024673,0.929803,-0.156449,-0.824100,-0.125126,0.529836
17,2,337920,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.057640,0.086311,0.885271,0.704657,-0.282479,0.531253,0.376076
17,2,337920,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085749,-0.075546,0.881638,0.923134,0.010852,-0.037810,0.382461
17,2,337920,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085468,0.075127,0.869532,0.999976,-0.000000,-0.000001,-0.006980
17,2,337920,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000059
17,2,337920,3,gripper,0,"","put ketchup bottle on cloth",-0.085416,0.091946,0.971192,0.219244,-0.794078,0.173644,0.539649
17,2,337920,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.148997,-0.070374,0.885511,0.602938,-0.234899,0.196479,0.736671
17,2,337920,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.156061,-0.019203,0.887353,0.662164,0.017656,-0.065420,0.746289
17,2,337920,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203694,-0.085907,0.869533,0.999920,-0.000007,-0.000030,-0.012679
17,2,337920,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084462,-0.047905,0.871288,0.999987,-0.000161,-0.001018,-0.005079
17,2,337920,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.193231,-0.022835,0.929016,-0.055659,-0.808857,-0.004646,0.585347
17,2,337920,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210526,-0.086868,0.885085,0.538749,0.366700,-0.282752,0.703798
17,2,337920,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.203012,-0.109589,0.886850,0.638886,0.034144,-0.031753,0.767887
17,2,337920,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235229,-0.074852,0.869532,0.999991,0.000001,-0.000000,-0.004191
17,2,337920,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115000,0.044998,0.871289,0.999999,-0.000157,-0.001019,0.000039
17,2,337920,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.235129,-0.093559,0.979629,-0.005306,-0.677309,-0.133635,0.723441
17,2,337920,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.205013,-0.084709,0.879089,0.626321,0.326503,-0.328377,0.627126
17,2,337920,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.058968,-0.033417,0.886269,0.657195,0.026335,-0.019415,0.753010
17,2,337920,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084946,-0.075073,0.869532,0.999999,-0.000000,-0.000000,-0.001637
17,2,337920,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,0.045029,0.871288,0.999999,-0.000153,-0.001019,0.000570
17,2,337920,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.234409,-0.030815,0.968407,-0.005809,-0.732753,-0.075746,0.676241
17,2,337920,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.090946,0.001221,0.879089,0.553828,0.360516,-0.290618,0.691985
17,2,337920,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.147705,-0.076500,0.886522,0.677562,0.014045,-0.057466,0.733083
17,2,337920,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.079342,-0.077148,0.869532,0.999318,-0.000000,-0.000000,0.036911
17,2,337920,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,0.045021,0.871288,1.000000,-0.000154,-0.001019,0.000050
17,2,337920,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.170296,-0.084641,0.915500,-0.045127,-0.778866,-0.019826,0.625251
17,2,337920,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085014,-0.084728,0.879089,0.626226,0.326549,-0.328324,0.627224
17,2,337920,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.165031,0.076424,0.885656,0.725651,0.066005,-0.056295,0.682572
17,2,337920,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.225029,0.084354,0.869532,0.992326,-0.000001,-0.000000,-0.123651
17,2,337920,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205009,-0.074932,0.871282,0.999999,-0.000449,-0.001264,0.000178
17,2,337920,8,gripper,0,"","put kitchen shovel on cloth",-0.160465,0.072805,0.961351,0.099397,-0.782562,0.116241,0.603494
17,2,337920,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.208630,0.041100,0.885122,0.457929,0.534247,-0.559177,0.438408
17,2,337920,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.195717,-0.039330,0.889973,0.690546,-0.027765,0.015581,0.722587
17,2,337920,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234955,0.045124,0.869532,0.999997,0.000000,-0.000001,0.002424
17,2,337920,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205029,-0.074993,0.871282,0.999999,-0.000450,-0.001264,0.000006
17,2,337920,9,gripper,0,"","put kitchen shovel on cloth",-0.187170,0.080803,0.964662,0.155603,-0.802442,0.017046,0.575833
17,2,337920,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.053745,0.050930,0.884977,-0.513522,0.474327,-0.446357,-0.558636
17,2,337920,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.050518,-0.051426,0.881641,0.963987,-0.014797,0.037348,0.262897
17,2,337920,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084351,0.078747,0.869532,0.999826,0.000001,-0.000001,0.018634
17,2,337920,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234947,-0.044964,0.871288,0.999999,-0.000153,-0.001019,-0.000285
17,2,337920,10,gripper,0,"","put kitchen shovel on cloth",-0.043203,-0.038372,0.940283,0.138423,-0.818028,0.163830,0.533693
17,2,337920,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097622,-0.087669,0.879125,0.585810,0.294798,-0.715019,0.242215
17,2,337920,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.197762,0.080479,0.881638,0.942672,0.008770,-0.038349,0.331393
17,2,337920,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000007
17,2,337920,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084621,0.074928,0.871288,0.999997,-0.000152,-0.001020,0.002193
17,2,337920,11,gripper,0,"","put kitchen shovel on cloth",-0.205055,0.082010,0.967523,0.009660,-0.715391,0.017808,0.698430
17,2,337920,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.101772,-0.159409,0.879116,-0.068225,0.724476,-0.682164,-0.071637
17,2,337920,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.083900,0.074337,0.883293,0.706116,0.041765,-0.007653,0.706821
17,2,337920,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204998,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000017
17,2,337920,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.108468,-0.043404,0.871288,0.999908,-0.000140,-0.001021,0.013541
17,2,337920,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.137426,-0.087597,0.988478,-0.131005,-0.739058,-0.168881,0.638835
17,2,337920,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.096981,-0.034401,0.885368,0.773353,-0.160380,0.227388,0.569647
17,2,337920,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.247583,-0.071274,0.881637,0.902203,0.012802,-0.037228,0.429511
17,2,337920,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115166,-0.044888,0.869532,0.999994,0.000000,-0.000000,0.003357
17,2,337920,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205294,0.045139,0.871288,0.999997,-0.000155,-0.001018,-0.002256
17,2,337920,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.133511,0.016874,1.049517,0.196368,-0.754898,0.118785,0.614376
17,2,337920,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.219917,0.073711,0.878981,0.758947,-0.000086,0.651091,0.008949
17,2,337920,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.022953,0.058239,0.881641,0.980669,-0.012020,0.038356,0.191502
17,2,337920,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
17,2,337920,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
17,2,337920,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.220964,0.090439,0.950512,0.085239,-0.768457,0.045739,0.632547
17,2,337920,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.190182,-0.000084,0.881151,0.098825,0.739809,-0.647735,0.152824
17,2,337920,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.107925,-0.036221,0.889957,0.629954,-0.045993,0.014424,0.775135
17,2,337920,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.206635,-0.081989,0.869532,0.999751,-0.000000,-0.000002,-0.022301
17,2,337920,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000153,-0.001019,0.000075
17,2,337920,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.214605,-0.007130,0.921141,-0.003745,-0.813058,-0.075063,0.577311
17,2,337920,16,obj,0,"003_bread_1","put bread on carpet",-0.096619,0.098789,0.886229,0.550981,0.024081,0.003299,0.834163
17,2,337920,16,obj,1,"005_7up can_1","put bread on carpet",-0.198555,-0.081718,0.885637,0.365817,0.261046,-0.113635,0.886070
17,2,337920,16,recep,0,"004_newspaper_1","put bread on carpet",-0.097336,0.091827,0.869490,0.999971,0.000186,0.000873,-0.007549
17,2,337920,16,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074970,0.870448,0.999999,-0.000923,-0.000845,-0.000053
17,2,337920,16,gripper,0,"","put bread on carpet",-0.139103,0.059391,0.995076,0.111109,-0.743602,0.049962,0.657431
17,2,337920,17,obj,0,"003_bread_1","put bread on carpet",-0.224476,0.085747,0.886345,0.977723,0.009988,0.004871,0.209604
17,2,337920,17,obj,1,"005_7up can_1","put bread on carpet",-0.091728,-0.081486,0.885636,0.885277,0.104194,-0.264968,0.367724
17,2,337920,17,recep,0,"004_newspaper_1","put bread on carpet",-0.225498,0.076691,0.869490,0.998616,0.000226,0.000864,-0.052586
17,2,337920,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
17,2,337920,17,gripper,0,"","put bread on carpet",-0.196609,0.047585,0.997624,0.110966,-0.758039,0.004658,0.642684
17,2,337920,18,obj,0,"003_bread_1","put bread on carpet",-0.182121,-0.084869,0.885564,0.421198,0.025007,0.006436,0.906601
17,2,337920,18,obj,1,"005_7up can_1","put bread on carpet",-0.175758,0.064426,0.887769,0.523652,0.372690,-0.205347,0.738054
17,2,337920,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205025,-0.074997,0.869490,0.999999,0.000541,0.001415,-0.000012
17,2,337920,18,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.044994,0.870460,1.000000,0.000024,-0.000154,-0.000090
17,2,337920,18,gripper,0,"","put bread on carpet",-0.099184,0.013958,0.975338,0.043397,-0.745288,0.040705,0.664082
17,2,337920,19,obj,0,"003_bread_1","put bread on carpet",-0.182281,0.143620,0.890775,-0.167058,-0.380427,0.591507,-0.691005
17,2,337920,19,obj,1,"005_7up can_1","put bread on carpet",-0.207354,0.041466,0.888977,0.319050,0.605373,-0.672671,0.281504
17,2,337920,19,recep,0,"004_newspaper_1","put bread on carpet",-0.114992,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000032
17,2,337920,19,recep,1,"003_carpet_1","put bread on carpet",-0.205004,0.075001,0.870460,1.000000,0.000019,-0.000158,-0.000041
17,2,337920,19,gripper,0,"","put bread on carpet",-0.177595,0.070147,0.985436,0.015837,-0.738901,-0.084905,0.668256
17,2,337920,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.141954,-0.018417,0.883544,0.968025,0.004903,-0.011673,0.250532
17,2,337920,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.209779,0.123878,0.885950,0.287434,0.646551,-0.647607,0.282771
17,2,337920,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.082475,0.073677,0.869490,0.999499,0.000152,0.000879,0.031629
17,2,337920,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.225516,-0.075104,0.870461,0.998994,0.000002,-0.000167,-0.044847
17,2,337920,20,gripper,0,"","put 7up can on newspaper",-0.185205,-0.042233,0.918192,-0.114652,-0.835786,-0.099061,0.527734
17,2,337920,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.207069,0.085476,0.886459,0.975793,0.005363,-0.009447,0.218427
17,2,337920,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.430975,0.197906,0.033889,-0.317260,-0.645964,0.576606,0.386784
17,2,337920,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
17,2,337920,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234884,0.074860,0.870448,0.999998,-0.001360,-0.001219,-0.001169
17,2,337920,21,gripper,0,"","put 7up can on newspaper",-0.152688,-0.090410,0.964796,-0.059119,-0.747387,-0.118682,0.651024
17,2,337920,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.126801,-0.046040,0.886750,0.997882,0.004231,0.005119,0.064703
17,2,337920,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.203876,0.055195,0.885634,0.992845,-0.004102,0.118813,-0.011201
17,2,337920,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114956,-0.075001,0.869490,1.000000,0.000180,0.000875,-0.000067
17,2,337920,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
17,2,337920,22,gripper,0,"","put 7up can on newspaper",-0.204828,0.042593,0.945176,-0.049671,-0.711275,-0.070890,0.697564
17,2,337920,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.171558,-0.034042,0.885226,0.958546,-0.004507,0.008910,-0.284762
17,2,337920,23,obj,1,"005_7up can_1","put 7up can on newspaper",0.104172,-0.023476,0.016833,-0.698945,0.075164,0.078192,0.706904
17,2,337920,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205048,-0.076096,0.869490,0.999991,0.000183,0.000874,-0.004216
17,2,337920,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.075024,0.870447,0.999999,-0.000923,-0.000845,-0.000070
17,2,337920,23,gripper,0,"","put 7up can on newspaper",-0.141014,-0.040926,0.999694,0.030613,-0.772471,-0.024859,0.633825
17,2,337920,24,obj,0,"003_bread_1","put 7up can on carpet",-0.095406,-0.018202,0.886645,0.970864,-0.074990,0.028444,0.225812
17,2,337920,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.160439,-0.061890,0.938119,0.729621,0.100302,-0.189058,0.649499
17,2,337920,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084999,-0.074995,0.869490,1.000000,0.000179,0.000874,-0.000132
17,2,337920,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235016,0.075016,0.870447,0.999991,-0.003114,-0.002734,-0.000025
17,2,337920,24,gripper,0,"","put 7up can on carpet",-0.182098,-0.061292,0.970047,0.063806,-0.801344,0.031307,0.593967
17,2,337920,25,obj,0,"003_bread_1","put 7up can on carpet",-0.185257,0.010424,0.883544,0.995446,0.000629,-0.012644,-0.094482
17,2,337920,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.286308,0.053728,0.885855,0.609849,-0.181162,-0.756895,-0.149582
17,2,337920,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000040
17,2,337920,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.044975,0.870447,0.999999,-0.000923,-0.000846,-0.000036
17,2,337920,25,gripper,0,"","put 7up can on carpet",-0.190783,0.020062,0.942051,-0.029442,-0.795592,-0.056189,0.602503
17,2,337920,26,obj,0,"003_bread_1","put 7up can on carpet",-0.220566,0.076427,0.883544,0.397960,0.012218,-0.003314,0.917315
17,2,337920,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.056004,-0.023573,0.885855,0.597603,-0.234726,-0.742045,-0.192724
17,2,337920,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084652,0.075245,0.869490,0.999995,0.000177,0.000874,0.003047
17,2,337920,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.044998,0.870448,1.000000,-0.000374,-0.000373,-0.000099
17,2,337920,26,gripper,0,"","put 7up can on carpet",-0.233753,0.064176,0.951389,-0.028909,-0.725631,-0.030756,0.686788
17,2,337920,27,obj,0,"003_bread_1","put 7up can on carpet",-0.204008,-0.016943,0.885364,0.976226,0.052248,0.018340,-0.209561
17,2,337920,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.092604,0.075182,0.885627,0.972472,-0.005084,-0.232961,0.001080
17,2,337920,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204882,0.046202,0.869490,0.999477,0.000150,0.000879,0.032326
17,2,337920,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
17,2,337920,27,gripper,0,"","put 7up can on carpet",-0.189571,-0.014853,0.975514,-0.080885,-0.720525,-0.045522,0.687189
17,2,337920,28,obj,0,"003_bread_1","put bread on newspaper",-0.188019,-0.027708,0.884396,0.299245,0.039659,0.008638,0.953312
17,2,337920,28,obj,1,"005_7up can_1","put bread on newspaper",-0.214594,-0.246443,0.885609,0.698387,-0.079169,0.070799,0.707796
17,2,337920,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234920,-0.074896,0.869490,1.000000,0.000180,0.000876,-0.000147
17,2,337920,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235674,0.076843,0.870368,0.999859,-0.000404,-0.001597,0.016713
17,2,337920,28,gripper,0,"","put bread on newspaper",-0.154952,-0.034814,1.038671,0.045480,-0.758585,0.017257,0.649756
17,2,337920,29,obj,0,"003_bread_1","put bread on newspaper",-0.176365,0.044714,0.885278,0.599060,0.045862,0.030884,0.798793
17,2,337920,29,obj,1,"005_7up can_1","put bread on newspaper",-0.075659,0.015287,0.885687,0.720326,0.250994,-0.315486,0.564448
17,2,337920,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.085001,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000016
17,2,337920,29,recep,1,"003_carpet_1","put bread on newspaper",-0.234997,0.075087,0.870462,1.000000,0.000037,-0.000158,0.000406
17,2,337920,29,gripper,0,"","put bread on newspaper",-0.177344,0.005911,1.015925,0.106565,-0.798390,0.209885,0.554225
17,2,337920,30,obj,0,"003_bread_1","put bread on newspaper",-0.241165,-0.027002,0.883530,0.532997,0.012755,-0.007118,0.845991
17,2,337920,30,obj,1,"005_7up can_1","put bread on newspaper",-0.239944,-0.186733,0.885830,-0.637736,0.323378,-0.609127,-0.343051
17,2,337920,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.045002,0.869490,1.000000,0.000180,0.000874,0.000065
17,2,337920,30,recep,1,"003_carpet_1","put bread on newspaper",-0.112839,-0.075497,0.870461,0.999950,0.000017,-0.000158,-0.009971
17,2,337920,30,gripper,0,"","put bread on newspaper",-0.213705,-0.037026,0.983069,0.057119,-0.713781,0.043911,0.696654
17,2,337920,31,obj,0,"003_bread_1","put bread on newspaper",-0.095989,0.021360,0.978001,0.279426,0.092352,0.017487,0.955555
17,2,337920,31,obj,1,"005_7up can_1","put bread on newspaper",-0.187210,-0.059423,0.888110,0.393811,0.609894,-0.560399,0.398616
17,2,337920,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.205147,-0.075119,0.869490,0.999999,0.000180,0.000878,0.000582
17,2,337920,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
17,2,337920,31,gripper,0,"","put bread on newspaper",-0.102791,0.018891,1.016439,0.024245,-0.729982,-0.011515,0.682939
17,2,337920,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087097,0.076441,0.887520,0.712418,-0.019277,0.016761,0.701290
17,2,337920,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234535,-0.074990,0.878547,0.706823,0.007964,0.010874,0.707262
17,2,337920,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,2,337920,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
17,2,337920,32,gripper,0,"","put carrot on flat bowl",-0.045158,0.069782,1.038710,0.014898,-0.761152,-0.000609,0.648402
17,2,337920,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091259,-0.076393,0.887378,0.752944,-0.017968,0.025574,0.657342
17,2,337920,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007938,0.010841,0.707246
17,2,337920,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
17,2,337920,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
17,2,337920,33,gripper,0,"","put carrot on flat bowl",-0.063545,-0.036824,0.991557,0.093618,-0.737478,0.153638,0.650966
17,2,337920,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087605,-0.071846,0.887545,0.997093,-0.004478,0.026203,0.071402
17,2,337920,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
17,2,337920,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,2,337920,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
17,2,337920,34,gripper,0,"","put carrot on flat bowl",-0.131145,-0.025118,1.017667,-0.262751,-0.650744,-0.204363,0.682444
17,2,337920,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240370,0.079887,0.887544,0.915798,-0.009733,0.027601,0.400572
17,2,337920,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011498,0.006987,0.383039
17,2,337920,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,2,337920,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
17,2,337920,35,gripper,0,"","put carrot on flat bowl",-0.207605,0.061531,0.999208,-0.032222,-0.705976,-0.106377,0.699459
17,2,337920,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210047,-0.076771,0.887376,0.750534,-0.022841,0.021080,0.660101
17,2,337920,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084559,0.075006,0.878547,0.706806,0.007935,0.010837,0.707280
17,2,337920,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
17,2,337920,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000000
17,2,337920,36,gripper,0,"","put banana on sheet metal",-0.056688,0.060709,1.019662,0.022763,-0.778954,-0.016152,0.626459
17,2,337920,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204113,0.081317,0.887239,0.370852,-0.026860,0.019036,0.928108
17,2,337920,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234692,-0.074684,0.878547,0.382227,0.003179,0.013034,0.923971
17,2,337920,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,2,337920,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
17,2,337920,37,gripper,0,"","put banana on sheet metal",-0.192399,-0.040689,0.972787,-0.028712,-0.700947,-0.037979,0.711622
17,2,337920,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007857
17,2,337920,38,obj,1,"013_banana_1","put banana on sheet metal",-0.114994,-0.075442,0.878547,0.999910,0.013283,0.002050,0.000317
17,2,337920,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
17,2,337920,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
17,2,337920,38,gripper,0,"","put banana on sheet metal",-0.079668,-0.048763,0.980947,-0.280746,-0.713362,-0.265343,0.584713
17,2,337920,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120049,0.069375,0.887320,0.367312,-0.034682,0.007810,0.929418
17,2,337920,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.044685,0.878548,0.382253,0.003189,0.013071,0.923960
17,2,337920,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
17,2,337920,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
17,2,337920,39,gripper,0,"","put banana on sheet metal",-0.033319,-0.013285,0.973598,0.050036,-0.778243,0.015006,0.625787
17,2,337920,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243210,-0.077444,0.887533,0.959893,-0.004832,0.024798,0.279225
17,2,337920,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,0.074696,0.878547,0.924055,0.011492,0.006967,0.382024
17,2,337920,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,-0.045015,0.871345,0.999999,-0.000157,0.001164,-0.000071
17,2,337920,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
17,2,337920,40,gripper,0,"","put banana on flat bowl",-0.037266,0.086615,0.987019,0.147476,-0.863989,0.171197,0.449961
17,2,337920,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.240303,0.047564,0.887184,0.919799,-0.019975,0.024111,0.391140
17,2,337920,41,obj,1,"013_banana_1","put banana on flat bowl",-0.204670,-0.075312,0.878547,0.923971,0.011484,0.006966,0.382226
17,2,337920,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
17,2,337920,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
17,2,337920,41,gripper,0,"","put banana on flat bowl",-0.168417,-0.025887,1.023597,-0.051929,-0.671255,-0.052879,0.737512
17,2,337920,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088024,0.078798,0.887419,0.997151,-0.000727,0.023996,0.071504
17,2,337920,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204987,0.044554,0.878547,0.999910,0.013257,0.002040,-0.000604
17,2,337920,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
17,2,337920,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
17,2,337920,42,gripper,0,"","put banana on flat bowl",-0.166389,0.058854,0.972387,-0.098828,-0.799390,-0.022210,0.592212
17,2,337920,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120712,0.069073,0.887454,0.363558,-0.036799,0.016541,0.930697
17,2,337920,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.044672,0.878547,0.382764,0.003205,0.013096,0.923748
17,2,337920,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,2,337920,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
17,2,337920,43,gripper,0,"","put banana on flat bowl",-0.049649,-0.027525,1.015152,0.057696,-0.747266,0.038543,0.660893
17,2,337920,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205657,0.076988,0.887528,0.707161,-0.030535,0.030593,0.705730
17,2,337920,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084562,-0.074993,0.878547,0.706792,0.007917,0.010824,0.707294
17,2,337920,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000027
17,2,337920,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.045000,0.874363,1.000000,0.000000,0.000000,-0.000001
17,2,337920,44,gripper,0,"","put carrot on sheet metal",-0.171576,0.091575,0.969957,0.037914,-0.719982,0.042811,0.691632
17,2,337920,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117636,0.050175,0.887356,0.996897,0.002087,0.036716,0.069604
17,2,337920,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084986,-0.075441,0.878548,0.999909,0.013328,0.002040,-0.000609
17,2,337920,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
17,2,337920,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
17,2,337920,45,gripper,0,"","put carrot on sheet metal",-0.092250,0.063699,0.979389,0.055746,-0.751666,0.005895,0.657157
17,2,337920,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240082,0.078983,0.887531,0.915292,-0.003876,0.017420,0.402395
17,2,337920,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,-0.075308,0.878547,0.924020,0.011514,0.006980,0.382106
17,2,337920,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
17,2,337920,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000287
17,2,337920,46,gripper,0,"","put carrot on sheet metal",-0.110178,0.087075,1.033508,0.168117,-0.707862,0.113019,0.676680
17,2,337920,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.241924,-0.081682,0.887402,0.975290,-0.003959,0.026006,0.219359
17,2,337920,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
17,2,337920,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
17,2,337920,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
17,2,337920,47,gripper,0,"","put carrot on sheet metal",-0.207142,-0.033240,1.000731,0.027254,-0.725291,0.021729,0.687559
17,2,337920,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.155968,0.051376,0.890549,0.671830,-0.025912,-0.004340,0.740239
17,2,337920,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085907,0.104305,0.887026,0.497175,-0.513885,0.489499,0.499129
17,2,337920,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
17,2,337920,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,0.044968,0.870875,1.000000,0.000300,0.000301,0.000140
17,2,337920,48,gripper,0,"","put hamburger on cutting board",-0.168224,0.062668,1.133282,0.046390,-0.773967,0.015150,0.631342
17,2,337920,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.133396,0.030125,0.890128,0.987795,-0.021487,-0.004864,0.154191
17,2,337920,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.075741,-0.072369,0.887027,0.698233,-0.110113,0.701114,0.093732
17,2,337920,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000393
17,2,337920,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
17,2,337920,49,gripper,0,"","put hamburger on cutting board",-0.144878,0.030460,0.947505,0.080188,-0.782805,0.085323,0.611151
17,2,337920,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.194733,0.116604,0.890363,0.831019,-0.029104,0.001148,0.555482
17,2,337920,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115784,0.074368,0.887026,0.497413,-0.513652,0.489744,0.498892
17,2,337920,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
17,2,337920,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075016,0.870870,1.000000,0.000000,-0.000000,-0.000130
17,2,337920,50,gripper,0,"","put hamburger on cutting board",-0.193419,0.125257,1.113884,0.177716,-0.712994,0.197569,0.648863
17,2,337920,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.236813,0.092625,0.897854,0.573554,-0.784402,-0.232528,0.040982
17,2,337920,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085840,-0.045643,0.887026,0.497268,-0.513793,0.489594,0.499037
17,2,337920,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.236828,0.075802,0.872199,0.999979,0.000000,-0.000000,-0.006515
17,2,337920,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000016
17,2,337920,51,gripper,0,"","put hamburger on cutting board",-0.216321,0.074059,0.992033,-0.016007,-0.840520,-0.135930,0.524207
17,2,337920,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.149933,-0.000881,0.894288,0.736289,0.165096,-0.562813,0.337435
17,2,337920,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.084255,-0.074089,0.887026,0.704464,-0.008986,0.709650,-0.006816
17,2,337920,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000002,-0.000000
17,2,337920,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234994,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000007
17,2,337920,52,gripper,0,"","put plastic bottle on frying pan",-0.069724,-0.089106,0.990215,-0.049981,-0.785852,-0.020184,0.616061
17,2,337920,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.237055,0.055641,0.888112,0.490771,-0.024169,-0.013207,0.870853
17,2,337920,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.260712,-0.050667,0.887027,0.206986,-0.682873,0.193314,0.673402
17,2,337920,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
17,2,337920,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
17,2,337920,53,gripper,0,"","put plastic bottle on frying pan",-0.221980,0.038336,0.953344,0.070109,-0.761054,-0.012554,0.644767
17,2,337920,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.101826,-0.022182,0.896494,0.993611,-0.036532,0.011204,0.106199
17,2,337920,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055611,0.047070,0.887026,0.704489,-0.012937,0.709591,-0.002893
17,2,337920,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000015
17,2,337920,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115852,-0.065613,0.870870,0.998471,-0.000000,-0.000001,0.055268
17,2,337920,54,gripper,0,"","put plastic bottle on frying pan",-0.102438,-0.026630,0.925505,0.053513,-0.804090,-0.020791,0.591729
17,2,337920,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.078888,0.034073,0.888113,0.957278,-0.026580,0.007222,0.287854
17,2,337920,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.229340,0.028393,0.892148,-0.522102,-0.479488,0.443866,-0.548164
17,2,337920,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235054,-0.045170,0.872199,0.999998,-0.000000,-0.000001,0.001792
17,2,337920,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000028
17,2,337920,55,gripper,0,"","put plastic bottle on frying pan",-0.195967,0.034943,0.935630,-0.013503,-0.801916,0.079815,0.591927
17,2,337920,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.213173,-0.037388,0.888112,0.022814,-0.015099,-0.023035,0.999360
17,2,337920,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.122398,0.133392,0.893415,0.085147,-0.743140,0.663021,0.029938
17,2,337920,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084068,0.074917,0.872200,0.999941,-0.000020,-0.000009,-0.010846
17,2,337920,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.242569,0.065044,0.870870,0.999966,0.000000,-0.000000,-0.008265
17,2,337920,56,gripper,0,"","put plastic bottle on cutting board",-0.137844,0.119675,0.934852,-0.023720,-0.783562,-0.046062,0.619149
17,2,337920,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.101044,0.018826,0.888112,0.550992,-0.025039,-0.011470,0.834056
17,2,337920,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.170532,-0.023617,0.891904,0.408804,-0.536226,0.666461,0.318074
17,2,337920,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
17,2,337920,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,-0.075123,0.870870,1.000000,0.000000,-0.000001,-0.000389
17,2,337920,57,gripper,0,"","put plastic bottle on cutting board",-0.174204,-0.020115,1.044959,0.156454,-0.738448,0.134685,0.641933
17,2,337920,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084389,-0.074047,0.888112,0.999585,-0.023248,0.014769,-0.008466
17,2,337920,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.191185,-0.075695,0.887027,0.617691,-0.355101,0.614481,0.338783
17,2,337920,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
17,2,337920,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000017
17,2,337920,58,gripper,0,"","put plastic bottle on cutting board",-0.159067,-0.059937,1.005147,0.187461,-0.748481,0.071769,0.632048
17,2,337920,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206095,-0.075230,0.888112,0.388563,-0.022510,-0.015871,0.921010
17,2,337920,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055759,-0.031960,0.889399,0.279013,-0.656028,0.270842,0.646856
17,2,337920,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
17,2,337920,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085648,-0.075890,0.870870,0.999992,0.000000,0.000001,0.004100
17,2,337920,59,gripper,0,"","put plastic bottle on cutting board",-0.084943,-0.004658,1.031061,-0.027995,-0.820097,-0.154181,0.550350
17,2,337920,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.098007,0.029503,0.888208,0.801885,-0.013200,0.034224,0.596351
17,2,337920,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.173471,0.091228,0.887026,0.489666,-0.521136,0.481771,0.506499
17,2,337920,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
17,2,337920,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
17,2,337920,60,gripper,0,"","put hamburger on frying pan",-0.116477,0.020021,0.962911,-0.098328,-0.828837,-0.157647,0.527740
17,2,337920,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205156,-0.008312,0.888860,0.977566,-0.075888,0.017711,0.195685
17,2,337920,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.080418,-0.047939,0.887027,0.525555,-0.484333,0.518757,0.469154
17,2,337920,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
17,2,337920,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204952,-0.075054,0.870870,1.000000,-0.000000,-0.000001,-0.000292
17,2,337920,61,gripper,0,"","put hamburger on frying pan",-0.175570,0.016087,1.021659,-0.027461,-0.721744,-0.031978,0.690875
17,2,337920,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.194668,-0.061775,0.896528,0.375784,-0.023582,-0.004217,0.926398
17,2,337920,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.097328,0.067596,0.892457,0.022343,-0.770598,0.636214,0.030195
17,2,337920,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000639
17,2,337920,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084473,0.074829,0.870873,1.000000,0.000002,-0.000022,0.000656
17,2,337920,62,gripper,0,"","put hamburger on frying pan",-0.227669,-0.040468,1.079238,-0.014028,-0.738030,-0.041907,0.673319
17,2,337920,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.167198,-0.066704,0.892108,0.702341,0.137284,0.124764,0.687244
17,2,337920,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.193565,0.060337,0.889551,0.510226,-0.497574,0.507740,0.484035
17,2,337920,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235161,-0.075050,0.872199,1.000000,-0.000000,-0.000001,0.000401
17,2,337920,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235367,0.074959,0.870883,0.999999,0.000701,0.000711,0.000995
17,2,337920,63,gripper,0,"","put hamburger on frying pan",-0.163866,-0.075714,0.981310,-0.027673,-0.749892,-0.067683,0.657507
17,3,343040,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.182121,-0.108704,0.879372,0.957512,-0.016243,0.277784,0.075786
17,3,343040,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.177032,0.012009,0.883264,0.984123,-0.025446,-0.133756,-0.113857
17,3,343040,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000030
17,3,343040,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000004
17,3,343040,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.223797,0.008022,0.914821,-0.073320,-0.753733,-0.060325,0.650285
17,3,343040,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.110229,-0.017410,0.879750,0.853210,0.095534,0.166604,-0.484921
17,3,343040,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.058376,0.070488,0.881638,0.989705,-0.009791,-0.038142,-0.137598
17,3,343040,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084984,-0.074966,0.869532,1.000000,0.000000,-0.000002,-0.000293
17,3,343040,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235035,-0.044960,0.871325,0.999991,-0.001700,-0.003822,-0.000223
17,3,343040,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.241951,-0.026196,0.921935,-0.120518,-0.704641,-0.120348,0.688820
17,3,343040,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.127586,-0.037971,0.885369,0.538522,-0.227122,0.160710,0.795350
17,3,343040,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.170353,-0.003944,0.879330,0.015320,-0.864797,0.501885,0.001577
17,3,343040,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.112812,-0.077423,0.869532,0.999036,-0.000000,-0.000001,-0.043904
17,3,343040,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.076756,0.049690,0.871289,0.999295,-0.000192,-0.001013,-0.037526
17,3,343040,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.246061,-0.046165,0.916310,-0.159491,-0.780895,-0.190379,0.573167
17,3,343040,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.057079,0.085724,0.884979,0.680137,-0.282185,0.586741,0.336929
17,3,343040,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.071394,0.023170,0.885779,0.726082,0.067083,-0.060209,0.681674
17,3,343040,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085461,0.075279,0.869533,0.999983,0.000005,-0.000004,-0.005753
17,3,343040,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234913,-0.044960,0.871317,0.999999,0.001249,0.000142,-0.000195
17,3,343040,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.202302,-0.018925,0.921448,0.024522,-0.735288,0.050615,0.675418
17,3,343040,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.153729,0.063148,0.879213,0.213023,-0.620620,-0.733055,-0.179114
17,3,343040,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.138397,-0.052399,0.888397,0.514189,-0.079369,0.014328,0.853877
17,3,343040,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.177355,-0.134674,0.881421,0.985613,-0.146545,-0.042941,0.072441
17,3,343040,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084462,-0.047905,0.871288,0.999987,-0.000159,-0.001018,-0.005078
17,3,343040,4,gripper,0,"","put kitchen shovel on cloth",-0.208414,-0.077785,0.916411,-0.189408,-0.770128,-0.114077,0.598342
17,3,343040,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.202291,-0.093239,0.885369,0.748729,-0.169834,0.220497,0.601616
17,3,343040,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.296083,-0.129112,0.881638,0.994978,-0.000824,-0.039350,0.092029
17,3,343040,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.232523,-0.096458,0.869532,0.985072,0.000001,-0.000001,-0.172144
17,3,343040,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.115004,0.044998,0.871288,0.999999,-0.000154,-0.001020,0.000057
17,3,343040,5,gripper,0,"","put kitchen shovel on cloth",-0.206243,0.049740,0.979566,0.034869,-0.738607,0.008406,0.673181
17,3,343040,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214005,0.084511,0.887641,0.066890,-0.648891,0.755181,0.064556
17,3,343040,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.058960,-0.033401,0.886271,0.656651,0.026352,-0.019405,0.753484
17,3,343040,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084961,-0.075081,0.869532,0.999998,-0.000000,0.000000,-0.002146
17,3,343040,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.045029,0.871288,0.999999,-0.000153,-0.001019,0.000592
17,3,343040,6,gripper,0,"","put kitchen shovel on cloth",-0.168669,0.082966,1.012779,0.087472,-0.748461,0.067381,0.653922
17,3,343040,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.090954,0.001511,0.879088,0.558797,0.358417,-0.293210,0.687976
17,3,343040,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.150051,-0.080299,0.886522,0.684103,0.013511,-0.057576,0.726984
17,3,343040,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.080627,-0.079018,0.869532,0.998421,-0.000000,-0.000001,0.056168
17,3,343040,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000057
17,3,343040,7,gripper,0,"","put kitchen shovel on cloth",-0.129557,-0.074394,0.950577,-0.240626,-0.698781,-0.151762,0.656332
17,3,343040,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085014,-0.084728,0.879089,0.626225,0.326552,-0.328324,0.627223
17,3,343040,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.155136,0.045643,0.883846,0.695535,0.051449,-0.004621,0.716633
17,3,343040,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.227745,0.085342,0.869532,0.989582,0.000001,-0.000000,-0.143972
17,3,343040,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205009,-0.074905,0.871282,0.999999,-0.000449,-0.001264,0.000293
17,3,343040,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.127735,0.059645,0.932559,-0.085533,-0.762305,-0.110180,0.632009
17,3,343040,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.208630,0.041100,0.885122,0.457929,0.534247,-0.559187,0.438396
17,3,343040,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.195698,-0.039352,0.889944,0.694347,-0.027370,0.016042,0.718940
17,3,343040,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234955,0.045124,0.869532,0.999997,0.000000,-0.000001,0.002403
17,3,343040,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205036,-0.074993,0.871282,0.999999,-0.000452,-0.001266,0.000032
17,3,343040,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.173594,0.020231,1.105316,0.025494,-0.835166,0.075209,0.544235
17,3,343040,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.053745,0.050926,0.884977,-0.513569,0.474283,-0.446370,-0.558620
17,3,343040,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.050518,-0.051426,0.881641,0.963981,-0.014802,0.037368,0.262915
17,3,343040,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084351,0.078747,0.869532,0.999827,-0.000000,-0.000001,0.018579
17,3,343040,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234699,-0.039722,0.871288,0.998814,-0.000104,-0.001025,0.048673
17,3,343040,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.229099,0.011179,0.990097,0.065362,-0.777114,0.078184,0.621055
17,3,343040,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.204990,-0.048954,0.885085,0.712642,0.274011,-0.373295,0.526982
17,3,343040,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.197760,0.080479,0.881638,0.942640,0.008784,-0.038374,0.331481
17,3,343040,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235010,-0.075001,0.869531,1.000000,0.000000,-0.000000,0.000126
17,3,343040,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084621,0.074928,0.871288,0.999997,-0.000151,-0.001020,0.002199
17,3,343040,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.217203,-0.007360,1.107499,0.025846,-0.717957,0.283366,0.635274
17,3,343040,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.100338,-0.152725,0.879889,0.080179,0.760927,-0.636456,0.097392
17,3,343040,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084353,0.078388,0.883442,0.728135,0.046751,-0.011129,0.683747
17,3,343040,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.193223,0.097912,0.869532,0.997881,0.000000,-0.000001,0.065058
17,3,343040,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.108468,-0.043404,0.871288,0.999908,-0.000141,-0.001021,0.013541
17,3,343040,12,gripper,0,"","put ketchup bottle on cloth",-0.178340,-0.159540,0.924202,0.044825,-0.840779,-0.106402,0.528924
17,3,343040,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.097015,-0.034996,0.885368,0.777758,-0.158611,0.228631,0.563616
17,3,343040,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.247581,-0.071274,0.881638,0.902192,0.012801,-0.037223,0.429534
17,3,343040,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115166,-0.044888,0.869532,0.999994,0.000001,-0.000001,0.003366
17,3,343040,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205294,0.045139,0.871288,0.999997,-0.000156,-0.001018,-0.002256
17,3,343040,13,gripper,0,"","put ketchup bottle on cloth",-0.120719,-0.069090,0.959774,0.148306,-0.769390,0.165893,0.598768
17,3,343040,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.230633,0.065525,0.879809,0.992719,-0.002371,0.120011,-0.010076
17,3,343040,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.022953,0.058239,0.881641,0.980667,-0.012020,0.038357,0.191513
17,3,343040,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
17,3,343040,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000009
17,3,343040,14,gripper,0,"","put ketchup bottle on cloth",-0.250040,0.074173,0.931720,0.061792,-0.738631,-0.008929,0.671212
17,3,343040,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.188004,-0.123993,0.885371,0.719017,0.064461,-0.060169,0.689376
17,3,343040,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.107494,-0.038124,0.889952,0.628483,0.022968,-0.041494,0.776376
17,3,343040,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.206615,-0.081982,0.869532,0.999755,0.000000,-0.000001,-0.022126
17,3,343040,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001019,0.000126
17,3,343040,15,gripper,0,"","put ketchup bottle on cloth",-0.200718,0.008358,0.986406,0.005503,-0.860444,0.017541,0.509213
17,3,343040,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.096619,0.098778,0.886229,0.550676,0.024086,0.003305,0.834365
17,3,343040,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.100189,-0.050079,0.888814,0.696206,0.097670,-0.088663,0.705618
17,3,343040,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.097336,0.091820,0.869490,0.999972,0.000186,0.000873,-0.007403
17,3,343040,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074959,0.870448,0.999999,-0.000923,-0.000845,-0.000065
17,3,343040,16,gripper,0,"","put 7up can on newspaper",-0.209385,-0.003174,0.996588,0.259830,-0.747352,0.324351,0.518410
17,3,343040,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.224346,0.085743,0.886344,0.978393,0.009896,0.004830,0.206462
17,3,343040,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.005478,-0.096828,0.885659,0.745217,0.212126,0.290967,-0.561242
17,3,343040,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.225365,0.076694,0.869490,0.998622,0.000225,0.000864,-0.052474
17,3,343040,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
17,3,343040,17,gripper,0,"","put 7up can on newspaper",-0.033710,-0.103834,0.914605,-0.027885,-0.809620,-0.060034,0.583210
17,3,343040,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.182110,-0.084877,0.885564,0.420702,0.025028,0.006408,0.906831
17,3,343040,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.175758,0.064430,0.887769,0.524555,0.372457,-0.205800,0.737404
17,3,343040,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205013,-0.074997,0.869490,0.999999,0.000544,0.001418,-0.000006
17,3,343040,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044994,0.870460,1.000000,0.000024,-0.000154,-0.000128
17,3,343040,18,gripper,0,"","put 7up can on newspaper",-0.153488,0.031343,1.101696,0.088129,-0.803259,0.059575,0.586053
17,3,343040,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.176378,0.144554,0.889767,-0.256100,-0.471520,0.545885,-0.643499
17,3,343040,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.113239,0.025112,0.885746,0.583699,0.404876,-0.438978,0.550154
17,3,343040,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114983,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000029
17,3,343040,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.197550,0.078724,0.870447,0.999991,-0.003110,-0.002728,-0.000522
17,3,343040,19,gripper,0,"","put 7up can on newspaper",-0.118368,0.026579,0.945254,-0.016102,-0.750549,-0.037744,0.659539
17,3,343040,20,obj,0,"003_bread_1","put 7up can on carpet",-0.141954,-0.018417,0.883544,0.968026,0.004902,-0.011671,0.250532
17,3,343040,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.201119,0.003254,0.885855,0.413289,0.588787,-0.508941,0.472760
17,3,343040,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.082475,0.073677,0.869490,0.999499,0.000152,0.000879,0.031629
17,3,343040,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.225516,-0.075104,0.870461,0.998994,-0.000004,-0.000172,-0.044847
17,3,343040,20,gripper,0,"","put 7up can on carpet",-0.152433,-0.002274,0.936175,-0.084683,-0.775326,-0.044957,0.624241
17,3,343040,21,obj,0,"003_bread_1","put 7up can on carpet",-0.207056,0.085476,0.886459,0.975970,0.005336,-0.009471,0.217632
17,3,343040,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.430975,0.197906,0.033890,-0.317217,-0.645851,0.576710,0.386854
17,3,343040,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.101860,0.055206,0.869453,0.999579,0.000223,0.001358,-0.028984
17,3,343040,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.234873,0.074860,0.870448,0.999998,-0.001369,-0.001227,-0.001060
17,3,343040,21,gripper,0,"","put 7up can on carpet",-0.121821,-0.011786,0.916212,-0.120174,-0.716821,-0.156835,0.668677
17,3,343040,22,obj,0,"003_bread_1","put 7up can on carpet",-0.048557,-0.057777,0.886653,0.966986,0.004756,0.003802,-0.254756
17,3,343040,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.153137,0.047962,0.886010,0.231123,0.184494,0.954356,-0.041815
17,3,343040,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.056423,-0.086208,0.869490,0.957213,0.000425,0.000785,-0.289383
17,3,343040,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.084015,0.075974,0.870419,0.999998,-0.000765,-0.001369,-0.001043
17,3,343040,22,gripper,0,"","put 7up can on carpet",-0.094561,0.004980,0.942517,-0.138449,-0.822331,-0.178271,0.522325
17,3,343040,23,obj,0,"003_bread_1","put 7up can on carpet",-0.171555,-0.034042,0.885226,0.958546,-0.004520,0.008937,-0.284762
17,3,343040,23,obj,1,"005_7up can_1","put 7up can on carpet",0.104172,-0.023468,0.016833,-0.699065,0.075151,0.078204,0.706784
17,3,343040,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205048,-0.076096,0.869490,0.999991,0.000183,0.000874,-0.004217
17,3,343040,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000096
17,3,343040,23,gripper,0,"","put 7up can on carpet",-0.155340,-0.027166,0.983792,0.075035,-0.755696,0.088090,0.644618
17,3,343040,24,obj,0,"003_bread_1","put bread on newspaper",-0.094292,-0.023933,0.886381,0.994399,-0.075978,0.015142,0.071895
17,3,343040,24,obj,1,"005_7up can_1","put bread on newspaper",-0.160507,-0.066845,0.885633,0.776031,0.069914,-0.082920,0.621299
17,3,343040,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.085556,-0.081682,0.869490,0.999987,0.000184,0.000873,-0.004940
17,3,343040,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235016,0.075024,0.870447,0.999991,-0.003114,-0.002733,-0.000033
17,3,343040,24,gripper,0,"","put bread on newspaper",-0.104076,-0.010166,0.982507,-0.016391,-0.771670,-0.039107,0.634608
17,3,343040,25,obj,0,"003_bread_1","put bread on newspaper",-0.215752,-0.055332,0.886678,0.994144,-0.000095,0.004205,-0.107984
17,3,343040,25,obj,1,"005_7up can_1","put bread on newspaper",-0.286308,0.053728,0.885855,0.609831,-0.181200,-0.756895,-0.149609
17,3,343040,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.205009,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000075
17,3,343040,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.044964,0.870447,0.999999,-0.000923,-0.000845,-0.000060
17,3,343040,25,gripper,0,"","put bread on newspaper",-0.201176,-0.083796,1.006339,0.197475,-0.723846,0.141016,0.645883
17,3,343040,26,obj,0,"003_bread_1","put bread on newspaper",-0.190735,-0.013401,0.886622,0.287193,0.014011,-0.002742,0.957766
17,3,343040,26,obj,1,"005_7up can_1","put bread on newspaper",-0.056004,-0.023575,0.885855,0.597625,-0.234660,-0.742062,-0.192674
17,3,343040,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084652,0.075245,0.869490,0.999995,0.000177,0.000874,0.003064
17,3,343040,26,recep,1,"003_carpet_1","put bread on newspaper",-0.204906,-0.044903,0.870448,0.999999,-0.000871,-0.000799,-0.000339
17,3,343040,26,gripper,0,"","put bread on newspaper",-0.193859,-0.017501,0.957892,0.029825,-0.832855,-0.030333,0.551853
17,3,343040,27,obj,0,"003_bread_1","put bread on newspaper",-0.205790,0.036728,0.948756,0.961126,-0.007622,0.029128,-0.274464
17,3,343040,27,obj,1,"005_7up can_1","put bread on newspaper",-0.092602,0.075182,0.885627,0.972481,-0.005085,-0.232923,0.001066
17,3,343040,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204985,0.046066,0.869490,0.999507,0.000153,0.000879,0.031402
17,3,343040,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084969,-0.074986,0.870418,1.000000,-0.000219,-0.000848,-0.000156
17,3,343040,27,gripper,0,"","put bread on newspaper",-0.214677,0.035748,0.980782,0.001709,-0.782506,-0.025798,0.622106
17,3,343040,28,obj,0,"003_bread_1","put bread on carpet",-0.188015,-0.027708,0.884397,0.299308,0.039728,0.008629,0.953290
17,3,343040,28,obj,1,"005_7up can_1","put bread on carpet",-0.214593,-0.246460,0.885609,0.698371,-0.079168,0.070794,0.707813
17,3,343040,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234920,-0.074896,0.869490,1.000000,0.000180,0.000872,-0.000147
17,3,343040,28,recep,1,"003_carpet_1","put bread on carpet",-0.235287,0.076851,0.870452,0.999792,-0.000908,-0.000903,0.020351
17,3,343040,28,gripper,0,"","put bread on carpet",-0.083254,0.051830,0.938155,0.019721,-0.802830,0.045636,0.594132
17,3,343040,29,obj,0,"003_bread_1","put bread on carpet",-0.176365,0.044731,0.885279,0.599194,0.045859,0.030896,0.798692
17,3,343040,29,obj,1,"005_7up can_1","put bread on carpet",-0.075659,0.015287,0.885687,0.720331,0.250988,-0.315479,0.564447
17,3,343040,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084999,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000025
17,3,343040,29,recep,1,"003_carpet_1","put bread on carpet",-0.234997,0.075104,0.870462,1.000000,0.000037,-0.000158,0.000472
17,3,343040,29,gripper,0,"","put bread on carpet",-0.099178,-0.004992,0.964313,0.052057,-0.758831,-0.016564,0.648992
17,3,343040,30,obj,0,"003_bread_1","put bread on carpet",-0.129150,-0.073698,0.886711,0.559400,0.014537,-0.005611,0.828751
17,3,343040,30,obj,1,"005_7up can_1","put bread on carpet",-0.239944,-0.186733,0.885830,-0.637723,0.323399,-0.609118,-0.343071
17,3,343040,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.045002,0.869490,1.000000,0.000180,0.000874,0.000085
17,3,343040,30,recep,1,"003_carpet_1","put bread on carpet",-0.112839,-0.075497,0.870448,0.999950,-0.000931,-0.000835,-0.009919
17,3,343040,30,gripper,0,"","put bread on carpet",-0.132425,-0.035508,1.105401,-0.055240,-0.787586,-0.051766,0.611536
17,3,343040,31,obj,0,"003_bread_1","put bread on carpet",-0.101940,0.002672,0.883544,0.361889,0.012334,-0.002832,0.932135
17,3,343040,31,obj,1,"005_7up can_1","put bread on carpet",-0.187073,-0.058498,0.888056,0.414260,0.596210,-0.545948,0.418167
17,3,343040,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205151,-0.075325,0.869490,1.000000,0.000181,0.000879,-0.000139
17,3,343040,31,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
17,3,343040,31,gripper,0,"","put bread on carpet",-0.099682,-0.038728,0.976855,0.118610,-0.751955,0.074033,0.644216
17,3,343040,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088966,0.075542,0.887282,0.714043,-0.024509,0.016679,0.699474
17,3,343040,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234535,-0.074990,0.878547,0.706823,0.007967,0.010878,0.707262
17,3,343040,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,3,343040,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
17,3,343040,32,gripper,0,"","put banana on sheet metal",-0.169075,-0.033360,0.984987,0.082275,-0.675427,0.049660,0.731138
17,3,343040,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.094635,-0.077299,0.887528,0.762746,-0.018288,0.023974,0.645995
17,3,343040,33,obj,1,"013_banana_1","put banana on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007932,0.010834,0.707246
17,3,343040,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
17,3,343040,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,-0.000001
17,3,343040,33,gripper,0,"","put banana on sheet metal",-0.086452,0.077383,0.977252,0.308726,-0.738495,0.272227,0.534047
17,3,343040,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088364,-0.072124,0.887370,0.997150,-0.003571,0.020918,0.072396
17,3,343040,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
17,3,343040,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
17,3,343040,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
17,3,343040,34,gripper,0,"","put banana on sheet metal",-0.081224,0.087233,1.039907,-0.002633,-0.746565,0.005011,0.665289
17,3,343040,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243071,0.081181,0.887324,0.920925,-0.006302,0.025938,0.388823
17,3,343040,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011496,0.006986,0.383039
17,3,343040,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,3,343040,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
17,3,343040,35,gripper,0,"","put banana on sheet metal",-0.111774,-0.006248,0.992278,-0.119462,-0.832273,0.032412,0.540370
17,3,343040,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214028,-0.077793,0.887389,0.758121,-0.017460,0.017265,0.651652
17,3,343040,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084558,0.075006,0.878547,0.706805,0.007952,0.010856,0.707280
17,3,343040,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
17,3,343040,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
17,3,343040,36,gripper,0,"","put banana on flat bowl",-0.060501,0.100018,0.995430,0.195608,-0.824703,0.025655,0.530042
17,3,343040,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204113,0.081317,0.887239,0.370851,-0.026860,0.019039,0.928109
17,3,343040,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234692,-0.074684,0.878547,0.382227,0.003177,0.013026,0.923971
17,3,343040,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,3,343040,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
17,3,343040,37,gripper,0,"","put banana on flat bowl",-0.192410,-0.034043,0.965522,0.133402,-0.762984,0.076042,0.627915
17,3,343040,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203335,0.075915,0.887529,0.999034,-0.000342,0.043220,0.007857
17,3,343040,38,obj,1,"013_banana_1","put banana on flat bowl",-0.114994,-0.075442,0.878547,0.999909,0.013307,0.002051,0.000317
17,3,343040,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
17,3,343040,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000001
17,3,343040,38,gripper,0,"","put banana on flat bowl",-0.102488,-0.031730,1.026175,-0.179247,-0.632060,-0.204412,0.725663
17,3,343040,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120312,0.067261,0.887095,0.374712,-0.020151,0.020754,0.926690
17,3,343040,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.044685,0.878547,0.382253,0.003185,0.013056,0.923960
17,3,343040,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
17,3,343040,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
17,3,343040,39,gripper,0,"","put banana on flat bowl",-0.050249,0.008757,0.982293,0.004922,-0.746698,0.074725,0.660934
17,3,343040,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245163,-0.077244,0.887193,0.965699,-0.016246,0.027075,0.257738
17,3,343040,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,0.074697,0.878547,0.924240,0.011486,0.006956,0.381575
17,3,343040,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,-0.045023,0.871345,0.999999,-0.000158,0.001164,-0.000086
17,3,343040,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
17,3,343040,40,gripper,0,"","put carrot on sheet metal",-0.209084,-0.002144,1.005797,0.006058,-0.684412,0.202572,0.700363
17,3,343040,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.249153,0.046366,0.887415,0.965055,-0.012962,0.036673,0.259146
17,3,343040,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.204666,-0.075312,0.878547,0.924149,0.011506,0.006970,0.381794
17,3,343040,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
17,3,343040,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
17,3,343040,41,gripper,0,"","put carrot on sheet metal",-0.181705,0.052356,1.025258,-0.042876,-0.714363,-0.007440,0.698421
17,3,343040,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087856,0.079472,0.887230,0.996959,0.005689,0.032146,0.070765
17,3,343040,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204983,0.044552,0.878547,0.999909,0.013269,0.002035,-0.001005
17,3,343040,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
17,3,343040,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
17,3,343040,42,gripper,0,"","put carrot on sheet metal",-0.126692,0.053612,1.019464,-0.070232,-0.753504,-0.092818,0.647058
17,3,343040,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122250,0.064770,0.887502,0.377197,-0.015780,0.009113,0.925953
17,3,343040,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.044668,0.878546,0.383020,0.003199,0.013064,0.923642
17,3,343040,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,3,343040,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
17,3,343040,43,gripper,0,"","put carrot on sheet metal",-0.077683,0.077882,1.003579,0.173142,-0.707862,0.067956,0.681421
17,3,343040,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205657,0.076988,0.887528,0.707161,-0.030536,0.030596,0.705730
17,3,343040,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084561,-0.074993,0.878547,0.706792,0.007934,0.010844,0.707294
17,3,343040,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000027
17,3,343040,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000001
17,3,343040,44,gripper,0,"","put carrot on flat bowl",-0.185376,0.100630,0.953102,0.108220,-0.765602,0.105064,0.625383
17,3,343040,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118391,0.050859,0.887548,0.997083,-0.000626,0.032520,0.069053
17,3,343040,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,-0.075443,0.878547,0.999909,0.013312,0.002035,-0.000897
17,3,343040,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
17,3,343040,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
17,3,343040,45,gripper,0,"","put carrot on flat bowl",-0.134223,0.021597,1.022650,0.134293,-0.758238,0.030937,0.637247
17,3,343040,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243324,0.081636,0.887522,0.921629,-0.010574,0.028560,0.386874
17,3,343040,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234669,-0.075308,0.878547,0.924219,0.011511,0.006970,0.381626
17,3,343040,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
17,3,343040,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000434
17,3,343040,46,gripper,0,"","put carrot on flat bowl",-0.121462,0.079361,1.018977,0.169675,-0.690243,0.377259,0.593675
17,3,343040,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.246422,-0.077566,0.887245,0.975765,-0.014219,0.029908,0.216302
17,3,343040,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
17,3,343040,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
17,3,343040,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
17,3,343040,47,gripper,0,"","put carrot on flat bowl",-0.204853,-0.016727,1.000709,0.163984,-0.719814,0.255910,0.624090
17,3,343040,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.154083,0.052170,0.890507,0.674574,-0.025342,-0.003979,0.737762
17,3,343040,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.195030,-0.003551,0.889691,0.568700,-0.429811,0.566576,0.413321
17,3,343040,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235077,-0.075031,0.872199,0.999998,-0.000000,-0.000001,0.002184
17,3,343040,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.203751,0.045609,0.870870,0.999993,0.000675,0.000638,-0.003688
17,3,343040,48,gripper,0,"","put plastic bottle on frying pan",-0.178532,0.031204,1.100105,0.078626,-0.738987,0.114809,0.659193
17,3,343040,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.136421,0.038391,0.888112,0.968484,-0.026251,0.008328,0.247548
17,3,343040,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.075741,-0.072369,0.887027,0.698243,-0.110031,0.701127,0.093651
17,3,343040,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000539
17,3,343040,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
17,3,343040,49,gripper,0,"","put plastic bottle on frying pan",-0.044849,-0.052385,0.972082,-0.064101,-0.757268,0.003161,0.649944
17,3,343040,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.191502,0.086754,0.890485,0.416143,-0.022422,-0.012964,0.908930
17,3,343040,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.186241,0.000206,0.887026,0.534567,-0.474167,0.528062,0.458862
17,3,343040,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000010
17,3,343040,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.237843,0.079796,0.870883,0.999676,0.000682,0.000731,0.025438
17,3,343040,50,gripper,0,"","put plastic bottle on frying pan",-0.131546,-0.017786,1.025118,0.066287,-0.748917,0.160835,0.639423
17,3,343040,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236763,0.092621,0.897850,0.573563,-0.784508,-0.232185,0.040786
17,3,343040,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.195271,-0.070126,0.893851,0.521483,-0.560165,0.349662,0.540377
17,3,343040,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236828,0.075802,0.872199,0.999978,0.000000,-0.000000,-0.006582
17,3,343040,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000030
17,3,343040,51,gripper,0,"","put plastic bottle on frying pan",-0.153751,-0.062920,0.954197,-0.018926,-0.768234,-0.060960,0.636979
17,3,343040,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.149933,-0.000881,0.894288,0.736291,0.165095,-0.562811,0.337436
17,3,343040,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.051475,-0.058865,0.886888,0.996991,-0.012712,0.071826,0.026234
17,3,343040,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
17,3,343040,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234994,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000007
17,3,343040,52,gripper,0,"","put plastic bottle on cutting board",-0.091711,-0.064072,0.914748,-0.001575,-0.806659,-0.046754,0.589163
17,3,343040,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.124285,-0.018055,1.011683,0.340296,0.070553,0.095195,0.932823
17,3,343040,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.260675,-0.050667,0.887027,0.206940,-0.682886,0.193267,0.673417
17,3,343040,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
17,3,343040,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
17,3,343040,53,gripper,0,"","put plastic bottle on cutting board",-0.116735,-0.015833,1.059944,0.002223,-0.700453,0.020680,0.713396
17,3,343040,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.101875,-0.021969,0.890397,0.992807,-0.027317,0.012577,0.115891
17,3,343040,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.104103,0.110035,0.018226,-0.466397,-0.521284,-0.481611,0.528004
17,3,343040,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
17,3,343040,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115883,-0.065723,0.870870,0.998460,0.000000,-0.000001,0.055476
17,3,343040,54,gripper,0,"","put plastic bottle on cutting board",-0.012896,0.006952,0.989457,0.199526,-0.770258,0.044388,0.604087
17,3,343040,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.078888,0.034073,0.888113,0.957279,-0.026580,0.007223,0.287850
17,3,343040,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.140888,-0.022919,1.005908,-0.578050,0.007954,-0.045252,-0.814707
17,3,343040,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235180,-0.045235,0.872199,0.999992,0.000000,-0.000001,0.003951
17,3,343040,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000044
17,3,343040,55,gripper,0,"","put plastic bottle on cutting board",-0.136274,-0.020298,1.046873,-0.109724,-0.761408,-0.136167,0.624241
17,3,343040,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.216728,-0.042976,0.888112,0.167749,-0.018289,-0.020589,0.985445
17,3,343040,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.121223,0.132099,0.892773,0.050270,-0.753232,0.655679,-0.014100
17,3,343040,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.083633,0.072296,0.872199,0.999805,-0.000000,-0.000001,-0.019752
17,3,343040,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.242569,0.065044,0.870870,0.999966,-0.000000,-0.000000,-0.008272
17,3,343040,56,gripper,0,"","put hamburger on frying pan",-0.200291,-0.030937,0.957957,-0.138905,-0.750605,-0.044269,0.644468
17,3,343040,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.100178,0.021744,0.888112,0.543065,-0.024931,-0.011707,0.839239
17,3,343040,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.162655,-0.017414,0.889526,0.510206,-0.499338,0.533081,0.454067
17,3,343040,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.077728,-0.075294,0.872199,0.999930,-0.000001,-0.000000,0.011844
17,3,343040,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.195450,-0.068138,0.873295,0.999671,-0.022710,-0.000149,0.011907
17,3,343040,57,gripper,0,"","put hamburger on frying pan",-0.182653,-0.046812,0.949941,-0.105622,-0.789239,-0.121218,0.592666
17,3,343040,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084389,-0.074047,0.888112,0.999583,-0.023244,0.014775,-0.008627
17,3,343040,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.192749,-0.068813,0.887027,0.610362,-0.368060,0.606809,0.351813
17,3,343040,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
17,3,343040,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000034
17,3,343040,58,gripper,0,"","put hamburger on frying pan",-0.166677,-0.042332,0.965177,-0.037199,-0.759588,-0.034308,0.648433
17,3,343040,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202185,-0.069721,0.888112,0.244040,-0.019836,-0.019110,0.969374
17,3,343040,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.053280,-0.030624,0.889387,0.274855,-0.657770,0.266605,0.648626
17,3,343040,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
17,3,343040,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085627,-0.075836,0.870870,0.999995,-0.000000,-0.000001,0.003181
17,3,343040,59,gripper,0,"","put hamburger on frying pan",-0.187940,-0.046799,0.991616,0.110345,-0.734550,0.024386,0.669078
17,3,343040,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.099412,0.029121,0.888112,0.802713,-0.027451,-0.002232,0.595729
17,3,343040,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.104266,-0.052753,0.889707,0.442199,-0.562289,0.432989,0.548463
17,3,343040,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
17,3,343040,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084994,-0.075001,0.870870,1.000000,0.000000,0.000000,-0.000037
17,3,343040,60,gripper,0,"","put hamburger on cutting board",-0.222680,-0.047468,0.939463,0.002266,-0.756016,0.038461,0.653418
17,3,343040,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205086,-0.008320,0.888859,0.980234,-0.075587,0.018774,0.181868
17,3,343040,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.080418,-0.047939,0.887027,0.525554,-0.484333,0.518757,0.469154
17,3,343040,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
17,3,343040,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204952,-0.075054,0.870870,1.000000,0.000000,-0.000001,-0.000340
17,3,343040,61,gripper,0,"","put hamburger on cutting board",-0.119072,-0.045500,1.045908,0.295874,-0.696830,0.252288,0.602691
17,3,343040,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.179279,-0.058010,0.897848,0.371183,0.278582,0.219087,0.858264
17,3,343040,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.097313,0.067616,0.892457,0.022327,-0.770867,0.635888,0.030202
17,3,343040,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075005,0.872199,1.000000,-0.000001,-0.000001,0.000641
17,3,343040,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084427,0.074829,0.870872,1.000000,0.000001,-0.000022,0.000541
17,3,343040,62,gripper,0,"","put hamburger on cutting board",-0.204292,-0.073439,0.966088,-0.035495,-0.767612,-0.029211,0.639264
17,3,343040,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.167919,-0.064438,0.892062,0.701968,0.083189,0.152086,0.690790
17,3,343040,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.193634,0.060009,0.889551,0.510572,-0.497253,0.508135,0.483584
17,3,343040,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235264,-0.075069,0.872199,0.999999,0.000000,-0.000001,0.001530
17,3,343040,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235390,0.074596,0.870882,0.999998,0.000694,0.000699,0.001915
17,3,343040,63,gripper,0,"","put hamburger on cutting board",-0.183134,-0.054342,1.004767,-0.023441,-0.719765,-0.073035,0.689967
17,4,348160,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.182121,-0.108704,0.879372,0.957512,-0.016242,0.277782,0.075786
17,4,348160,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.173073,0.011017,0.881638,0.991866,-0.009148,-0.038271,-0.121049
17,4,348160,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074997,0.869532,1.000000,0.000000,-0.000000,0.000037
17,4,348160,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000004
17,4,348160,0,gripper,0,"","put kitchen shovel on cloth",-0.203262,0.041367,0.914872,0.056433,-0.748340,0.035041,0.659981
17,4,348160,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.110229,-0.017410,0.879750,0.853260,0.095322,0.166263,-0.484992
17,4,348160,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.021645,0.065353,0.881334,0.923361,0.011181,0.058016,-0.379360
17,4,348160,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084984,-0.074966,0.869532,1.000000,-0.000000,-0.000002,-0.000506
17,4,348160,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235027,-0.044968,0.871282,0.999999,-0.000451,-0.001265,-0.000188
17,4,348160,1,gripper,0,"","put kitchen shovel on cloth",-0.059391,0.057045,0.927319,0.063005,-0.782245,0.068797,0.615946
17,4,348160,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.125923,-0.062332,0.885082,0.543942,0.364287,-0.285211,0.700055
17,4,348160,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.146053,0.038521,0.875463,0.055823,-0.563887,0.818217,0.097144
17,4,348160,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.111275,-0.077370,0.869532,0.999547,0.000001,-0.000001,-0.030105
17,4,348160,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.055561,0.047562,0.871288,0.996190,-0.000064,-0.001029,0.087204
17,4,348160,2,gripper,0,"","put kitchen shovel on cloth",-0.127831,0.082592,0.952220,0.084081,-0.784535,0.140262,0.598132
17,4,348160,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.056953,0.085480,0.884978,0.682445,-0.278170,0.588621,0.332288
17,4,348160,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.071117,0.022934,0.885693,0.730788,0.057082,-0.048594,0.678475
17,4,348160,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085461,0.075279,0.869532,0.999984,-0.000003,0.000004,-0.005740
17,4,348160,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234890,-0.044952,0.871288,0.999999,-0.000153,-0.001019,-0.000217
17,4,348160,3,gripper,0,"","put kitchen shovel on cloth",-0.184526,-0.022545,1.008481,0.259767,-0.796164,0.114625,0.534327
17,4,348160,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.166016,-0.124397,0.885371,0.713644,0.190495,0.202977,-0.642825
17,4,348160,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.138026,-0.052338,0.889026,0.521135,-0.067329,0.020199,0.850574
17,4,348160,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.177033,-0.137558,0.869532,0.998355,-0.000000,0.000001,0.057336
17,4,348160,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084462,-0.047905,0.871288,0.999987,-0.000159,-0.001019,-0.005078
17,4,348160,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.203516,-0.052090,1.067084,0.029291,-0.780426,-0.007857,0.624512
17,4,348160,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202276,-0.093239,0.885369,0.748741,-0.169797,0.220459,0.601626
17,4,348160,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.296083,-0.129112,0.881638,0.994978,-0.000823,-0.039355,0.092030
17,4,348160,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.232512,-0.096458,0.869532,0.985048,0.000001,-0.000001,-0.172283
17,4,348160,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.115005,0.044998,0.871288,1.000000,-0.000154,-0.001019,0.000072
17,4,348160,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.227149,-0.048908,1.065766,-0.111261,-0.793208,-0.076241,0.593826
17,4,348160,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.105927,-0.098190,0.885112,-0.078542,0.609527,-0.786568,-0.060163
17,4,348160,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.059490,-0.032745,0.886335,0.635703,-0.028687,0.026704,0.770938
17,4,348160,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084972,-0.075150,0.869532,1.000000,-0.000001,-0.000000,-0.000668
17,4,348160,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.045036,0.871288,0.999999,-0.000153,-0.001020,0.000576
17,4,348160,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.125654,-0.028027,1.062609,0.013858,-0.742827,0.054224,0.667140
17,4,348160,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.090954,0.001511,0.879088,0.558786,0.358430,-0.293215,0.687976
17,4,348160,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.151932,-0.089752,0.887149,0.771134,-0.005170,-0.024070,0.636197
17,4,348160,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.080627,-0.078987,0.869532,0.998397,0.000000,-0.000001,0.056590
17,4,348160,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.239647,0.042580,0.871282,0.999995,-0.000455,-0.001264,-0.002985
17,4,348160,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.201040,-0.079464,0.918626,0.054308,-0.744527,0.077459,0.660856
17,4,348160,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085014,-0.084728,0.879089,0.626227,0.326548,-0.328322,0.627225
17,4,348160,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.162941,0.026730,0.883744,0.785721,0.029842,0.011196,0.617759
17,4,348160,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.227859,0.085938,0.869532,0.990823,0.000000,-0.000002,-0.135162
17,4,348160,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205009,-0.074875,0.871288,0.999999,-0.000153,-0.001019,0.000347
17,4,348160,8,gripper,0,"","put ketchup bottle on cloth",-0.237362,0.042685,0.927269,0.098452,-0.755086,0.076910,0.643613
17,4,348160,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.208630,0.041107,0.885122,0.457905,0.534272,-0.559179,0.438400
17,4,348160,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.195705,-0.039394,0.889980,0.698489,-0.027314,0.015660,0.714928
17,4,348160,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234955,0.045124,0.869532,0.999997,-0.000001,-0.000002,0.002375
17,4,348160,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205048,-0.074993,0.871282,0.999999,-0.000451,-0.001266,0.000060
17,4,348160,9,gripper,0,"","put ketchup bottle on cloth",-0.157681,0.033953,1.127029,0.119889,-0.794271,0.226139,0.551018
17,4,348160,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.053890,0.051243,0.884977,-0.514617,0.473463,-0.447326,-0.557586
17,4,348160,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.065437,-0.067158,0.882839,0.874453,0.046941,-0.102531,0.471822
17,4,348160,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084393,0.079185,0.869532,0.999861,0.000000,-0.000001,0.016697
17,4,348160,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234699,-0.039722,0.871288,0.998814,-0.000103,-0.001026,0.048667
17,4,348160,10,gripper,0,"","put ketchup bottle on cloth",-0.100767,-0.054388,0.914314,0.289288,-0.681929,0.100899,0.664157
17,4,348160,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.204067,-0.049847,0.885084,0.716333,0.271375,-0.375188,0.521973
17,4,348160,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.197756,0.080482,0.881638,0.942603,0.008779,-0.038350,0.331590
17,4,348160,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234562,-0.075287,0.869531,0.999954,-0.000000,-0.000001,-0.009558
17,4,348160,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084621,0.074928,0.871288,0.999997,-0.000152,-0.001020,0.002200
17,4,348160,11,gripper,0,"","put ketchup bottle on cloth",-0.250339,-0.054218,0.943942,0.063944,-0.768639,0.062748,0.633378
17,4,348160,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.093711,-0.151154,0.879212,0.158408,0.787878,-0.549352,0.228840
17,4,348160,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084353,0.078388,0.883442,0.728135,0.046751,-0.011129,0.683747
17,4,348160,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.193223,0.097912,0.869532,0.997881,-0.000000,-0.000001,0.065058
17,4,348160,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.103897,-0.045292,0.871531,0.998550,-0.004227,-0.007147,0.053180
17,4,348160,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.128087,-0.054499,0.921229,0.065096,-0.753497,0.035663,0.653248
17,4,348160,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097002,-0.035046,0.885368,0.782726,-0.156589,0.230045,0.556686
17,4,348160,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.247631,-0.085766,0.881638,0.896151,0.013304,-0.037024,0.442002
17,4,348160,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115166,-0.044888,0.869532,0.999994,0.000000,-0.000000,0.003366
17,4,348160,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204777,0.045261,0.871288,0.999984,-0.000159,-0.001017,-0.005541
17,4,348160,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.240977,-0.097511,0.934729,-0.044440,-0.795016,0.039464,0.603670
17,4,348160,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.260578,0.062294,0.879125,0.632582,-0.050902,-0.771726,-0.041086
17,4,348160,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.022953,0.058239,0.881641,0.980664,-0.012021,0.038357,0.191528
17,4,348160,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000041
17,4,348160,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.203815,-0.073742,0.871298,0.999929,-0.001012,-0.001960,-0.011749
17,4,348160,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.191320,-0.004698,0.918782,-0.025068,-0.757331,0.069761,0.648810
17,4,348160,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210491,-0.081783,0.885371,0.543774,0.076416,-0.043953,0.834589
17,4,348160,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.116837,-0.001934,0.873649,-0.073138,-0.777031,0.622394,0.059159
17,4,348160,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.209717,-0.084702,0.869532,0.999771,-0.000001,-0.000001,-0.021396
17,4,348160,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.085846,-0.076790,0.871282,0.999974,-0.000441,-0.001267,0.007017
17,4,348160,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.178894,-0.036064,0.997229,-0.028696,-0.767579,-0.035977,0.639300
17,4,348160,16,obj,0,"003_bread_1","put 7up can on carpet",-0.096619,0.098774,0.886228,0.550450,0.024083,0.003310,0.834514
17,4,348160,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.100159,-0.050777,0.888800,0.693850,0.112412,-0.103093,0.703781
17,4,348160,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.097336,0.091816,0.869490,0.999974,0.000186,0.000873,-0.007176
17,4,348160,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074966,0.870448,0.999999,-0.000923,-0.000846,0.000339
17,4,348160,16,gripper,0,"","put 7up can on carpet",-0.188469,-0.069841,0.979284,0.118458,-0.752140,0.179883,0.622812
17,4,348160,17,obj,0,"003_bread_1","put 7up can on carpet",-0.224644,0.086788,0.886363,0.979079,0.009803,0.004875,0.203187
17,4,348160,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.003448,-0.097942,0.885659,0.736006,0.216853,0.287487,-0.573255
17,4,348160,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.225239,0.076706,0.869490,0.998627,0.000225,0.000864,-0.052369
17,4,348160,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
17,4,348160,17,gripper,0,"","put 7up can on carpet",-0.192478,-0.030951,0.914569,0.094503,-0.757152,0.097265,0.639006
17,4,348160,18,obj,0,"003_bread_1","put 7up can on carpet",-0.182110,-0.084885,0.885563,0.420496,0.025018,0.006440,0.906926
17,4,348160,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.175762,0.064434,0.887770,0.525289,0.372265,-0.206160,0.736878
17,4,348160,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205013,-0.074997,0.869490,0.999999,0.000550,0.001425,0.000015
17,4,348160,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.044994,0.870460,1.000000,0.000024,-0.000154,-0.000162
17,4,348160,18,gripper,0,"","put 7up can on carpet",-0.126169,0.033241,1.133468,0.009292,-0.831365,0.065623,0.551761
17,4,348160,19,obj,0,"003_bread_1","put 7up can on carpet",-0.176382,0.144573,0.889767,-0.258186,-0.469750,0.547408,-0.642666
17,4,348160,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.110744,0.067642,0.886108,0.017433,-0.617341,0.786270,0.019137
17,4,348160,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.068159,-0.067852,0.869490,0.990639,0.000298,0.000842,-0.136501
17,4,348160,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.197550,0.078724,0.870447,0.999991,-0.003115,-0.002732,-0.000524
17,4,348160,19,gripper,0,"","put 7up can on carpet",-0.120174,0.033978,0.981765,0.081283,-0.722534,-0.040996,0.685315
17,4,348160,20,obj,0,"003_bread_1","put bread on newspaper",-0.143412,-0.008663,0.883544,0.983189,0.004080,-0.011988,0.182153
17,4,348160,20,obj,1,"005_7up can_1","put bread on newspaper",-0.201119,0.003254,0.885855,0.413282,0.588796,-0.508956,0.472739
17,4,348160,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.082475,0.073677,0.869490,0.999499,0.000152,0.000880,0.031629
17,4,348160,20,recep,1,"003_carpet_1","put bread on newspaper",-0.225516,-0.075104,0.870461,0.998994,-0.000006,-0.000173,-0.044846
17,4,348160,20,gripper,0,"","put bread on newspaper",-0.178709,-0.007414,0.974884,0.011031,-0.744269,-0.008073,0.667740
17,4,348160,21,obj,0,"003_bread_1","put bread on newspaper",-0.207050,0.085472,0.886459,0.976156,0.005321,-0.009478,0.216796
17,4,348160,21,obj,1,"005_7up can_1","put bread on newspaper",-0.430975,0.197906,0.033890,-0.317175,-0.645742,0.576810,0.386921
17,4,348160,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.103607,0.052441,0.869490,0.999983,0.000185,0.000873,-0.005696
17,4,348160,21,recep,1,"003_carpet_1","put bread on newspaper",-0.234869,0.074860,0.870448,0.999998,-0.001370,-0.001228,-0.000956
17,4,348160,21,gripper,0,"","put bread on newspaper",-0.151831,0.007027,0.965089,0.144049,-0.727945,0.110178,0.661216
17,4,348160,22,obj,0,"003_bread_1","put bread on newspaper",-0.048557,-0.057774,0.886659,0.966694,0.004571,0.003867,-0.255866
17,4,348160,22,obj,1,"005_7up can_1","put bread on newspaper",-0.172138,-0.069870,0.924706,0.590569,0.079687,0.314504,-0.738895
17,4,348160,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.056423,-0.086208,0.869490,0.957217,0.000425,0.000785,-0.289370
17,4,348160,22,recep,1,"003_carpet_1","put bread on newspaper",-0.071159,0.073895,0.870448,0.999058,-0.000766,-0.000774,0.043387
17,4,348160,22,gripper,0,"","put bread on newspaper",-0.203501,-0.066280,0.973781,0.094812,-0.763069,0.084325,0.633739
17,4,348160,23,obj,0,"003_bread_1","put bread on newspaper",-0.160458,-0.020935,0.884624,0.998948,-0.002987,0.033237,0.031453
17,4,348160,23,obj,1,"005_7up can_1","put bread on newspaper",0.104172,-0.023464,0.016833,-0.699164,0.075140,0.078215,0.706687
17,4,348160,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.202263,-0.073662,0.869489,0.999741,0.000576,0.001407,-0.022689
17,4,348160,23,recep,1,"003_carpet_1","put bread on newspaper",-0.113228,0.076797,0.870350,0.999999,-0.000098,-0.001456,-0.000110
17,4,348160,23,gripper,0,"","put bread on newspaper",-0.162447,-0.005980,0.939341,0.108954,-0.752560,0.121098,0.638058
17,4,348160,24,obj,0,"003_bread_1","put bread on carpet",-0.094551,-0.021011,0.886043,0.997070,-0.067524,0.011292,0.034123
17,4,348160,24,obj,1,"005_7up can_1","put bread on carpet",-0.195724,0.070154,0.888389,0.822952,0.090693,-0.122912,0.547191
17,4,348160,24,recep,0,"004_newspaper_1","put bread on carpet",-0.085663,-0.081680,0.869490,0.999989,0.000184,0.000873,-0.004581
17,4,348160,24,recep,1,"003_carpet_1","put bread on carpet",-0.235077,0.075043,0.870462,1.000000,0.000037,-0.000157,0.000656
17,4,348160,24,gripper,0,"","put bread on carpet",-0.071075,-0.019942,0.936316,0.125087,-0.797991,0.084813,0.583413
17,4,348160,25,obj,0,"003_bread_1","put bread on carpet",-0.218792,-0.053596,0.886691,0.994267,0.000050,0.004274,-0.106838
17,4,348160,25,obj,1,"005_7up can_1","put bread on carpet",-0.286308,0.053728,0.885855,0.609842,-0.181217,-0.756878,-0.149627
17,4,348160,25,recep,0,"004_newspaper_1","put bread on carpet",-0.207714,-0.073345,0.869489,0.999996,0.000177,0.000874,0.002760
17,4,348160,25,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.044952,0.870447,0.999999,-0.000923,-0.000846,-0.000076
17,4,348160,25,gripper,0,"","put bread on carpet",-0.212267,-0.023962,0.958264,0.004856,-0.700867,0.074371,0.709388
17,4,348160,26,obj,0,"003_bread_1","put bread on carpet",-0.192150,-0.011978,0.886553,0.276924,0.015524,-0.001553,0.960765
17,4,348160,26,obj,1,"005_7up can_1","put bread on carpet",-0.124748,-0.049665,0.885945,0.400623,0.484821,0.732147,-0.261555
17,4,348160,26,recep,0,"004_newspaper_1","put bread on carpet",-0.084652,0.075245,0.869490,0.999995,0.000177,0.000875,0.003085
17,4,348160,26,recep,1,"003_carpet_1","put bread on carpet",-0.206230,-0.042959,0.870406,0.999840,0.000076,-0.000697,0.017874
17,4,348160,26,gripper,0,"","put bread on carpet",-0.163065,-0.029583,0.949197,-0.006077,-0.752462,0.065430,0.655349
17,4,348160,27,obj,0,"003_bread_1","put bread on carpet",-0.208954,0.048267,0.886415,0.957146,-0.006314,0.002878,-0.289521
17,4,348160,27,obj,1,"005_7up can_1","put bread on carpet",-0.092602,0.075182,0.885627,0.972482,-0.005084,-0.232919,0.001067
17,4,348160,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,0.046026,0.869490,0.999509,0.000153,0.000880,0.031338
17,4,348160,27,recep,1,"003_carpet_1","put bread on carpet",-0.084942,-0.075005,0.870448,1.000000,-0.000278,-0.000290,0.000419
17,4,348160,27,gripper,0,"","put bread on carpet",-0.183115,0.051076,1.003531,0.096899,-0.728580,0.076127,0.673785
17,4,348160,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.188016,-0.027710,0.884396,0.299328,0.039660,0.008634,0.953287
17,4,348160,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214592,-0.246494,0.885609,0.698365,-0.079168,0.070794,0.707818
17,4,348160,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234920,-0.074896,0.869490,1.000000,0.000180,0.000876,-0.000147
17,4,348160,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235054,0.076851,0.870424,0.999749,-0.000576,-0.001174,0.022359
17,4,348160,28,gripper,0,"","put 7up can on newspaper",-0.148309,0.034916,1.080022,0.055690,-0.778553,0.063451,0.621874
17,4,348160,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.176365,0.044746,0.885279,0.599315,0.045863,0.030901,0.798601
17,4,348160,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.074177,-0.004627,0.885648,0.786936,0.063875,-0.079170,0.608592
17,4,348160,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084618,-0.075106,0.869490,0.999999,0.000180,0.000875,0.000665
17,4,348160,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234997,0.075119,0.870462,1.000000,0.000037,-0.000158,0.000541
17,4,348160,29,gripper,0,"","put 7up can on newspaper",-0.163095,0.024385,0.959001,0.071346,-0.716190,0.066232,0.691082
17,4,348160,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.126911,-0.074633,0.886665,0.604334,0.011605,-0.003013,0.796641
17,4,348160,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.239944,-0.186733,0.885830,-0.637717,0.323412,-0.609109,-0.343086
17,4,348160,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.045002,0.869490,1.000000,0.000180,0.000874,0.000106
17,4,348160,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.110695,-0.077227,0.870449,0.999990,-0.000920,-0.000857,0.004219
17,4,348160,30,gripper,0,"","put 7up can on newspaper",-0.180271,-0.125378,0.972846,0.023078,-0.777434,-0.000712,0.628541
17,4,348160,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.176586,-0.016836,0.885015,0.395360,0.008640,0.052959,0.916957
17,4,348160,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.187008,-0.059032,0.888053,0.414163,0.596340,-0.545767,0.418314
17,4,348160,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205162,-0.075871,0.869489,1.000000,0.000179,0.000876,0.000277
17,4,348160,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
17,4,348160,31,gripper,0,"","put 7up can on newspaper",-0.173834,0.020158,1.085480,0.038384,-0.714930,0.105160,0.690177
17,4,348160,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091156,0.074645,0.887269,0.718107,-0.027965,0.019127,0.695107
17,4,348160,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234535,-0.074990,0.878547,0.706823,0.007963,0.010874,0.707262
17,4,348160,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,4,348160,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
17,4,348160,32,gripper,0,"","put banana on flat bowl",-0.172802,-0.060557,1.018680,-0.077810,-0.654937,-0.111631,0.743331
17,4,348160,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096073,-0.077731,0.887369,0.768620,-0.020344,0.031192,0.638621
17,4,348160,33,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007922,0.010824,0.707246
17,4,348160,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
17,4,348160,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,-0.000001,-0.000000
17,4,348160,33,gripper,0,"","put banana on flat bowl",-0.103548,0.077630,0.999923,0.197368,-0.815178,0.149357,0.523664
17,4,348160,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088467,-0.071636,0.887534,0.997185,0.000578,0.025500,0.070510
17,4,348160,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
17,4,348160,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
17,4,348160,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
17,4,348160,34,gripper,0,"","put banana on flat bowl",-0.112108,0.057857,1.060376,0.158121,-0.732658,0.112581,0.652330
17,4,348160,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.245932,0.083127,0.887189,0.926538,-0.002991,0.031329,0.374882
17,4,348160,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011528,0.007002,0.383039
17,4,348160,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,4,348160,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
17,4,348160,35,gripper,0,"","put banana on flat bowl",-0.077814,-0.049569,0.993388,0.021574,-0.804703,0.083612,0.587364
17,4,348160,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.215814,-0.078382,0.887369,0.766387,-0.017366,0.026367,0.641603
17,4,348160,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084559,0.075006,0.878547,0.706804,0.007938,0.010840,0.707282
17,4,348160,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000021
17,4,348160,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000001
17,4,348160,36,gripper,0,"","put carrot on sheet metal",-0.167352,-0.059164,1.008911,0.023495,-0.697637,0.011684,0.715971
17,4,348160,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204113,0.081317,0.887239,0.370851,-0.026860,0.019039,0.928109
17,4,348160,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234692,-0.074684,0.878547,0.382227,0.003179,0.013034,0.923971
17,4,348160,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
17,4,348160,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
17,4,348160,37,gripper,0,"","put carrot on sheet metal",-0.184720,0.085987,0.966001,-0.028339,-0.718441,-0.030190,0.694355
17,4,348160,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007857
17,4,348160,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.114994,-0.075442,0.878547,0.999910,0.013278,0.002049,0.000317
17,4,348160,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
17,4,348160,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000001
17,4,348160,38,gripper,0,"","put carrot on sheet metal",-0.180826,0.059351,0.994613,-0.108281,-0.763466,-0.065637,0.633313
17,4,348160,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122879,0.064343,0.887487,0.389227,-0.037810,0.017248,0.920204
17,4,348160,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.044685,0.878547,0.382253,0.003186,0.013060,0.923960
17,4,348160,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
17,4,348160,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
17,4,348160,39,gripper,0,"","put carrot on sheet metal",-0.083900,0.077371,1.004579,0.184161,-0.672116,0.218794,0.682989
17,4,348160,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210945,0.066910,0.974112,0.993943,0.061401,-0.045031,0.079237
17,4,348160,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,0.074697,0.878547,0.924425,0.011515,0.006964,0.381126
17,4,348160,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,-0.045031,0.871345,0.999999,-0.000157,0.001164,-0.000103
17,4,348160,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
17,4,348160,40,gripper,0,"","put carrot on flat bowl",-0.181309,0.061660,1.029628,0.063208,-0.755139,-0.065721,0.649193
17,4,348160,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.252533,0.050364,0.887562,0.970319,-0.004258,0.027642,0.240206
17,4,348160,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.204662,-0.075310,0.878547,0.924333,0.011505,0.006962,0.381351
17,4,348160,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
17,4,348160,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
17,4,348160,41,gripper,0,"","put carrot on flat bowl",-0.163031,0.073348,1.040403,-0.151338,-0.701391,-0.105499,0.688489
17,4,348160,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087914,0.080467,0.887396,0.996834,0.000905,0.038192,0.069736
17,4,348160,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204979,0.044550,0.878547,0.999909,0.013288,0.002032,-0.001431
17,4,348160,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
17,4,348160,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
17,4,348160,42,gripper,0,"","put carrot on flat bowl",-0.062262,0.092457,1.015417,0.223835,-0.741950,0.244971,0.582579
17,4,348160,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123302,0.062506,0.887193,0.388985,-0.019166,0.016799,0.920892
17,4,348160,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.044666,0.878547,0.383281,0.003210,0.013086,0.923533
17,4,348160,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
17,4,348160,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
17,4,348160,43,gripper,0,"","put carrot on flat bowl",-0.106523,0.095778,0.970207,0.187867,-0.742636,0.113856,0.632641
17,4,348160,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205657,0.076988,0.887528,0.707161,-0.030535,0.030596,0.705730
17,4,348160,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084561,-0.074993,0.878547,0.706792,0.007942,0.010853,0.707294
17,4,348160,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000028
17,4,348160,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000001
17,4,348160,44,gripper,0,"","put banana on sheet metal",-0.049404,-0.043090,0.997063,-0.038691,-0.781154,-0.039354,0.621894
17,4,348160,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118914,0.051132,0.887432,0.997152,-0.003322,0.028935,0.069565
17,4,348160,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084982,-0.075443,0.878548,0.999908,0.013330,0.002032,-0.001169
17,4,348160,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
17,4,348160,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
17,4,348160,45,gripper,0,"","put banana on sheet metal",-0.077538,-0.031511,1.011720,-0.047581,-0.755100,-0.018057,0.653632
17,4,348160,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246204,0.083101,0.887492,0.925539,-0.009324,0.025174,0.377700
17,4,348160,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234661,-0.075306,0.878547,0.924413,0.011493,0.006953,0.381157
17,4,348160,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
17,4,348160,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000580
17,4,348160,46,gripper,0,"","put banana on sheet metal",-0.206181,-0.039617,0.963705,-0.000766,-0.733370,0.093951,0.673306
17,4,348160,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246429,-0.077547,0.887245,0.976079,-0.014176,0.029929,0.214880
17,4,348160,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
17,4,348160,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
17,4,348160,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
17,4,348160,47,gripper,0,"","put banana on sheet metal",-0.075859,0.067362,0.982271,0.090950,-0.833622,0.126601,0.529882
17,4,348160,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.149162,0.053616,0.890498,0.656513,-0.025039,-0.004921,0.753883
17,4,348160,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.187073,-0.001888,0.889688,0.566552,-0.432747,0.564425,0.416141
17,4,348160,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235077,-0.075031,0.872199,0.999996,-0.000000,-0.000000,0.002676
17,4,348160,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.200676,0.048027,0.870871,0.999858,0.000681,0.000629,-0.016831
17,4,348160,48,gripper,0,"","put plastic bottle on cutting board",-0.139458,0.036032,1.132016,0.194281,-0.782399,0.019952,0.591362
17,4,348160,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.124275,0.019329,0.888112,0.999596,-0.023476,0.014403,0.007083
17,4,348160,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064644,-0.076012,0.887027,0.703899,-0.045020,0.708280,0.028975
17,4,348160,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000734
17,4,348160,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
17,4,348160,49,gripper,0,"","put plastic bottle on cutting board",-0.100594,-0.008183,0.996172,-0.086456,-0.740931,-0.135034,0.652160
17,4,348160,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.191460,0.086750,0.890486,0.414995,-0.022403,-0.012996,0.909455
17,4,348160,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186241,0.000206,0.887026,0.534566,-0.474169,0.528061,0.458863
17,4,348160,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000032
17,4,348160,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.237797,0.079796,0.870884,0.999674,0.000682,0.000731,0.025529
17,4,348160,50,gripper,0,"","put plastic bottle on cutting board",-0.173849,0.090565,1.084137,0.070830,-0.704481,0.066185,0.703071
17,4,348160,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236700,0.092621,0.897846,0.573574,-0.784593,-0.231896,0.040625
17,4,348160,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.191656,-0.067280,0.887032,0.449607,-0.555319,0.438673,0.545014
17,4,348160,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236830,0.075802,0.872199,0.999978,0.000000,0.000000,-0.006650
17,4,348160,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115004,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000042
17,4,348160,51,gripper,0,"","put plastic bottle on cutting board",-0.181936,-0.047260,0.949603,0.095760,-0.781119,0.063184,0.613752
17,4,348160,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.155657,-0.014179,0.891736,0.487053,0.374145,-0.727186,0.306587
17,4,348160,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.051601,-0.058361,0.886092,0.999395,-0.011497,0.019278,0.026585
17,4,348160,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
17,4,348160,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234994,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000007
17,4,348160,52,gripper,0,"","put hamburger on frying pan",-0.175385,0.026056,1.018554,0.013146,-0.756718,0.084741,0.648093
17,4,348160,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.072584,-0.023342,0.892187,-0.353980,-0.276119,0.795563,0.406861
17,4,348160,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.260641,-0.050667,0.887027,0.206902,-0.682897,0.193230,0.673428
17,4,348160,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
17,4,348160,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.076756,-0.098305,0.870870,0.998505,-0.000000,-0.000001,0.054657
17,4,348160,53,gripper,0,"","put hamburger on frying pan",-0.126886,-0.043278,0.953796,-0.052507,-0.814121,-0.024193,0.577810
17,4,348160,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.111225,-0.036205,0.970010,0.957052,-0.056214,0.039802,0.281616
17,4,348160,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.104103,0.110035,0.018226,-0.466397,-0.521284,-0.481611,0.528004
17,4,348160,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
17,4,348160,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115932,-0.066036,0.870870,0.998483,0.000000,-0.000000,0.055052
17,4,348160,54,gripper,0,"","put hamburger on frying pan",-0.118877,-0.041626,1.000328,-0.040634,-0.748881,-0.099136,0.653986
17,4,348160,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078888,0.034073,0.888113,0.957285,-0.026579,0.007224,0.287831
17,4,348160,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.164841,-0.174164,0.885764,0.504861,0.498982,-0.458915,0.534349
17,4,348160,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235222,-0.045193,0.872199,0.999994,-0.000000,-0.000001,0.003573
17,4,348160,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.113674,-0.073475,0.870870,0.999953,0.000000,-0.000000,-0.009681
17,4,348160,55,gripper,0,"","put hamburger on frying pan",-0.139326,-0.077908,0.966667,-0.032904,-0.816561,-0.056078,0.573585
17,4,348160,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.223648,-0.051060,0.888112,0.377471,-0.022315,-0.016140,0.925612
17,4,348160,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.121223,0.132107,0.892773,0.050266,-0.753264,0.655643,-0.014091
17,4,348160,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083633,0.072296,0.872199,0.999807,-0.000001,-0.000002,-0.019656
17,4,348160,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.242569,0.065044,0.870870,0.999966,-0.000000,-0.000000,-0.008278
17,4,348160,56,gripper,0,"","put hamburger on cutting board",-0.205566,-0.029446,0.975001,-0.096008,-0.767215,-0.060516,0.631270
17,4,348160,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.092468,0.032970,0.888112,0.522408,-0.024636,-0.012313,0.852251
17,4,348160,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.165176,-0.005459,0.887027,0.508740,-0.502267,0.501413,0.487336
17,4,348160,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.074066,-0.076241,0.872199,0.999665,-0.000000,-0.000001,0.025894
17,4,348160,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.185566,-0.071423,0.870870,0.998647,0.000025,0.000023,-0.051998
17,4,348160,57,gripper,0,"","put hamburger on cutting board",-0.195251,-0.015711,0.924451,0.068284,-0.785744,-0.076541,0.609987
17,4,348160,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084347,-0.073929,0.888112,0.999551,-0.023199,0.014846,-0.011803
17,4,348160,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.192749,-0.068813,0.887027,0.610362,-0.368061,0.606809,0.351813
17,4,348160,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
17,4,348160,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000051
17,4,348160,58,gripper,0,"","put hamburger on cutting board",-0.132416,-0.046398,0.976754,0.144548,-0.719454,0.161713,0.659803
17,4,348160,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.180805,-0.073654,0.893486,-0.196055,-0.781167,-0.371451,-0.461914
17,4,348160,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.052099,-0.030617,0.889377,0.274804,-0.657738,0.266540,0.648706
17,4,348160,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
17,4,348160,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085480,-0.075943,0.870870,0.999994,0.000000,0.000001,0.003484
17,4,348160,59,gripper,0,"","put hamburger on cutting board",-0.176319,-0.076763,0.955608,0.004623,-0.766108,-0.025283,0.642197
17,4,348160,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.099412,0.029121,0.888112,0.802713,-0.027452,-0.002232,0.595729
17,4,348160,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.201175,-0.003109,0.886661,-0.508794,-0.496569,0.526403,-0.466314
17,4,348160,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235216,-0.080158,0.872200,0.999999,-0.000022,-0.000010,0.001347
17,4,348160,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084641,-0.075047,0.870870,0.999991,0.000000,-0.000001,-0.004309
17,4,348160,60,gripper,0,"","put plastic bottle on frying pan",-0.184277,-0.007040,0.914654,0.033296,-0.753814,0.009005,0.656181
17,4,348160,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.238319,-0.076412,0.893205,-0.092087,0.371403,-0.923472,-0.027898
17,4,348160,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.080412,-0.047935,0.887027,0.525575,-0.484310,0.518779,0.469130
17,4,348160,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
17,4,348160,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205088,-0.075741,0.870870,1.000000,0.000000,0.000001,0.000878
17,4,348160,61,gripper,0,"","put plastic bottle on frying pan",-0.117731,-0.039646,0.923291,-0.062917,-0.835470,-0.037754,0.544616
17,4,348160,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.188171,-0.041187,0.894845,0.558489,0.024422,0.344646,0.754131
17,4,348160,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.237499,0.037983,0.886098,-0.699551,0.016793,-0.002780,-0.714380
17,4,348160,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075005,0.872199,1.000000,-0.000001,-0.000000,0.000689
17,4,348160,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082314,0.077923,0.870870,0.999747,0.000000,-0.000001,-0.022492
17,4,348160,62,gripper,0,"","put plastic bottle on frying pan",-0.212145,0.048672,0.950256,0.160775,-0.743184,0.139260,0.634378
17,4,348160,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.167915,-0.064438,0.892062,0.701952,0.083217,0.152096,0.690800
17,4,348160,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.193630,0.060001,0.889550,0.509834,-0.497998,0.507382,0.484387
17,4,348160,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235264,-0.075069,0.872199,0.999999,-0.000000,-0.000001,0.001621
17,4,348160,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235390,0.074566,0.870883,0.999996,0.000702,0.000716,0.002474
17,4,348160,63,gripper,0,"","put plastic bottle on frying pan",-0.131041,0.056293,1.126928,0.104266,-0.740832,0.096185,0.656540
18,1,353280,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.183609,-0.052635,0.879212,-0.278188,-0.026396,0.960126,-0.008593
18,1,353280,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085991,0.075111,0.881638,0.999226,-0.004463,-0.039089,-0.000486
18,1,353280,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000028
18,1,353280,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000101
18,1,353280,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.216454,-0.059757,0.915258,-0.069037,-0.787765,-0.013003,0.611957
18,1,353280,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.154736,-0.071823,0.879213,-0.277079,-0.087162,0.956527,-0.026198
18,1,353280,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085770,0.074417,0.881638,0.923213,0.010860,-0.037847,0.382266
18,1,353280,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
18,1,353280,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000100
18,1,353280,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.210117,-0.072205,0.914400,0.057067,-0.748440,0.081555,0.655690
18,1,353280,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202168,-0.059929,0.885110,-0.066916,0.728042,-0.678564,-0.070905
18,1,353280,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235111,0.044022,0.881638,0.706814,0.024507,-0.030817,0.706302
18,1,353280,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074989,0.869532,1.000000,0.000000,-0.000001,-0.000008
18,1,353280,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
18,1,353280,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.220800,-0.027588,1.053559,-0.029003,-0.767419,-0.012928,0.640359
18,1,353280,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.213507,0.072594,0.879213,0.278188,-0.032368,-0.959944,-0.008435
18,1,353280,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205948,-0.074875,0.881638,0.999225,-0.004449,-0.039121,-0.000139
18,1,353280,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
18,1,353280,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.113277,0.044235,0.871288,0.999989,-0.000149,-0.001019,0.004518
18,1,353280,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.226933,0.077679,0.957715,0.045521,-0.728192,0.034973,0.682965
18,1,353280,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.227151,0.074318,0.887790,0.583392,-0.404567,0.516417,0.478845
18,1,353280,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115755,0.074432,0.881638,0.923218,0.010857,-0.037839,0.382256
18,1,353280,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
18,1,353280,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.045021,0.871288,0.999999,-0.000154,-0.001019,0.000010
18,1,353280,4,gripper,0,"","put ketchup bottle on cloth",-0.223299,0.059185,1.100282,0.142531,-0.766890,0.089064,0.619380
18,1,353280,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.171274,-0.008247,0.968250,0.265030,-0.566678,0.670769,0.398377
18,1,353280,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085752,0.074425,0.881638,0.923173,0.010863,-0.037841,0.382362
18,1,353280,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000003
18,1,353280,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,0.045021,0.871288,0.999999,-0.000154,-0.001019,0.000064
18,1,353280,5,gripper,0,"","put ketchup bottle on cloth",-0.204492,-0.007629,1.012994,0.022000,-0.708471,0.013955,0.705259
18,1,353280,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.144936,0.008194,0.880007,0.117485,-0.671676,0.718886,0.135099
18,1,353280,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205963,0.074219,0.881636,0.922852,0.015559,-0.047646,0.381880
18,1,353280,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114971,-0.075012,0.869532,1.000000,0.000000,-0.000001,-0.000012
18,1,353280,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
18,1,353280,6,gripper,0,"","put ketchup bottle on cloth",-0.161272,0.037876,0.975311,0.066683,-0.814547,0.150414,0.556276
18,1,353280,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.165848,-0.069206,0.885371,0.660117,0.069178,-0.054677,0.745969
18,1,353280,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085110,0.074020,0.881638,0.706832,0.024504,-0.030812,0.706285
18,1,353280,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205006,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000067
18,1,353280,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
18,1,353280,7,gripper,0,"","put ketchup bottle on cloth",-0.190483,-0.059525,1.004350,-0.123944,-0.741691,-0.064542,0.656023
18,1,353280,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.234268,0.042835,0.879088,0.806786,0.190247,-0.422182,0.366967
18,1,353280,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.132050,0.061852,0.984734,0.808264,0.076505,-0.006138,0.583797
18,1,353280,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000031
18,1,353280,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084938,-0.074986,0.871289,0.999999,-0.000154,-0.001019,-0.000074
18,1,353280,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.141014,0.061253,1.018850,0.150163,-0.702198,0.079712,0.691386
18,1,353280,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228085,-0.081829,0.879088,0.338780,0.427287,-0.178500,0.819019
18,1,353280,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.170815,0.091286,0.885758,0.785360,0.026713,-0.023736,0.618007
18,1,353280,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.221287,0.092987,0.869532,0.985489,-0.000001,-0.000000,0.169738
18,1,353280,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000002
18,1,353280,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.210785,0.051096,1.020353,0.060841,-0.784035,0.107181,0.608359
18,1,353280,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.158821,-0.002270,0.882266,0.120237,0.675058,-0.727690,-0.017508
18,1,353280,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084389,0.074238,0.881638,0.382568,0.034436,-0.019083,0.923088
18,1,353280,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204739,0.046722,0.869532,0.999083,-0.000000,-0.000000,0.042809
18,1,353280,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.083515,-0.073528,0.871289,0.999897,-0.000172,-0.001017,-0.014333
18,1,353280,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.197426,0.002306,0.952009,-0.025585,-0.816235,0.032107,0.576260
18,1,353280,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097622,-0.087669,0.879125,0.585813,0.294794,-0.715019,0.242214
18,1,353280,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.199060,0.018608,0.887117,0.655623,-0.072882,0.099381,0.744963
18,1,353280,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.285036,-0.192719,0.869532,0.992986,0.000000,-0.000001,-0.118235
18,1,353280,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.242931,0.066357,0.871322,0.993724,0.001373,0.000060,-0.111851
18,1,353280,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.162045,0.021034,0.913069,0.089153,-0.712474,0.090277,0.690132
18,1,353280,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228104,-0.081833,0.879088,0.338556,0.427332,-0.178382,0.819113
18,1,353280,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.125035,0.053658,0.888990,0.693367,0.021698,-0.037936,0.719258
18,1,353280,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205004,0.044998,0.869532,1.000000,-0.000001,0.000000,0.000000
18,1,353280,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
18,1,353280,12,gripper,0,"","put kitchen shovel on cloth",-0.218842,0.070175,0.974853,-0.011975,-0.717401,-0.042407,0.695265
18,1,353280,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.233114,-0.081551,0.889199,0.275299,0.681177,-0.569983,0.367870
18,1,353280,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.106758,-0.033070,0.883794,0.651358,-0.007029,0.047676,0.757238
18,1,353280,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000016
18,1,353280,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235003,-0.074993,0.871288,0.999999,-0.000153,-0.001019,0.000107
18,1,353280,13,gripper,0,"","put kitchen shovel on cloth",-0.236040,-0.068119,0.950409,-0.075787,-0.726682,-0.050703,0.680895
18,1,353280,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.247604,0.062336,0.879126,0.585798,0.294848,-0.714993,0.242262
18,1,353280,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.041611,-0.044216,0.881638,0.912066,0.011922,-0.037523,0.408148
18,1,353280,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.118000,0.069771,0.869532,0.970324,0.000000,-0.000001,0.241807
18,1,353280,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205006,-0.045013,0.871288,1.000000,-0.000155,-0.001019,-0.000023
18,1,353280,14,gripper,0,"","put kitchen shovel on cloth",-0.031078,-0.023298,0.950890,0.068466,-0.793149,0.086597,0.598940
18,1,353280,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228138,0.068146,0.879088,0.338978,0.427241,-0.178601,0.818939
18,1,353280,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.267448,-0.116528,0.875042,0.045485,-0.597796,0.793139,0.107246
18,1,353280,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
18,1,353280,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
18,1,353280,15,gripper,0,"","put kitchen shovel on cloth",-0.273968,-0.103971,0.933011,0.034988,-0.712748,0.165183,0.680794
18,1,353280,16,obj,0,"003_bread_1","put bread on newspaper",-0.109718,-0.030758,0.887109,0.698618,0.022035,0.000417,0.715156
18,1,353280,16,obj,1,"005_7up can_1","put bread on newspaper",-0.109604,-0.217167,0.885659,0.655537,-0.260101,0.249037,0.663776
18,1,353280,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084984,-0.044991,0.869490,1.000000,0.000180,0.000875,0.000093
18,1,353280,16,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,0.044994,0.870461,1.000000,0.000019,-0.000158,0.000024
18,1,353280,16,gripper,0,"","put bread on newspaper",-0.105442,-0.032999,1.007852,-0.097069,-0.816879,-0.049756,0.566401
18,1,353280,17,obj,0,"003_bread_1","put bread on newspaper",-0.161537,-0.015453,0.886365,0.999631,0.003206,-0.010262,0.024958
18,1,353280,17,obj,1,"005_7up can_1","put bread on newspaper",-0.100281,0.075474,0.885943,0.873313,0.007946,-0.486824,0.016250
18,1,353280,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
18,1,353280,17,recep,1,"003_carpet_1","put bread on newspaper",-0.204987,-0.045094,0.870417,1.000000,0.000030,-0.000614,-0.000318
18,1,353280,17,gripper,0,"","put bread on newspaper",-0.121000,0.079515,0.936936,0.139550,-0.760222,0.117704,0.623485
18,1,353280,18,obj,0,"003_bread_1","put bread on newspaper",-0.169975,0.094292,0.885083,0.419460,0.040359,0.009564,0.906826
18,1,353280,18,obj,1,"005_7up can_1","put bread on newspaper",-0.199760,-0.080502,0.885626,0.371034,0.213268,-0.093807,0.898917
18,1,353280,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204983,0.074986,0.869489,1.000000,0.000188,0.000882,-0.000116
18,1,353280,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
18,1,353280,18,gripper,0,"","put bread on newspaper",-0.140833,-0.014875,0.980345,-0.040099,-0.757976,-0.026688,0.650501
18,1,353280,19,obj,0,"003_bread_1","put bread on newspaper",-0.091774,-0.071995,0.886451,0.998484,0.003976,-0.009105,0.054130
18,1,353280,19,obj,1,"005_7up can_1","put bread on newspaper",-0.208530,0.074924,0.885633,0.994100,0.002727,-0.108429,-0.000248
18,1,353280,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
18,1,353280,19,recep,1,"003_carpet_1","put bread on newspaper",-0.114964,-0.074894,0.870461,1.000000,0.000018,-0.000158,-0.000009
18,1,353280,19,gripper,0,"","put bread on newspaper",-0.101365,-0.112469,1.006159,-0.159254,-0.755760,-0.185739,0.607426
18,1,353280,20,obj,0,"003_bread_1","put bread on carpet",-0.210315,-0.114204,0.914052,0.757012,0.063624,0.054447,0.648012
18,1,353280,20,obj,1,"005_7up can_1","put bread on carpet",-0.090505,0.069744,0.885626,0.898152,0.084382,-0.217191,0.372867
18,1,353280,20,recep,0,"004_newspaper_1","put bread on carpet",-0.232853,-0.074013,0.869490,0.999958,0.000172,0.000876,0.009098
18,1,353280,20,recep,1,"003_carpet_1","put bread on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
18,1,353280,20,gripper,0,"","put bread on carpet",-0.198586,-0.108633,0.954981,-0.083766,-0.738119,-0.038827,0.668323
18,1,353280,21,obj,0,"003_bread_1","put bread on carpet",-0.205921,0.075386,0.883544,0.999903,0.001761,-0.012543,-0.005749
18,1,353280,21,obj,1,"005_7up can_1","put bread on carpet",0.025120,-0.021545,0.017085,0.428117,-0.497579,-0.692058,-0.300310
18,1,353280,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000000
18,1,353280,21,recep,1,"003_carpet_1","put bread on carpet",-0.084991,0.045002,0.870448,0.999999,-0.000923,-0.000845,-0.000018
18,1,353280,21,gripper,0,"","put bread on carpet",-0.052399,0.040588,0.959305,0.110836,-0.749111,0.096654,0.645915
18,1,353280,22,obj,0,"003_bread_1","put bread on carpet",-0.234470,-0.075478,0.883544,0.383785,0.012267,-0.003118,0.923336
18,1,353280,22,obj,1,"005_7up can_1","put bread on carpet",-0.137688,0.001141,0.889286,0.639894,0.139334,-0.093535,0.749915
18,1,353280,22,recep,0,"004_newspaper_1","put bread on carpet",-0.114758,-0.044621,0.869490,0.999995,0.000182,0.000874,-0.002969
18,1,353280,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000026
18,1,353280,22,gripper,0,"","put bread on carpet",-0.195335,-0.043568,1.000350,0.072523,-0.738626,0.137442,0.655959
18,1,353280,23,obj,0,"003_bread_1","put bread on carpet",-0.193031,0.087189,0.886563,0.823746,0.011713,-0.006695,0.566798
18,1,353280,23,obj,1,"005_7up can_1","put bread on carpet",-0.194725,-0.042751,0.885675,0.691668,0.244891,-0.266699,0.624897
18,1,353280,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
18,1,353280,23,recep,1,"003_carpet_1","put bread on carpet",-0.205006,0.075012,0.870460,1.000000,0.000018,-0.000159,0.000066
18,1,353280,23,gripper,0,"","put bread on carpet",-0.177021,-0.050133,0.945797,0.024859,-0.780638,0.020545,0.624151
18,1,353280,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.210800,0.085253,0.883544,0.807574,0.008851,-0.009046,0.589631
18,1,353280,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090454,0.069765,0.885627,0.898084,0.084419,-0.217168,0.373037
18,1,353280,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000030
18,1,353280,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,-0.044996,0.870446,0.999999,-0.000727,-0.001047,0.000009
18,1,353280,24,gripper,0,"","put 7up can on newspaper",-0.180111,0.075597,0.970560,0.026440,-0.719691,-0.042795,0.692470
18,1,353280,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.104504,0.027025,0.883544,0.368355,0.012321,-0.002919,0.929599
18,1,353280,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.197517,-0.058838,0.888477,0.637529,0.213254,-0.191711,0.715071
18,1,353280,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
18,1,353280,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234974,-0.074991,0.870461,1.000000,0.000019,-0.000160,-0.000038
18,1,353280,25,gripper,0,"","put 7up can on newspaper",-0.110582,0.029437,0.925801,-0.074175,-0.799614,-0.029927,0.595164
18,1,353280,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.177979,-0.011150,0.948124,0.993725,-0.014259,0.037903,-0.104261
18,1,353280,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.246952,-0.045078,0.885675,0.932138,0.001920,-0.362088,-0.002584
18,1,353280,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
18,1,353280,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
18,1,353280,26,gripper,0,"","put 7up can on newspaper",-0.185446,-0.010221,0.980374,0.029116,-0.751589,0.036592,0.657972
18,1,353280,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.152349,-0.014990,0.883916,0.980044,0.002444,0.003825,-0.198727
18,1,353280,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.129297,0.048359,0.885687,0.914780,-0.008305,-0.403054,-0.025607
18,1,353280,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204956,-0.045002,0.869489,1.000000,0.000180,0.000873,-0.000042
18,1,353280,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
18,1,353280,27,gripper,0,"","put 7up can on newspaper",-0.104562,-0.070210,0.967111,0.097561,-0.778999,0.022493,0.618980
18,1,353280,28,obj,0,"003_bread_1","put 7up can on carpet",-0.235126,0.074455,0.883544,0.709251,0.010119,-0.007606,0.704843
18,1,353280,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.172807,0.063366,0.886109,-0.057325,-0.674844,0.733706,-0.054542
18,1,353280,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
18,1,353280,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.204985,-0.045000,0.870403,1.000000,0.000066,-0.000726,0.000099
18,1,353280,28,gripper,0,"","put 7up can on carpet",-0.189154,0.025810,0.992795,0.065805,-0.735635,0.147898,0.657752
18,1,353280,29,obj,0,"003_bread_1","put 7up can on carpet",-0.234482,-0.075483,0.883544,0.383804,0.012270,-0.003124,0.923328
18,1,353280,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.110598,-0.043015,0.889071,-0.452958,-0.545274,0.555123,-0.435136
18,1,353280,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
18,1,353280,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.085018,-0.074968,0.870447,0.999999,-0.000923,-0.000844,-0.000058
18,1,353280,29,gripper,0,"","put 7up can on carpet",-0.194104,-0.058791,0.965739,-0.060626,-0.702907,-0.028201,0.708132
18,1,353280,30,obj,0,"003_bread_1","put 7up can on carpet",-0.234486,-0.075497,0.883544,0.383807,0.012270,-0.003115,0.923327
18,1,353280,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.171303,0.029495,0.887507,0.608254,-0.426252,0.526676,0.413460
18,1,353280,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.110428,0.043854,0.869490,0.999834,0.000164,0.000879,0.018214
18,1,353280,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
18,1,353280,30,gripper,0,"","put 7up can on carpet",-0.170536,-0.005120,0.947180,0.095507,-0.731085,0.059240,0.672966
18,1,353280,31,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,-0.075481,0.883544,0.383790,0.012267,-0.003126,0.923334
18,1,353280,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.224781,0.072714,0.886936,-0.658885,0.217192,-0.192401,-0.694031
18,1,353280,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
18,1,353280,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.205063,-0.075514,0.870448,0.999997,-0.000910,-0.000831,-0.002203
18,1,353280,31,gripper,0,"","put 7up can on carpet",-0.213734,0.075794,0.926425,-0.039182,-0.754695,0.004077,0.654891
18,1,353280,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086235,-0.073319,0.887076,0.908107,0.002684,0.019099,0.418293
18,1,353280,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234711,0.074696,0.878547,0.923728,0.011500,0.006984,0.382812
18,1,353280,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
18,1,353280,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
18,1,353280,32,gripper,0,"","put carrot on sheet metal",-0.079483,0.009198,0.991743,0.066299,-0.736622,0.103468,0.665046
18,1,353280,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204605,0.046440,0.887529,0.717322,-0.030084,0.031034,0.695400
18,1,353280,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007969,0.010890,0.707296
18,1,353280,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
18,1,353280,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
18,1,353280,33,gripper,0,"","put carrot on sheet metal",-0.223654,-0.061056,0.951258,0.039507,-0.738391,-0.030637,0.672517
18,1,353280,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.233910,0.045352,0.887528,0.999042,-0.000297,0.043223,0.006803
18,1,353280,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.114986,0.074560,0.878547,0.999910,0.013256,0.002052,0.000298
18,1,353280,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
18,1,353280,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
18,1,353280,34,gripper,0,"","put carrot on sheet metal",-0.193972,0.033749,0.982860,-0.079579,-0.719537,-0.036109,0.688933
18,1,353280,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207451,-0.067400,0.887426,0.994918,-0.006340,0.038796,0.092697
18,1,353280,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.234999,0.074571,0.878547,0.999910,0.013281,0.002046,0.000057
18,1,353280,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
18,1,353280,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
18,1,353280,35,gripper,0,"","put carrot on sheet metal",-0.165526,-0.049328,0.971435,-0.085879,-0.750576,-0.033630,0.654316
18,1,353280,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087706,0.080026,0.887510,0.996737,-0.003573,0.025531,0.076485
18,1,353280,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234996,0.074569,0.878547,0.999910,0.013283,0.002045,-0.000088
18,1,353280,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
18,1,353280,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
18,1,353280,36,gripper,0,"","put carrot on flat bowl",-0.058333,0.093684,1.000240,0.175828,-0.714219,0.192985,0.649409
18,1,353280,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.233919,0.045265,0.887528,0.999048,-0.000254,0.043219,0.005879
18,1,353280,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084990,-0.075438,0.878547,0.999909,0.013298,0.002058,0.000352
18,1,353280,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
18,1,353280,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
18,1,353280,37,gripper,0,"","put carrot on flat bowl",-0.084830,0.103932,1.032360,-0.013715,-0.754023,0.056550,0.654265
18,1,353280,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087990,0.072839,0.887468,0.352362,-0.029320,0.011616,0.935332
18,1,353280,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044708,0.878547,0.382233,0.003189,0.013064,0.923968
18,1,353280,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
18,1,353280,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
18,1,353280,38,gripper,0,"","put carrot on flat bowl",-0.051399,0.075658,0.993511,0.246710,-0.698042,0.229322,0.631889
18,1,353280,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086945,-0.072216,0.887246,0.996811,0.005162,0.032742,0.072586
18,1,353280,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204994,0.044556,0.878547,0.999910,0.013292,0.002053,0.000284
18,1,353280,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
18,1,353280,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
18,1,353280,39,gripper,0,"","put carrot on flat bowl",-0.047432,0.033599,0.940792,0.139371,-0.822571,0.433851,0.340186
18,1,353280,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207855,-0.077404,0.887559,0.356834,-0.025403,0.012362,0.933741
18,1,353280,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,0.075333,0.878547,0.382556,0.003201,0.013095,0.923834
18,1,353280,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075012,0.871344,0.999999,-0.000158,0.001164,-0.000064
18,1,353280,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874362,1.000000,0.000000,-0.000001,0.000069
18,1,353280,40,gripper,0,"","put banana on sheet metal",-0.059620,0.060832,0.939976,0.147741,-0.818959,0.179653,0.524598
18,1,353280,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207542,-0.046690,0.887365,0.350682,-0.023618,0.012068,0.936119
18,1,353280,41,obj,1,"013_banana_1","put banana on sheet metal",-0.113968,0.045464,0.878545,0.407300,0.003448,0.012589,0.913201
18,1,353280,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
18,1,353280,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
18,1,353280,41,gripper,0,"","put banana on sheet metal",-0.057480,0.030493,0.929083,0.077196,-0.755025,0.040071,0.649902
18,1,353280,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203415,0.075573,0.887529,0.999053,-0.000214,0.043220,0.004929
18,1,353280,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,0.074566,0.878547,0.999910,0.013287,0.002050,0.000041
18,1,353280,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
18,1,353280,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
18,1,353280,42,gripper,0,"","put banana on sheet metal",-0.133430,-0.001151,1.013776,-0.131941,-0.734190,-0.091509,0.659683
18,1,353280,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
18,1,353280,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075438,0.878547,0.999909,0.013301,0.002043,-0.000194
18,1,353280,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,1,353280,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
18,1,353280,43,gripper,0,"","put banana on sheet metal",-0.084011,-0.049020,1.025265,-0.026915,-0.781064,-0.038920,0.622655
18,1,353280,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117901,0.044762,0.887299,0.739339,-0.027562,0.021362,0.672430
18,1,353280,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084562,-0.074993,0.878547,0.706792,0.007918,0.010825,0.707294
18,1,353280,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
18,1,353280,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000000
18,1,353280,44,gripper,0,"","put banana on flat bowl",-0.049657,-0.020838,1.011075,0.062492,-0.821674,0.124017,0.552781
18,1,353280,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
18,1,353280,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204985,-0.075434,0.878547,0.999909,0.013307,0.002055,0.000116
18,1,353280,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,1,353280,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
18,1,353280,45,gripper,0,"","put banana on flat bowl",-0.141273,-0.040936,0.973522,-0.018940,-0.756626,-0.009764,0.653500
18,1,353280,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237476,-0.074839,0.887529,0.678482,-0.031727,0.029353,0.733344
18,1,353280,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
18,1,353280,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
18,1,353280,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
18,1,353280,46,gripper,0,"","put banana on flat bowl",-0.056313,0.102335,0.997097,0.093250,-0.733920,0.053705,0.670657
18,1,353280,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205933,0.079647,0.887116,0.364512,-0.021571,0.020115,0.930731
18,1,353280,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114700,-0.074682,0.878547,0.382790,0.003197,0.013072,0.923737
18,1,353280,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
18,1,353280,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000000,0.000156
18,1,353280,47,gripper,0,"","put banana on flat bowl",-0.074848,-0.046079,0.948021,0.317709,-0.704633,0.379483,0.508475
18,1,353280,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.173141,-0.029808,0.888112,0.792823,-0.027413,-0.002679,0.608829
18,1,353280,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205971,0.074425,0.887027,0.497277,-0.513784,0.489603,0.499030
18,1,353280,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000407
18,1,353280,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
18,1,353280,48,gripper,0,"","put hamburger on frying pan",-0.094238,-0.012798,1.069136,0.175295,-0.719243,0.187818,0.645512
18,1,353280,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.213211,0.008278,0.889721,0.779623,-0.075412,0.072394,0.617463
18,1,353280,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
18,1,353280,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234821,-0.075718,0.874239,0.999596,-0.026445,0.008509,0.005930
18,1,353280,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000011
18,1,353280,49,gripper,0,"","put hamburger on frying pan",-0.216810,0.003571,0.920023,0.057716,-0.718353,-0.050133,0.691466
18,1,353280,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.087013,-0.069016,0.888718,0.927969,-0.024787,-0.035995,0.370085
18,1,353280,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.184998,-0.053410,0.887026,0.649607,-0.289193,0.648114,0.272629
18,1,353280,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
18,1,353280,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
18,1,353280,50,gripper,0,"","put hamburger on frying pan",-0.082819,-0.046032,0.964221,0.140964,-0.768366,0.067394,0.620646
18,1,353280,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235949,0.075615,0.888112,0.712331,-0.026880,-0.006009,0.701303
18,1,353280,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085840,-0.045643,0.887026,0.497258,-0.513804,0.489583,0.499049
18,1,353280,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
18,1,353280,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
18,1,353280,51,gripper,0,"","put hamburger on frying pan",-0.162621,-0.035614,0.965914,-0.053794,-0.750398,-0.089410,0.652699
18,1,353280,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235471,0.076088,0.888111,0.932325,-0.027056,0.005155,0.360573
18,1,353280,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.039956,0.189720,0.885720,-0.564147,-0.437048,0.535856,-0.451204
18,1,353280,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
18,1,353280,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084304,0.075031,0.870870,0.999990,0.000000,-0.000001,-0.004408
18,1,353280,52,gripper,0,"","put hamburger on cutting board",-0.110079,0.074923,1.006331,0.094854,-0.771800,-0.028812,0.628090
18,1,353280,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235949,0.075615,0.888112,0.712331,-0.026880,-0.006009,0.701303
18,1,353280,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.195007,-0.018154,0.889579,0.537851,-0.467746,0.536115,0.452228
18,1,353280,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
18,1,353280,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205044,-0.043892,0.870870,0.999993,0.000001,-0.000000,-0.003847
18,1,353280,53,gripper,0,"","put hamburger on cutting board",-0.093756,-0.095406,0.943353,0.073024,-0.767164,0.048071,0.635465
18,1,353280,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
18,1,353280,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.206284,-0.061970,0.887653,0.775824,-0.028550,0.629454,0.032691
18,1,353280,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
18,1,353280,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000000,0.000008
18,1,353280,54,gripper,0,"","put hamburger on cutting board",-0.236927,-0.039125,0.939134,-0.093985,-0.722685,-0.023814,0.684343
18,1,353280,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.247494,0.071579,0.888112,0.999410,-0.023068,0.015044,-0.020511
18,1,353280,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205631,-0.074211,0.887026,0.704495,-0.016915,0.709506,0.001057
18,1,353280,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
18,1,353280,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
18,1,353280,55,gripper,0,"","put hamburger on cutting board",-0.228456,0.080900,0.962786,-0.036777,-0.757742,0.012393,0.651400
18,1,353280,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.097847,-0.029621,0.888112,0.926091,-0.016170,0.022296,-0.376294
18,1,353280,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205711,0.075745,0.887026,0.704499,-0.018739,0.709452,0.002870
18,1,353280,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
18,1,353280,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
18,1,353280,56,gripper,0,"","put plastic bottle on frying pan",-0.113808,-0.019712,1.003840,0.057672,-0.770215,0.111369,0.625332
18,1,353280,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235237,-0.043919,0.888112,0.925543,-0.027126,0.004685,0.377641
18,1,353280,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206703,0.074398,0.887230,0.500069,-0.499286,0.451051,0.545158
18,1,353280,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084270,0.075027,0.872199,0.999988,-0.000000,-0.000001,-0.004897
18,1,353280,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000013
18,1,353280,57,gripper,0,"","put plastic bottle on frying pan",-0.215052,0.075188,0.913570,-0.026986,-0.739599,-0.027436,0.671946
18,1,353280,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.196232,0.053482,0.955595,0.974519,-0.015397,0.064930,0.214147
18,1,353280,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215202,-0.053768,0.887027,0.649412,-0.289660,0.647902,0.273101
18,1,353280,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
18,1,353280,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
18,1,353280,58,gripper,0,"","put plastic bottle on frying pan",-0.203381,0.065607,1.002435,0.174059,-0.717688,0.301808,0.602942
18,1,353280,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,0.074749,0.888112,0.388151,-0.022504,-0.015882,0.921184
18,1,353280,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.272160,-0.036041,0.887026,0.271202,-0.660950,0.258510,0.650205
18,1,353280,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000001
18,1,353280,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204807,0.075485,0.870870,0.999997,0.000000,-0.000001,-0.002232
18,1,353280,59,gripper,0,"","put plastic bottle on frying pan",-0.220426,-0.008797,0.992340,-0.041892,-0.730700,-0.120439,0.670684
18,1,353280,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086098,-0.075245,0.888112,0.388789,-0.022512,-0.015866,0.920915
18,1,353280,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.011038,0.008945,0.886092,0.440671,-0.022398,-0.001232,0.897389
18,1,353280,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235002,0.075508,0.872199,0.999984,-0.000000,-0.000001,0.005629
18,1,353280,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084735,0.075695,0.870870,0.999998,0.000000,-0.000001,-0.002021
18,1,353280,60,gripper,0,"","put plastic bottle on cutting board",-0.077810,0.075729,1.010453,-0.084784,-0.751696,0.018863,0.653765
18,1,353280,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116108,0.074764,0.888113,0.388421,-0.022508,-0.015873,0.921070
18,1,353280,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.111868,0.011150,0.885720,-0.472240,-0.527574,0.447008,-0.546662
18,1,353280,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.203316,-0.074474,0.872199,0.999758,-0.000000,-0.000001,-0.021994
18,1,353280,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084196,-0.074677,0.870870,0.999980,-0.000000,-0.000001,-0.006308
18,1,353280,61,gripper,0,"","put plastic bottle on cutting board",-0.123630,0.016453,0.967502,-0.012749,-0.800520,-0.044336,0.597528
18,1,353280,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.227444,0.018692,0.889375,0.316347,0.019976,-0.074384,0.945512
18,1,353280,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.258568,-0.069798,0.887026,0.314502,-0.641981,0.302565,0.630399
18,1,353280,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
18,1,353280,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
18,1,353280,62,gripper,0,"","put plastic bottle on cutting board",-0.238325,0.016571,0.915295,0.028587,-0.697754,-0.031534,0.715071
18,1,353280,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
18,1,353280,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.125244,-0.007710,0.889627,0.489660,-0.518778,0.486504,0.504397
18,1,353280,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
18,1,353280,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114365,-0.044731,0.870870,0.999996,-0.000000,0.000004,-0.002867
18,1,353280,63,gripper,0,"","put plastic bottle on cutting board",-0.136068,-0.010187,1.054876,0.021276,-0.769091,0.091530,0.632194
18,2,358400,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.152054,-0.055931,0.879374,-0.996095,-0.005264,0.088027,-0.004249
18,2,358400,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085999,0.075111,0.881638,0.999225,-0.004468,-0.039108,-0.000644
18,2,358400,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000053
18,2,358400,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000154
18,2,358400,0,gripper,0,"","put ketchup bottle on cloth",-0.222767,-0.066525,0.914603,0.012477,-0.778762,0.035123,0.626211
18,2,358400,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.182411,0.055786,0.888070,0.098473,-0.390765,0.914189,0.043175
18,2,358400,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085766,0.074417,0.881638,0.923171,0.010862,-0.037839,0.382369
18,2,358400,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078396,-0.069687,0.869532,0.999857,0.000000,-0.000000,-0.016917
18,2,358400,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000144
18,2,358400,1,gripper,0,"","put ketchup bottle on cloth",-0.230577,0.076908,1.096390,0.258593,-0.697479,0.208952,0.634816
18,2,358400,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202324,-0.058556,0.885116,-0.067463,0.723683,-0.683238,-0.070126
18,2,358400,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.178356,0.009941,0.881638,0.846694,0.017003,-0.035500,0.530621
18,2,358400,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.074989,0.869532,1.000000,-0.000000,-0.000001,0.000014
18,2,358400,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
18,2,358400,2,gripper,0,"","put ketchup bottle on cloth",-0.229244,-0.036201,0.984894,0.030741,-0.733287,0.117665,0.668954
18,2,358400,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.189592,0.088257,0.879116,-0.098909,-0.005987,-0.995078,0.001156
18,2,358400,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205946,-0.074875,0.881638,0.999225,-0.004447,-0.039120,-0.000066
18,2,358400,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000003
18,2,358400,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.104691,0.045692,0.871288,0.999738,-0.000177,-0.001015,-0.022875
18,2,358400,3,gripper,0,"","put ketchup bottle on cloth",-0.195585,0.010975,0.965810,-0.101896,-0.754736,-0.071438,0.644118
18,2,358400,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.221672,-0.069946,0.879125,-0.437791,-0.558805,0.534658,-0.458495
18,2,358400,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115755,0.074432,0.881638,0.923218,0.010858,-0.037840,0.382256
18,2,358400,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000000
18,2,358400,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235049,0.045029,0.871430,0.999990,-0.003859,-0.002146,0.000158
18,2,358400,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.246062,0.042152,0.924446,-0.053385,-0.749948,-0.014537,0.659179
18,2,358400,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.193335,-0.084938,0.885368,-0.709858,0.183177,-0.209456,-0.647052
18,2,358400,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.157066,-0.013191,0.883229,0.759627,0.043770,-0.015364,0.648702
18,2,358400,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204987,-0.075005,0.869532,1.000000,0.000000,-0.000000,-0.000142
18,2,358400,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.045029,0.871288,0.999999,-0.000154,-0.001019,0.000091
18,2,358400,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.168461,-0.013538,0.941524,0.000606,-0.772024,0.033827,0.634693
18,2,358400,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.142956,0.003113,0.879116,0.076360,-0.636820,0.764642,0.062862
18,2,358400,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.128220,0.090034,0.881638,0.905958,0.012458,-0.037314,0.421537
18,2,358400,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114971,-0.075012,0.869532,1.000000,0.000000,-0.000002,-0.000039
18,2,358400,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000174
18,2,358400,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.112337,0.015209,0.931289,-0.036674,-0.804984,-0.003259,0.592153
18,2,358400,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.165852,-0.069153,0.885372,0.659468,0.069312,-0.054683,0.746531
18,2,358400,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.073036,0.060524,0.912399,0.706893,-0.017741,0.053003,0.705109
18,2,358400,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205006,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000055
18,2,358400,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
18,2,358400,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.106903,0.063923,0.953226,-0.034748,-0.748383,0.019525,0.662068
18,2,358400,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.234268,0.042831,0.879088,0.806798,0.190233,-0.422191,0.366937
18,2,358400,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.074913,-0.007797,0.881638,0.564624,0.029765,-0.025778,0.824409
18,2,358400,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.073250,0.076324,0.869532,0.994632,0.000000,-0.000001,0.103478
18,2,358400,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.080956,-0.080830,0.871211,0.999689,-0.003807,-0.004222,0.024270
18,2,358400,8,gripper,0,"","put kitchen shovel on cloth",-0.169659,-0.019014,0.916907,-0.078594,-0.806385,-0.022551,0.585711
18,2,358400,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228085,-0.081829,0.879088,0.338782,0.427287,-0.178500,0.819018
18,2,358400,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.123432,0.053467,0.884211,0.813931,0.062673,-0.041566,0.576073
18,2,358400,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.209614,0.090992,0.869532,0.996584,-0.000000,-0.000001,0.082590
18,2,358400,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.115005,-0.045120,0.871298,0.999999,0.000344,-0.000606,-0.000936
18,2,358400,9,gripper,0,"","put kitchen shovel on cloth",-0.140215,0.045704,0.915336,0.110504,-0.844667,0.062573,0.520010
18,2,358400,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078323,0.007519,0.879323,0.594795,0.353533,-0.328849,0.642721
18,2,358400,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.028873,0.028027,0.881672,0.687012,0.005760,-0.011569,0.726531
18,2,358400,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.213715,0.060875,0.869532,0.998313,0.000000,-0.000001,-0.058051
18,2,358400,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.081814,-0.075710,0.871288,0.999939,-0.000166,-0.001017,-0.010959
18,2,358400,10,gripper,0,"","put kitchen shovel on cloth",-0.111439,0.013956,0.914792,-0.044983,-0.790991,-0.035726,0.609126
18,2,358400,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097622,-0.087669,0.879125,0.585810,0.294798,-0.715019,0.242215
18,2,358400,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.182755,0.036560,0.886017,0.789068,0.039374,0.055295,0.610544
18,2,358400,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.285036,-0.192719,0.869532,0.992985,-0.000000,-0.000001,-0.118235
18,2,358400,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.242935,0.066368,0.871282,0.993728,-0.000590,-0.001207,-0.111815
18,2,358400,11,gripper,0,"","put kitchen shovel on cloth",-0.142043,0.000301,0.944253,0.227183,-0.787970,0.160253,0.549372
18,2,358400,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.188291,-0.052933,0.879212,0.195599,0.680972,-0.677365,0.197979
18,2,358400,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.125035,0.053654,0.888990,0.693393,0.021672,-0.037911,0.719235
18,2,358400,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205003,0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000018
18,2,358400,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075008,0.871288,1.000000,-0.000157,-0.001019,-0.000014
18,2,358400,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.229489,-0.012604,0.938415,0.022809,-0.778591,0.053050,0.624870
18,2,358400,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.059158,0.181633,0.878981,-0.547044,0.445837,-0.474508,-0.526131
18,2,358400,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.106741,-0.033096,0.883793,0.651916,-0.007426,0.048047,0.756731
18,2,358400,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000040
18,2,358400,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235003,-0.074993,0.871288,0.999999,-0.000153,-0.001019,0.000100
18,2,358400,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.089563,-0.033918,0.916167,0.000952,-0.835129,-0.081952,0.543914
18,2,358400,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.082901,0.100014,0.885210,0.236433,0.503392,-0.818048,0.146605
18,2,358400,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.041611,-0.044212,0.881638,0.912034,0.011917,-0.037507,0.408221
18,2,358400,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.118053,0.069775,0.869532,0.970178,-0.000001,-0.000000,0.242394
18,2,358400,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205006,-0.045021,0.871288,0.999999,-0.000156,-0.001021,-0.000025
18,2,358400,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.164852,0.107386,0.994347,0.279712,-0.642508,0.376538,0.605940
18,2,358400,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.107269,0.018379,0.881384,0.502951,-0.514998,0.445855,0.532007
18,2,358400,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.251301,-0.104782,0.873626,-0.070698,-0.754128,0.649873,0.062911
18,2,358400,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115051,-0.045010,0.869532,0.999999,-0.000001,0.000000,0.000955
18,2,358400,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001018,0.000022
18,2,358400,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.222855,-0.094927,0.920153,-0.035367,-0.749797,0.027706,0.660141
18,2,358400,16,obj,0,"003_bread_1","put bread on carpet",-0.109718,-0.030758,0.887109,0.698584,0.022038,0.000416,0.715188
18,2,358400,16,obj,1,"005_7up can_1","put bread on carpet",-0.109604,-0.217171,0.885659,0.655277,-0.260201,0.248940,0.664030
18,2,358400,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084984,-0.044991,0.869490,1.000000,0.000180,0.000874,0.000191
18,2,358400,16,recep,1,"003_carpet_1","put bread on carpet",-0.235001,0.044994,0.870461,1.000000,0.000019,-0.000158,0.000045
18,2,358400,16,gripper,0,"","put bread on carpet",-0.088154,-0.067137,0.983423,0.023655,-0.734944,0.001361,0.677714
18,2,358400,17,obj,0,"003_bread_1","put bread on carpet",-0.161686,-0.015545,0.886386,0.999556,0.005188,-0.005842,0.028743
18,2,358400,17,obj,1,"005_7up can_1","put bread on carpet",-0.028801,0.066708,0.885969,0.420149,-0.196199,0.881199,0.092029
18,2,358400,17,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.074997,0.869490,1.000000,0.000180,0.000874,-0.000010
18,2,358400,17,recep,1,"003_carpet_1","put bread on carpet",-0.204987,-0.045094,0.870404,1.000000,0.000066,-0.000726,-0.000192
18,2,358400,17,gripper,0,"","put bread on carpet",-0.040150,0.060207,0.939477,0.010013,-0.777716,-0.048246,0.626681
18,2,358400,18,obj,0,"003_bread_1","put bread on carpet",-0.169506,0.094307,0.885065,0.422410,0.042638,0.010842,0.905336
18,2,358400,18,obj,1,"005_7up can_1","put bread on carpet",-0.128307,-0.099529,0.885964,0.215852,0.752699,-0.549976,0.290479
18,2,358400,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204922,0.074989,0.869490,1.000000,0.000189,0.000885,0.000046
18,2,358400,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
18,2,358400,18,gripper,0,"","put bread on carpet",-0.167873,-0.070480,0.948396,-0.010432,-0.791043,0.066998,0.607991
18,2,358400,19,obj,0,"003_bread_1","put bread on carpet",-0.091764,-0.071789,0.886481,0.998387,0.002510,-0.010082,0.055817
18,2,358400,19,obj,1,"005_7up can_1","put bread on carpet",-0.097424,0.006424,0.885877,0.482334,0.469813,-0.655822,0.341361
18,2,358400,19,recep,0,"004_newspaper_1","put bread on carpet",-0.057066,0.068939,0.869490,0.960655,-0.000070,0.000890,0.277742
18,2,358400,19,recep,1,"003_carpet_1","put bread on carpet",-0.114933,-0.074894,0.870448,0.999998,-0.001363,-0.001223,-0.000165
18,2,358400,19,gripper,0,"","put bread on carpet",-0.161651,-0.009148,0.988971,0.120209,-0.740273,0.132801,0.648004
18,2,358400,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.207235,-0.115105,0.885478,0.752905,0.019150,0.000955,0.657849
18,2,358400,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212195,-0.028717,0.887724,0.771024,0.085894,-0.070992,0.626981
18,2,358400,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.233006,-0.073997,0.869490,0.999949,0.000509,0.001394,0.010015
18,2,358400,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000924,-0.000845,-0.000000
18,2,358400,20,gripper,0,"","put 7up can on newspaper",-0.132676,-0.030748,1.030786,0.055298,-0.730942,0.077129,0.675808
18,2,358400,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.191767,-0.010864,0.884656,0.993553,0.009396,0.025677,0.110026
18,2,358400,21,obj,1,"005_7up can_1","put 7up can on newspaper",0.025120,-0.021545,0.017085,0.428135,-0.497538,-0.692087,-0.300285
18,2,358400,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234995,-0.045002,0.869490,1.000000,0.000180,0.000874,-0.000021
18,2,358400,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084986,0.045002,0.870448,0.999999,-0.000923,-0.000845,-0.000043
18,2,358400,21,gripper,0,"","put 7up can on newspaper",-0.155504,-0.020956,1.023901,0.005011,-0.736919,-0.040899,0.674724
18,2,358400,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.147526,-0.076080,0.887162,0.144879,0.024882,0.000947,0.989136
18,2,358400,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.138050,0.001389,0.889282,0.640275,0.132796,-0.088436,0.751394
18,2,358400,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115009,-0.044605,0.869490,0.999998,0.000181,0.000873,-0.001863
18,2,358400,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000047
18,2,358400,22,gripper,0,"","put 7up can on newspaper",-0.160593,-0.088497,0.935703,-0.068683,-0.800889,-0.107181,0.585126
18,2,358400,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.193031,0.087391,0.886534,0.825401,0.007644,-0.007091,0.564450
18,2,358400,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.211514,-0.058815,0.893857,0.540594,-0.461629,0.480336,0.513744
18,2,358400,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
18,2,358400,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,0.075027,0.870447,0.999991,-0.003113,-0.002734,0.000154
18,2,358400,23,gripper,0,"","put 7up can on newspaper",-0.208586,-0.059626,0.938293,0.012954,-0.780816,-0.000616,0.624626
18,2,358400,24,obj,0,"003_bread_1","put 7up can on carpet",-0.210800,0.085253,0.883544,0.807369,0.008854,-0.009041,0.589911
18,2,358400,24,obj,1,"005_7up can_1","put 7up can on carpet",0.058945,0.104923,0.016827,0.825434,-0.127694,-0.194894,-0.514168
18,2,358400,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000054
18,2,358400,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,-0.044996,0.870446,0.999999,-0.000727,-0.001047,0.000020
18,2,358400,24,gripper,0,"","put 7up can on carpet",-0.174114,0.074624,0.964771,0.094507,-0.691142,0.078489,0.712201
18,2,358400,25,obj,0,"003_bread_1","put 7up can on carpet",-0.108299,0.007704,0.883544,0.305010,0.012494,-0.002076,0.952265
18,2,358400,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.197517,-0.058838,0.888477,0.637552,0.213188,-0.191654,0.715085
18,2,358400,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
18,2,358400,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.234974,-0.074991,0.870461,1.000000,0.000019,-0.000159,-0.000062
18,2,358400,25,gripper,0,"","put 7up can on carpet",-0.162041,0.037877,1.017480,-0.029153,-0.704847,0.032237,0.708027
18,2,358400,26,obj,0,"003_bread_1","put 7up can on carpet",-0.107456,-0.037321,0.883560,0.999214,0.002569,-0.010395,-0.038161
18,2,358400,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.246952,-0.045078,0.885675,0.932146,0.001922,-0.362069,-0.002577
18,2,358400,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
18,2,358400,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
18,2,358400,26,gripper,0,"","put 7up can on carpet",-0.117912,-0.042867,0.934700,0.041755,-0.769384,0.089566,0.631096
18,2,358400,27,obj,0,"003_bread_1","put 7up can on carpet",-0.104420,-0.041380,0.883544,0.974524,-0.001029,-0.012618,-0.223926
18,2,358400,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.129297,0.048359,0.885687,0.914777,-0.008307,-0.403061,-0.025610
18,2,358400,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.207478,-0.047659,0.869466,0.999997,0.000553,0.001127,-0.002128
18,2,358400,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000041
18,2,358400,27,gripper,0,"","put 7up can on carpet",-0.107852,-0.050803,0.949086,-0.042188,-0.807939,-0.034936,0.586715
18,2,358400,28,obj,0,"003_bread_1","put bread on newspaper",-0.234004,0.081085,0.883544,0.671198,0.010503,-0.007060,0.741170
18,2,358400,28,obj,1,"005_7up can_1","put bread on newspaper",-0.195105,-0.019787,0.889136,0.013862,-0.716935,0.696576,0.024361
18,2,358400,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
18,2,358400,28,recep,1,"003_carpet_1","put bread on newspaper",-0.204827,-0.045052,0.870447,0.999999,-0.000872,-0.000803,-0.000200
18,2,358400,28,gripper,0,"","put bread on newspaper",-0.202388,0.066010,0.989651,0.079701,-0.707656,0.025998,0.701566
18,2,358400,29,obj,0,"003_bread_1","put bread on newspaper",-0.200369,-0.033985,0.901574,0.365945,-0.003284,-0.005461,0.930615
18,2,358400,29,obj,1,"005_7up can_1","put bread on newspaper",-0.109699,-0.035328,0.889016,-0.315562,-0.653831,0.587899,-0.356792
18,2,358400,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234987,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000021
18,2,358400,29,recep,1,"003_carpet_1","put bread on newspaper",-0.080027,-0.071804,0.870352,0.999204,-0.000746,-0.001959,-0.039847
18,2,358400,29,gripper,0,"","put bread on newspaper",-0.210109,-0.036568,0.934936,0.019886,-0.777981,-0.023252,0.627542
18,2,358400,30,obj,0,"003_bread_1","put bread on newspaper",-0.194675,-0.046165,0.883986,-0.070953,0.064469,-0.970882,-0.219538
18,2,358400,30,obj,1,"005_7up can_1","put bread on newspaper",-0.178192,-0.012920,0.885876,0.515627,0.398078,-0.701682,0.288628
18,2,358400,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.110416,0.043854,0.869490,0.999833,0.000164,0.000878,0.018284
18,2,358400,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
18,2,358400,30,gripper,0,"","put bread on newspaper",-0.221619,-0.010801,0.948715,0.072623,-0.714879,0.059388,0.692926
18,2,358400,31,obj,0,"003_bread_1","put bread on newspaper",-0.084488,-0.075481,0.883544,0.383771,0.012262,-0.003123,0.923342
18,2,358400,31,obj,1,"005_7up can_1","put bread on newspaper",-0.204914,-0.005951,0.885659,-0.627809,0.270082,-0.238183,-0.690058
18,2,358400,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
18,2,358400,31,recep,1,"003_carpet_1","put bread on newspaper",-0.205063,-0.075508,0.870448,0.999997,-0.000911,-0.000831,-0.002214
18,2,358400,31,gripper,0,"","put bread on newspaper",-0.088634,-0.043008,0.961936,-0.016635,-0.755525,0.014776,0.654742
18,2,358400,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090034,-0.070462,0.887293,0.912682,-0.019535,0.028624,0.407199
18,2,358400,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234711,0.074696,0.878547,0.923728,0.011491,0.006979,0.382812
18,2,358400,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
18,2,358400,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
18,2,358400,32,gripper,0,"","put carrot on flat bowl",-0.053356,-0.042189,0.971002,0.134855,-0.763958,0.146561,0.613761
18,2,358400,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204628,0.046605,0.887529,0.718534,-0.030030,0.031087,0.694148
18,2,358400,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007966,0.010887,0.707296
18,2,358400,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
18,2,358400,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
18,2,358400,33,gripper,0,"","put carrot on flat bowl",-0.159246,0.091806,0.983389,0.060253,-0.698089,0.057409,0.711158
18,2,358400,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.233910,0.045352,0.887528,0.999042,-0.000297,0.043221,0.006803
18,2,358400,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.114986,0.074560,0.878547,0.999910,0.013262,0.002052,0.000299
18,2,358400,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
18,2,358400,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
18,2,358400,34,gripper,0,"","put carrot on flat bowl",-0.191864,0.059443,1.010640,-0.071477,-0.718920,-0.014405,0.691258
18,2,358400,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210348,-0.064734,0.887425,0.995883,-0.000867,0.030985,0.085184
18,2,358400,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.234999,0.074570,0.878547,0.999909,0.013308,0.002048,0.000057
18,2,358400,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,2,358400,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
18,2,358400,35,gripper,0,"","put carrot on flat bowl",-0.168472,-0.017736,1.001558,-0.051925,-0.702590,-0.111979,0.700808
18,2,358400,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088417,0.081825,0.887281,0.996945,0.003827,0.028251,0.072712
18,2,358400,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234996,0.074569,0.878547,0.999909,0.013308,0.002047,-0.000087
18,2,358400,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
18,2,358400,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000000
18,2,358400,36,gripper,0,"","put banana on sheet metal",-0.148706,0.004993,1.010176,0.184910,-0.677681,0.197239,0.683852
18,2,358400,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.233919,0.045266,0.887528,0.999048,-0.000255,0.043221,0.005879
18,2,358400,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084990,-0.075437,0.878547,0.999910,0.013277,0.002056,0.000352
18,2,358400,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
18,2,358400,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
18,2,358400,37,gripper,0,"","put banana on sheet metal",-0.042997,-0.026317,0.986816,0.059438,-0.738336,0.071421,0.668001
18,2,358400,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088524,0.070062,0.887539,0.359122,-0.018243,0.003041,0.933107
18,2,358400,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003198,0.013091,0.923968
18,2,358400,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
18,2,358400,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
18,2,358400,38,gripper,0,"","put banana on sheet metal",-0.194202,-0.049170,0.958292,0.147864,-0.709239,0.202351,0.658916
18,2,358400,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087605,-0.071846,0.887545,0.997093,-0.004478,0.026203,0.071402
18,2,358400,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204994,0.044557,0.878547,0.999910,0.013284,0.002052,0.000284
18,2,358400,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
18,2,358400,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
18,2,358400,39,gripper,0,"","put banana on sheet metal",-0.150486,0.067749,0.976181,0.111554,-0.757106,0.236566,0.598650
18,2,358400,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208992,-0.079872,0.887432,0.368815,-0.032116,0.015012,0.928827
18,2,358400,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.075336,0.878547,0.382883,0.003206,0.013096,0.923699
18,2,358400,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075026,0.871344,0.999999,-0.000158,0.001164,-0.000088
18,2,358400,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000196
18,2,358400,40,gripper,0,"","put banana on flat bowl",-0.070274,0.074125,0.976384,0.181245,-0.791180,0.336666,0.477326
18,2,358400,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210384,-0.050751,0.887553,0.354136,-0.028277,0.008118,0.934731
18,2,358400,41,obj,1,"013_banana_1","put banana on flat bowl",-0.113964,0.045475,0.878547,0.407675,0.003552,0.012988,0.913028
18,2,358400,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
18,2,358400,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
18,2,358400,41,gripper,0,"","put banana on flat bowl",-0.035725,0.075079,0.943039,0.285920,-0.539589,0.539110,0.580046
18,2,358400,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203415,0.075611,0.887529,0.999063,-0.000095,0.043222,0.002162
18,2,358400,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,0.074564,0.878547,0.999910,0.013274,0.002046,-0.000215
18,2,358400,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
18,2,358400,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
18,2,358400,42,gripper,0,"","put banana on flat bowl",-0.031071,0.052186,0.987380,0.170112,-0.673972,0.158620,0.701187
18,2,358400,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
18,2,358400,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084986,-0.075441,0.878548,0.999909,0.013328,0.002040,-0.000609
18,2,358400,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,2,358400,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
18,2,358400,43,gripper,0,"","put banana on flat bowl",-0.069095,-0.049034,0.992101,0.171676,-0.792864,0.187298,0.553908
18,2,358400,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.121731,0.043470,0.887463,0.751866,-0.015409,0.016703,0.658924
18,2,358400,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084562,-0.074993,0.878547,0.706792,0.007917,0.010824,0.707294
18,2,358400,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
18,2,358400,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000001
18,2,358400,44,gripper,0,"","put carrot on sheet metal",-0.074012,0.076969,0.991545,0.168825,-0.718363,0.101397,0.667212
18,2,358400,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
18,2,358400,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204983,-0.075436,0.878547,0.999910,0.013279,0.002049,-0.000059
18,2,358400,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,2,358400,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
18,2,358400,45,gripper,0,"","put carrot on sheet metal",-0.044379,-0.046325,1.049576,-0.152389,-0.753143,-0.046332,0.638284
18,2,358400,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237442,-0.074837,0.887529,0.676533,-0.031804,0.029268,0.735143
18,2,358400,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
18,2,358400,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
18,2,358400,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
18,2,358400,46,gripper,0,"","put carrot on sheet metal",-0.187641,-0.077469,0.959234,0.073514,-0.758391,0.083128,0.642284
18,2,358400,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205936,0.079643,0.887116,0.364876,-0.021562,0.020123,0.930589
18,2,358400,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114704,-0.074677,0.878547,0.383246,0.003205,0.013075,0.923548
18,2,358400,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
18,2,358400,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000307
18,2,358400,47,gripper,0,"","put carrot on sheet metal",-0.191795,0.052549,0.997055,0.241682,-0.638892,0.322244,0.655413
18,2,358400,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085281,0.097908,0.890726,0.800474,-0.027895,0.000999,0.598717
18,2,358400,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205978,0.074425,0.887027,0.497401,-0.513663,0.489732,0.498905
18,2,358400,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000835
18,2,358400,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000048
18,2,358400,48,gripper,0,"","put hamburger on cutting board",-0.185177,0.073307,0.941105,-0.015257,-0.736696,-0.018289,0.675805
18,2,358400,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.098446,-0.045383,0.890755,0.782850,-0.027718,0.000205,0.621593
18,2,358400,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
18,2,358400,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234970,-0.075932,0.872199,0.999979,0.000000,-0.000001,0.006497
18,2,358400,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114983,-0.045029,0.870870,1.000000,0.000003,0.000003,0.000020
18,2,358400,49,gripper,0,"","put hamburger on cutting board",-0.154322,-0.053474,1.069143,-0.019227,-0.710632,0.004629,0.703286
18,2,358400,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.146946,0.085720,0.894240,0.892570,-0.205394,-0.250963,0.313290
18,2,358400,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.188301,-0.061466,0.887026,0.636624,-0.318184,0.634385,0.301703
18,2,358400,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000018
18,2,358400,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
18,2,358400,50,gripper,0,"","put hamburger on cutting board",-0.189054,-0.047495,0.946546,0.131965,-0.780319,0.285441,0.540566
18,2,358400,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.219437,0.072418,0.888339,0.658726,-0.015742,0.049078,0.750616
18,2,358400,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085840,-0.045643,0.887026,0.497268,-0.513793,0.489594,0.499037
18,2,358400,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
18,2,358400,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204975,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000043
18,2,358400,51,gripper,0,"","put hamburger on cutting board",-0.207083,0.071228,0.915285,-0.024813,-0.742437,-0.074371,0.665313
18,2,358400,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235472,0.076088,0.888112,0.932340,-0.027054,0.005157,0.360532
18,2,358400,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.124065,0.057415,0.892627,0.030301,0.830610,-0.555546,0.023204
18,2,358400,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085346,-0.075153,0.872199,1.000000,-0.000000,-0.000001,-0.000847
18,2,358400,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.091560,0.061882,0.870871,0.998481,0.000000,-0.000001,-0.055095
18,2,358400,52,gripper,0,"","put plastic bottle on frying pan",-0.113813,0.018320,0.961499,0.042870,-0.776752,0.032235,0.627518
18,2,358400,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235949,0.075615,0.888112,0.712595,-0.026883,-0.006006,0.701035
18,2,358400,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.192587,-0.017582,0.889632,0.544266,-0.457895,0.521950,0.470824
18,2,358400,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
18,2,358400,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.202057,-0.042820,0.870882,0.999995,0.000682,0.000713,0.002868
18,2,358400,53,gripper,0,"","put plastic bottle on frying pan",-0.183538,-0.003429,0.944496,-0.160444,-0.719641,-0.099277,0.668221
18,2,358400,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075966,0.888112,0.999591,-0.023258,0.014749,-0.007678
18,2,358400,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205379,-0.062267,0.887051,0.711658,-0.058227,0.698544,0.046775
18,2,358400,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
18,2,358400,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000015
18,2,358400,54,gripper,0,"","put plastic bottle on frying pan",-0.187992,-0.064270,0.945376,0.060291,-0.741207,0.124967,0.656780
18,2,358400,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.247494,0.071575,0.888112,0.999396,-0.023057,0.015062,-0.021205
18,2,358400,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.221485,-0.061775,0.887064,0.719644,-0.062285,0.689292,0.055764
18,2,358400,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
18,2,358400,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
18,2,358400,55,gripper,0,"","put plastic bottle on frying pan",-0.195898,-0.070944,0.947711,0.055159,-0.755846,0.028617,0.651794
18,2,358400,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.097855,-0.029655,0.888112,0.916573,-0.015614,0.022687,-0.398918
18,2,358400,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.185638,0.075878,0.891019,0.273888,-0.017576,0.961543,0.010582
18,2,358400,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
18,2,358400,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234985,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000020
18,2,358400,56,gripper,0,"","put plastic bottle on cutting board",-0.200401,0.094864,0.953701,0.007375,-0.756862,-0.075577,0.649149
18,2,358400,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235241,-0.043919,0.888112,0.924684,-0.027133,0.004628,0.379740
18,2,358400,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.105427,-0.053135,0.889599,0.347534,-0.623128,0.340808,0.612194
18,2,358400,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084087,0.074936,0.872199,0.999998,-0.000000,-0.000001,-0.002200
18,2,358400,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115219,-0.075249,0.870871,0.999997,0.000000,-0.000007,0.002242
18,2,358400,57,gripper,0,"","put plastic bottle on cutting board",-0.102755,-0.029930,1.106205,-0.075819,-0.802314,-0.055996,0.589413
18,2,358400,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.166969,0.429276,0.021728,0.052869,0.780260,0.618013,-0.080374
18,2,358400,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.150143,-0.043671,0.916182,0.606165,-0.443673,0.520287,0.406226
18,2,358400,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.213318,0.077393,0.872199,0.960881,0.000000,-0.000001,-0.276961
18,2,358400,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
18,2,358400,58,gripper,0,"","put plastic bottle on cutting board",-0.151823,-0.039907,0.950269,0.076321,-0.758492,0.131407,0.633717
18,2,358400,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,0.074749,0.888112,0.388134,-0.022504,-0.015881,0.921191
18,2,358400,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.270792,-0.040787,0.887460,0.296140,-0.602383,0.251854,0.697141
18,2,358400,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
18,2,358400,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204821,0.075485,0.870870,0.999997,0.000000,-0.000001,-0.002263
18,2,358400,59,gripper,0,"","put plastic bottle on cutting board",-0.227680,0.003273,0.948048,-0.310635,-0.675840,-0.137325,0.654131
18,2,358400,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.184035,0.074841,0.956575,0.523218,0.065267,-0.033652,0.849030
18,2,358400,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.011038,0.008945,0.886092,0.440670,-0.022407,-0.001230,0.897388
18,2,358400,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235002,0.075508,0.872199,0.999984,0.000000,-0.000001,0.005629
18,2,358400,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084735,0.075695,0.870870,0.999998,-0.000000,-0.000000,-0.002021
18,2,358400,60,gripper,0,"","put hamburger on frying pan",-0.189595,0.071974,1.004389,0.079781,-0.713944,0.030096,0.694991
18,2,358400,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.181236,-0.055428,0.896344,0.621796,-0.031736,-0.013415,0.782421
18,2,358400,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.111700,0.010681,0.885720,-0.469395,-0.529888,0.444260,-0.549108
18,2,358400,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.203318,-0.074474,0.872199,0.999758,-0.000001,-0.000001,-0.021999
18,2,358400,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084196,-0.074677,0.870870,0.999980,0.000000,-0.000001,-0.006314
18,2,358400,61,gripper,0,"","put hamburger on frying pan",-0.166524,-0.045250,1.041278,-0.158728,-0.792460,-0.102458,0.579926
18,2,358400,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.144295,0.013649,0.939518,0.345439,0.004934,0.034785,0.937783
18,2,358400,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.258564,-0.069798,0.887026,0.314500,-0.641985,0.302565,0.630396
18,2,358400,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.106079,0.050182,0.872199,0.999909,0.000000,-0.000001,-0.013471
18,2,358400,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
18,2,358400,62,gripper,0,"","put hamburger on frying pan",-0.157732,0.018076,0.983005,-0.033211,-0.769071,0.034329,0.637376
18,2,358400,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.156269,0.010029,0.964494,0.688402,0.068305,0.029073,0.721521
18,2,358400,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.124378,-0.009377,0.889627,0.491304,-0.517171,0.488175,0.502831
18,2,358400,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
18,2,358400,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.113861,-0.046246,0.870870,0.999979,0.000000,0.000003,-0.006413
18,2,358400,63,gripper,0,"","put hamburger on frying pan",-0.158573,0.007191,1.012487,-0.029008,-0.740015,-0.055083,0.669703
18,3,363520,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.152054,-0.055931,0.879374,-0.996095,-0.005263,0.088029,-0.004238
18,3,363520,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.066345,0.078430,0.881641,0.998316,-0.002769,0.040094,-0.041834
18,3,363520,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000032
18,3,363520,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000225
18,3,363520,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.084087,0.012306,0.983851,-0.089881,-0.740705,-0.065938,0.662518
18,3,363520,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.081963,-0.037933,0.885112,0.066010,-0.744828,0.659886,0.073652
18,3,363520,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085762,0.074425,0.881638,0.923131,0.010855,-0.037815,0.382467
18,3,363520,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078396,-0.069801,0.869532,0.999858,0.000000,-0.000001,-0.016834
18,3,363520,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205017,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000224
18,3,363520,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.199835,-0.010735,0.959836,0.001185,-0.720798,-0.021109,0.692823
18,3,363520,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.202072,-0.060150,0.885112,-0.068468,0.722060,-0.684723,-0.071381
18,3,363520,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.182514,-0.001389,0.881672,0.748517,0.005567,-0.013006,0.662965
18,3,363520,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204826,-0.076546,0.869532,0.999998,0.000000,-0.000001,-0.002041
18,3,363520,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000032
18,3,363520,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.251619,0.017616,0.956566,0.052177,-0.729186,-0.001091,0.682322
18,3,363520,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.157896,0.091858,0.879201,0.875859,0.022048,-0.480220,0.042112
18,3,363520,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.184658,-0.076477,0.887591,0.987473,0.087948,-0.009255,-0.130677
18,3,363520,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000004
18,3,363520,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.104691,0.045692,0.871288,0.999740,-0.000176,-0.001016,-0.022780
18,3,363520,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.216715,-0.112473,0.913280,-0.071131,-0.717433,-0.065370,0.689896
18,3,363520,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.220166,-0.086960,0.879116,0.066560,-0.739985,0.665308,0.073191
18,3,363520,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.092141,-0.024147,0.887262,0.750059,-0.040409,0.024733,0.659672
18,3,363520,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083426,-0.048470,0.869532,0.999118,-0.000002,0.000001,-0.041992
18,3,363520,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.258341,0.130684,0.871288,-0.999409,0.000189,0.001013,0.034354
18,3,363520,4,gripper,0,"","put kitchen shovel on cloth",-0.242678,-0.051159,0.951403,-0.049983,-0.777721,0.061623,0.623582
18,3,363520,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.193331,-0.084938,0.885368,-0.709943,0.183146,-0.209476,-0.646960
18,3,363520,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.130335,-0.009857,0.884316,0.829722,0.055220,-0.011395,0.555321
18,3,363520,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204979,-0.075005,0.869532,1.000000,0.000000,-0.000001,-0.000253
18,3,363520,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,0.045036,0.871288,0.999999,-0.000153,-0.001019,0.000130
18,3,363520,5,gripper,0,"","put kitchen shovel on cloth",-0.127072,-0.024075,0.915121,-0.012427,-0.816702,0.024793,0.576393
18,3,363520,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.142937,0.003098,0.879116,0.076359,-0.636855,0.764613,0.062867
18,3,363520,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.238846,-0.027489,0.890168,0.639379,0.013412,-0.059110,0.766499
18,3,363520,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114971,-0.075012,0.869532,1.000000,0.000000,-0.000002,-0.000010
18,3,363520,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000376
18,3,363520,6,gripper,0,"","put kitchen shovel on cloth",-0.239202,0.021294,1.010688,0.019104,-0.742713,0.001540,0.669336
18,3,363520,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.213722,0.014397,0.879038,-0.214081,0.609959,-0.182757,-0.740756
18,3,363520,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.075241,0.055283,0.881638,0.720136,0.023911,-0.031270,0.692716
18,3,363520,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.182049,-0.093781,0.875060,0.994238,-0.023126,-0.082043,-0.064996
18,3,363520,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000155,-0.001020,0.000030
18,3,363520,7,gripper,0,"","put kitchen shovel on cloth",-0.217962,-0.080807,0.918872,-0.101863,-0.803049,-0.051538,0.584875
18,3,363520,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.043999,0.101097,0.885084,0.669306,0.302017,-0.350152,0.581557
18,3,363520,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.074905,-0.007809,0.881638,0.564909,0.029729,-0.025772,0.824215
18,3,363520,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.073280,0.076340,0.869532,0.994570,0.000001,-0.000001,0.104071
18,3,363520,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.080956,-0.080830,0.871211,0.999689,-0.003808,-0.004222,0.024260
18,3,363520,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.177162,0.030216,1.011248,0.141357,-0.707470,0.092220,0.686294
18,3,363520,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.195538,0.103863,0.884977,0.642217,-0.340568,0.554920,0.404518
18,3,363520,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.121986,0.053555,0.884080,0.817171,0.058567,-0.034993,0.572344
18,3,363520,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.209610,0.091038,0.869532,0.996584,-0.000000,-0.000001,0.082580
18,3,363520,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.115013,-0.045593,0.871282,0.999989,-0.000457,-0.001264,-0.004506
18,3,363520,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.235746,0.096634,1.066511,0.183273,-0.731478,0.309857,0.579085
18,3,363520,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.188457,0.038193,0.885085,0.605999,0.336797,-0.317771,0.646803
18,3,363520,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.139595,0.058704,0.884304,0.694615,0.004965,0.049581,0.717654
18,3,363520,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.213776,0.060856,0.869532,0.998326,-0.000001,-0.000001,-0.057843
18,3,363520,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.081814,-0.075710,0.871288,0.999940,-0.000165,-0.001018,-0.010908
18,3,363520,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.183222,0.028334,1.073805,0.100253,-0.789839,0.041282,0.603655
18,3,363520,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.066933,-0.099285,0.879213,0.274041,0.164506,-0.946296,0.048599
18,3,363520,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.182749,0.036583,0.886017,0.788651,0.039336,0.055321,0.611082
18,3,363520,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.285036,-0.192719,0.869532,0.992985,0.000000,-0.000001,-0.118236
18,3,363520,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.242935,0.066368,0.871281,0.993726,-0.000589,-0.001207,-0.111837
18,3,363520,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.118363,-0.134834,0.913793,0.083123,-0.747601,0.088926,0.652897
18,3,363520,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.187961,0.023750,0.885112,-0.077084,0.628023,-0.771882,-0.061992
18,3,363520,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.124999,0.053425,0.888966,0.693866,0.021745,-0.037828,0.718781
18,3,363520,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205005,0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000008
18,3,363520,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000014
18,3,363520,12,gripper,0,"","put ketchup bottle on cloth",-0.193849,0.050755,1.125005,0.066959,-0.787856,0.070579,0.608127
18,3,363520,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.047293,0.099022,0.884978,-0.613333,0.377398,-0.530512,-0.447158
18,3,363520,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.106737,-0.033146,0.883793,0.652383,-0.007328,0.047996,0.756333
18,3,363520,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084993,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000096
18,3,363520,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235003,-0.074993,0.871288,0.999999,-0.000153,-0.001019,0.000092
18,3,363520,13,gripper,0,"","put ketchup bottle on cloth",-0.090554,0.089695,1.008682,0.208422,-0.771102,0.196481,0.568646
18,3,363520,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.082920,0.100189,0.885209,0.235886,0.507094,-0.815710,0.147755
18,3,363520,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.041607,-0.044212,0.881638,0.912001,0.011923,-0.037510,0.408296
18,3,363520,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.118053,0.069775,0.869532,0.970227,-0.000000,-0.000001,0.242198
18,3,363520,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205006,-0.045033,0.871288,0.999999,-0.000156,-0.001021,-0.000023
18,3,363520,14,gripper,0,"","put ketchup bottle on cloth",-0.116047,0.145599,0.950282,0.073709,-0.754461,0.111231,0.642637
18,3,363520,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.107254,0.018303,0.881333,0.508212,-0.509311,0.447321,0.531250
18,3,363520,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.049541,0.139248,0.883853,-0.876880,0.084057,-0.134631,-0.453751
18,3,363520,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115082,-0.045010,0.869532,0.999999,0.000000,-0.000001,0.001174
18,3,363520,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000047
18,3,363520,15,gripper,0,"","put ketchup bottle on cloth",-0.158445,0.060904,0.981969,0.247402,-0.682600,0.096772,0.680797
18,3,363520,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.109718,-0.030758,0.887109,0.698501,0.022041,0.000416,0.715270
18,3,363520,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.109604,-0.217178,0.885659,0.655047,-0.260281,0.248841,0.664264
18,3,363520,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084984,-0.044991,0.869490,1.000000,0.000180,0.000875,0.000291
18,3,363520,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,0.044994,0.870461,1.000000,0.000019,-0.000159,0.000066
18,3,363520,16,gripper,0,"","put 7up can on newspaper",-0.116341,-0.077492,1.001163,0.041000,-0.739729,0.052049,0.669635
18,3,363520,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.162045,-0.015648,0.886363,0.998927,0.003103,-0.010112,0.045093
18,3,363520,17,obj,1,"005_7up can_1","put 7up can on newspaper",0.075302,0.129005,0.016815,0.825141,-0.089553,0.126486,0.543253
18,3,363520,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.074997,0.869490,1.000000,0.000180,0.000874,-0.000010
18,3,363520,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204987,-0.045094,0.870448,1.000000,-0.000348,-0.000350,0.000040
18,3,363520,17,gripper,0,"","put 7up can on newspaper",-0.137964,0.017311,0.985654,0.127408,-0.692126,0.034272,0.709615
18,3,363520,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.169689,0.094246,0.885102,0.423003,0.031548,0.002846,0.905575
18,3,363520,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.085266,-0.065662,0.888128,0.166294,0.839561,-0.471998,0.211427
18,3,363520,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204781,0.074989,0.869490,1.000000,0.000193,0.000891,0.000311
18,3,363520,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
18,3,363520,18,gripper,0,"","put 7up can on newspaper",-0.110384,-0.077906,0.929195,-0.143679,-0.759946,-0.162082,0.612836
18,3,363520,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.089146,-0.071915,0.886459,0.998056,0.004559,-0.008245,0.061610
18,3,363520,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.097424,0.006413,0.885877,0.482360,0.469769,-0.655849,0.341333
18,3,363520,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.057066,0.068939,0.869490,0.960656,-0.000070,0.000890,0.277738
18,3,363520,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.112644,-0.075253,0.870461,0.999997,0.000019,-0.000158,0.002352
18,3,363520,19,gripper,0,"","put 7up can on newspaper",-0.152060,-0.024315,0.941997,0.090704,-0.769320,0.035046,0.631420
18,3,363520,20,obj,0,"003_bread_1","put 7up can on carpet",-0.207228,-0.115059,0.885475,0.751466,0.019200,0.000901,0.659492
18,3,363520,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.213540,-0.028355,0.887857,0.766722,0.083310,-0.070193,0.632669
18,3,363520,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.233040,-0.073997,0.869489,0.999948,0.000519,0.001409,0.010100
18,3,363520,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000844,-0.000001
18,3,363520,20,gripper,0,"","put 7up can on carpet",-0.068566,-0.054853,0.995280,0.009803,-0.770326,0.074820,0.633170
18,3,363520,21,obj,0,"003_bread_1","put 7up can on carpet",-0.189440,-0.009544,0.884548,0.986177,0.013854,0.019804,0.163925
18,3,363520,21,obj,1,"005_7up can_1","put 7up can on carpet",0.025120,-0.021545,0.017085,0.428154,-0.497494,-0.692119,-0.300258
18,3,363520,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234404,-0.044827,0.869490,0.999998,0.000181,0.000874,-0.001692
18,3,363520,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.084978,0.045002,0.870448,0.999999,-0.000923,-0.000845,-0.000057
18,3,363520,21,gripper,0,"","put 7up can on carpet",-0.161208,0.026514,0.997286,0.058768,-0.696855,0.107230,0.706711
18,3,363520,22,obj,0,"003_bread_1","put 7up can on carpet",-0.147552,-0.076019,0.887217,0.153276,0.024433,0.002883,0.987877
18,3,363520,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.138058,0.001438,0.889258,0.640693,0.131507,-0.087791,0.751339
18,3,363520,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115028,-0.044601,0.869490,0.999999,0.000181,0.000872,-0.001408
18,3,363520,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000079
18,3,363520,22,gripper,0,"","put 7up can on carpet",-0.153942,0.005022,1.093297,0.127553,-0.822457,0.087649,0.547368
18,3,363520,23,obj,0,"003_bread_1","put 7up can on carpet",-0.193031,0.087391,0.886534,0.825145,0.007649,-0.007087,0.564824
18,3,363520,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.197922,-0.000088,0.885674,0.637021,-0.262913,0.237928,0.684450
18,3,363520,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
18,3,363520,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,0.075027,0.870447,0.999991,-0.003113,-0.002734,0.000161
18,3,363520,23,gripper,0,"","put 7up can on carpet",-0.227240,-0.013090,0.938361,0.081916,-0.693706,0.073054,0.711847
18,3,363520,24,obj,0,"003_bread_1","put bread on newspaper",-0.205475,-0.019030,0.886438,0.817945,0.007843,-0.006928,0.575202
18,3,363520,24,obj,1,"005_7up can_1","put bread on newspaper",0.058945,0.104921,0.016827,0.825549,-0.127651,-0.194922,-0.513983
18,3,363520,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000875,0.000084
18,3,363520,24,recep,1,"003_carpet_1","put bread on newspaper",-0.234993,-0.045006,0.870446,0.999991,-0.003108,-0.002729,-0.000102
18,3,363520,24,gripper,0,"","put bread on newspaper",-0.185585,-0.034904,0.995714,-0.012324,-0.744840,-0.090927,0.660904
18,3,363520,25,obj,0,"003_bread_1","put bread on newspaper",-0.099548,-0.004768,0.883544,0.304511,0.012476,-0.002087,0.952425
18,3,363520,25,obj,1,"005_7up can_1","put bread on newspaper",-0.197517,-0.058840,0.888477,0.637548,0.213254,-0.191721,0.715051
18,3,363520,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.076927,-0.082918,0.869489,0.999924,0.000190,0.000872,-0.012336
18,3,363520,25,recep,1,"003_carpet_1","put bread on newspaper",-0.234974,-0.074989,0.870461,1.000000,0.000019,-0.000159,-0.000082
18,3,363520,25,gripper,0,"","put bread on newspaper",-0.115522,0.011776,0.985408,0.013053,-0.733572,0.014521,0.679331
18,3,363520,26,obj,0,"003_bread_1","put bread on newspaper",-0.194782,0.086824,0.885990,0.999974,0.001614,0.005075,-0.004828
18,3,363520,26,obj,1,"005_7up can_1","put bread on newspaper",-0.237530,-0.044348,0.885669,0.996423,-0.000203,-0.084333,-0.005466
18,3,363520,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.205029,0.075008,0.869490,1.000000,0.000180,0.000874,0.000054
18,3,363520,26,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
18,3,363520,26,gripper,0,"","put bread on newspaper",-0.245682,-0.044448,0.945137,0.060533,-0.757977,0.033545,0.648600
18,3,363520,27,obj,0,"003_bread_1","put bread on newspaper",-0.166620,-0.039968,0.884711,0.982591,-0.006479,0.025917,-0.183850
18,3,363520,27,obj,1,"005_7up can_1","put bread on newspaper",-0.129297,0.048359,0.885687,0.914777,-0.008308,-0.403060,-0.025613
18,3,363520,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.207485,-0.047636,0.869466,0.999997,0.000553,0.001127,-0.002001
18,3,363520,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
18,3,363520,27,gripper,0,"","put bread on newspaper",-0.046041,-0.022604,0.982324,-0.060628,-0.741857,-0.058619,0.665234
18,3,363520,28,obj,0,"003_bread_1","put bread on carpet",-0.171938,0.025078,0.883544,0.699711,0.010220,-0.007461,0.714314
18,3,363520,28,obj,1,"005_7up can_1","put bread on carpet",-0.194029,-0.067034,0.888554,0.694341,-0.075375,0.071703,0.712087
18,3,363520,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
18,3,363520,28,recep,1,"003_carpet_1","put bread on carpet",-0.204984,-0.045050,0.870447,0.999999,-0.000130,-0.000157,-0.000934
18,3,363520,28,gripper,0,"","put bread on carpet",-0.178710,-0.028376,1.027573,0.184715,-0.777732,0.267005,0.538258
18,3,363520,29,obj,0,"003_bread_1","put bread on carpet",-0.112631,-0.130060,0.883544,-0.325426,-0.012448,0.002341,-0.945482
18,3,363520,29,obj,1,"005_7up can_1","put bread on carpet",-0.102369,0.045488,0.886002,-0.074950,0.786891,-0.606061,-0.088742
18,3,363520,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234983,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000033
18,3,363520,29,recep,1,"003_carpet_1","put bread on carpet",-0.074749,-0.068768,0.870350,0.996818,-0.000212,-0.001443,-0.079694
18,3,363520,29,gripper,0,"","put bread on carpet",-0.126353,0.039817,0.915587,-0.065902,-0.798847,-0.095129,0.590298
18,3,363520,30,obj,0,"003_bread_1","put bread on carpet",-0.191917,-0.058502,0.883615,-0.060566,-0.040413,-0.995200,-0.065385
18,3,363520,30,obj,1,"005_7up can_1","put bread on carpet",-0.176205,-0.011404,0.885894,0.445608,0.429986,-0.738616,0.266443
18,3,363520,30,recep,0,"004_newspaper_1","put bread on carpet",-0.109318,0.044685,0.869490,0.999614,0.000155,0.000879,0.027775
18,3,363520,30,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
18,3,363520,30,gripper,0,"","put bread on carpet",-0.197742,-0.042498,0.967972,0.019406,-0.726225,-0.079372,0.682584
18,3,363520,31,obj,0,"003_bread_1","put bread on carpet",-0.084488,-0.075481,0.883544,0.383761,0.012266,-0.003125,0.923346
18,3,363520,31,obj,1,"005_7up can_1","put bread on carpet",-0.204914,-0.005939,0.885659,-0.629359,0.269554,-0.238797,-0.688639
18,3,363520,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
18,3,363520,31,recep,1,"003_carpet_1","put bread on carpet",-0.205063,-0.075502,0.870448,0.999997,-0.000910,-0.000831,-0.002226
18,3,363520,31,gripper,0,"","put bread on carpet",-0.221998,-0.018371,0.945362,0.025564,-0.763573,0.032459,0.644398
18,3,363520,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093094,-0.068742,0.887281,0.918037,-0.007041,0.033450,0.395019
18,3,363520,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234711,0.074696,0.878547,0.923729,0.011478,0.006973,0.382812
18,3,363520,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
18,3,363520,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,0.000000,-0.000000
18,3,363520,32,gripper,0,"","put banana on sheet metal",-0.107082,0.105539,1.020888,0.203182,-0.707283,0.057000,0.674699
18,3,363520,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204201,0.046531,0.887528,0.722145,-0.029868,0.031243,0.690390
18,3,363520,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074995,0.878547,0.706789,0.007953,0.010872,0.707296
18,3,363520,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
18,3,363520,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114895,-0.044977,0.874362,0.999970,0.000001,-0.000000,-0.007720
18,3,363520,33,gripper,0,"","put banana on sheet metal",-0.176767,-0.028631,0.965418,0.005740,-0.763383,0.026517,0.645376
18,3,363520,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.233910,0.045352,0.887528,0.999042,-0.000297,0.043222,0.006803
18,3,363520,34,obj,1,"013_banana_1","put banana on sheet metal",-0.114986,0.074560,0.878547,0.999910,0.013261,0.002053,0.000299
18,3,363520,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
18,3,363520,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
18,3,363520,34,gripper,0,"","put banana on sheet metal",-0.154266,-0.019186,1.016084,-0.056192,-0.768940,-0.067602,0.633248
18,3,363520,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.211681,-0.062239,0.887473,0.996735,-0.002681,0.022370,0.077538
18,3,363520,35,obj,1,"013_banana_1","put banana on sheet metal",-0.234999,0.074571,0.878547,0.999910,0.013282,0.002046,0.000057
18,3,363520,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
18,3,363520,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000000
18,3,363520,35,gripper,0,"","put banana on sheet metal",-0.120224,-0.034243,1.016367,-0.134402,-0.751477,-0.086363,0.640125
18,3,363520,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088880,0.083064,0.887471,0.996956,-0.001668,0.033731,0.070276
18,3,363520,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234996,0.074568,0.878547,0.999909,0.013312,0.002048,-0.000087
18,3,363520,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
18,3,363520,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
18,3,363520,36,gripper,0,"","put banana on flat bowl",-0.179693,0.041171,0.983997,-0.049378,-0.793940,-0.066322,0.602347
18,3,363520,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.233919,0.045265,0.887528,0.999048,-0.000254,0.043220,0.005879
18,3,363520,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084990,-0.075437,0.878546,0.999910,0.013257,0.002054,0.000352
18,3,363520,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
18,3,363520,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
18,3,363520,37,gripper,0,"","put banana on flat bowl",-0.082363,0.116855,1.000423,0.179046,-0.730850,0.121968,0.647243
18,3,363520,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089832,0.067122,0.887494,0.368141,-0.009178,0.007276,0.929696
18,3,363520,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234715,-0.044707,0.878548,0.382233,0.003199,0.013096,0.923968
18,3,363520,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
18,3,363520,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
18,3,363520,38,gripper,0,"","put banana on flat bowl",-0.188356,-0.037937,0.953879,-0.077351,-0.714818,-0.049751,0.693237
18,3,363520,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088364,-0.072124,0.887370,0.997150,-0.003571,0.020918,0.072396
18,3,363520,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204994,0.044556,0.878547,0.999909,0.013300,0.002053,0.000284
18,3,363520,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
18,3,363520,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
18,3,363520,39,gripper,0,"","put banana on flat bowl",-0.128817,0.078144,0.982214,0.112785,-0.778767,-0.000137,0.617091
18,3,363520,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210999,-0.082973,0.887374,0.382133,-0.035958,0.010493,0.923348
18,3,363520,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084679,0.075340,0.878547,0.383210,0.003213,0.013100,0.923563
18,3,363520,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075041,0.871344,0.999999,-0.000157,0.001164,-0.000123
18,3,363520,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000324
18,3,363520,40,gripper,0,"","put carrot on sheet metal",-0.195141,-0.062930,0.964143,0.044390,-0.739068,0.071555,0.668347
18,3,363520,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.212494,-0.054420,0.887566,0.371943,-0.026001,0.006950,0.927865
18,3,363520,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.113964,0.045479,0.878547,0.408052,0.003570,0.013021,0.912859
18,3,363520,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
18,3,363520,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
18,3,363520,41,gripper,0,"","put carrot on sheet metal",-0.170107,-0.065361,0.974701,-0.035413,-0.727450,-0.033987,0.684402
18,3,363520,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203415,0.075649,0.887529,0.999065,0.000026,0.043222,-0.000641
18,3,363520,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,0.074562,0.878547,0.999910,0.013270,0.002041,-0.000499
18,3,363520,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
18,3,363520,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
18,3,363520,42,gripper,0,"","put carrot on sheet metal",-0.166460,0.089672,1.000502,-0.041618,-0.713615,-0.011880,0.699200
18,3,363520,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
18,3,363520,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075443,0.878547,0.999909,0.013312,0.002035,-0.000897
18,3,363520,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,3,363520,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
18,3,363520,43,gripper,0,"","put carrot on sheet metal",-0.074615,0.092558,1.055474,0.064870,-0.740778,0.182952,0.643093
18,3,363520,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123881,0.042519,0.887538,0.758638,-0.015358,0.021536,0.650975
18,3,363520,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084561,-0.074993,0.878547,0.706792,0.007934,0.010844,0.707294
18,3,363520,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
18,3,363520,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000003
18,3,363520,44,gripper,0,"","put carrot on flat bowl",-0.072160,0.062560,0.994476,0.183365,-0.762625,0.126415,0.607289
18,3,363520,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
18,3,363520,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204981,-0.075436,0.878547,0.999910,0.013270,0.002047,-0.000234
18,3,363520,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,3,363520,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
18,3,363520,45,gripper,0,"","put carrot on flat bowl",-0.040656,0.083663,1.037528,-0.080140,-0.753441,-0.101012,0.644748
18,3,363520,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237408,-0.074837,0.887528,0.674593,-0.031876,0.029177,0.736924
18,3,363520,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
18,3,363520,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
18,3,363520,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
18,3,363520,46,gripper,0,"","put carrot on flat bowl",-0.213606,-0.043060,0.999382,0.087488,-0.721194,0.087016,0.681655
18,3,363520,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205940,0.079639,0.887116,0.365242,-0.021554,0.020132,0.930445
18,3,363520,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114704,-0.074671,0.878547,0.383717,0.003212,0.013074,0.923352
18,3,363520,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
18,3,363520,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000458
18,3,363520,47,gripper,0,"","put carrot on flat bowl",-0.142139,0.099569,1.025678,0.162961,-0.769803,0.202752,0.582871
18,3,363520,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085281,0.097889,0.890726,0.799787,-0.027883,0.000965,0.599636
18,3,363520,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.229561,-0.043438,0.895351,0.474500,-0.532924,0.460367,0.528113
18,3,363520,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.238068,-0.075630,0.872199,0.999978,-0.000000,-0.000001,-0.006611
18,3,363520,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000087
18,3,363520,48,gripper,0,"","put plastic bottle on frying pan",-0.136669,-0.097954,1.019833,-0.014749,-0.781463,-0.027064,0.623189
18,3,363520,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.098446,-0.045399,0.890755,0.782805,-0.027713,0.000210,0.621649
18,3,363520,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.247475,0.008919,0.887027,0.507877,-0.503152,0.500617,0.488141
18,3,363520,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234802,-0.076019,0.873215,0.999779,-0.017597,-0.007029,0.009120
18,3,363520,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114983,-0.045044,0.870871,1.000000,0.000007,0.000006,0.000071
18,3,363520,49,gripper,0,"","put plastic bottle on frying pan",-0.237694,0.011801,0.914949,-0.010148,-0.740011,0.031622,0.671775
18,3,363520,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.146946,0.085724,0.894232,0.893093,-0.205225,-0.250284,0.312450
18,3,363520,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.201736,-0.060642,0.887026,0.657674,-0.269150,0.656690,0.252549
18,3,363520,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000000,-0.000058
18,3,363520,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
18,3,363520,50,gripper,0,"","put plastic bottle on frying pan",-0.172499,-0.027136,0.982622,0.047292,-0.704897,0.059810,0.705200
18,3,363520,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.221115,0.071270,0.888112,0.665042,-0.026426,-0.007755,0.746298
18,3,363520,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.079920,0.075809,0.894972,0.568136,-0.447107,0.516340,0.459032
18,3,363520,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085016,0.075142,0.872199,1.000000,0.000000,-0.000001,-0.000922
18,3,363520,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204971,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
18,3,363520,51,gripper,0,"","put plastic bottle on frying pan",-0.216568,0.073494,0.934007,0.032709,-0.725154,0.050613,0.685945
18,3,363520,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235471,0.076088,0.888112,0.932325,-0.027054,0.005156,0.360571
18,3,363520,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.123286,0.054546,0.892450,-0.019590,0.830926,-0.555070,-0.032795
18,3,363520,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085346,-0.075153,0.872199,1.000000,-0.000000,-0.000000,-0.000847
18,3,363520,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.091567,0.061878,0.870870,0.998484,0.000000,-0.000002,-0.055032
18,3,363520,52,gripper,0,"","put plastic bottle on cutting board",-0.185284,0.021833,1.105185,0.233520,-0.808959,0.226138,0.489811
18,3,363520,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235949,0.075615,0.888112,0.712828,-0.026883,-0.005996,0.700798
18,3,363520,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.192148,-0.016838,0.889583,0.534909,-0.471200,0.533146,0.455630
18,3,363520,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
18,3,363520,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.201410,-0.042732,0.870870,0.999994,0.000001,-0.000004,0.003521
18,3,363520,53,gripper,0,"","put plastic bottle on cutting board",-0.118561,0.080397,1.161429,0.026138,-0.750414,0.134068,0.646700
18,3,363520,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.067894,-0.033131,0.890359,0.987919,-0.023211,0.018552,-0.152096
18,3,363520,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.190231,-0.053295,0.887899,0.938420,-0.043525,0.010085,0.342595
18,3,363520,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
18,3,363520,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.112118,-0.073170,0.870870,0.999760,0.000000,0.000000,-0.021903
18,3,363520,54,gripper,0,"","put plastic bottle on cutting board",-0.237375,-0.060020,0.914250,0.012236,-0.758823,-0.018581,0.650917
18,3,363520,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.149769,0.002136,0.891486,0.486670,-0.404623,0.772227,0.055659
18,3,363520,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.220661,-0.061455,0.887026,0.702643,-0.067248,0.706514,0.051074
18,3,363520,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084995,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000068
18,3,363520,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
18,3,363520,55,gripper,0,"","put plastic bottle on cutting board",-0.170702,-0.002172,0.914735,-0.004520,-0.785985,0.001291,0.618227
18,3,363520,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.043938,0.058441,0.896460,0.913542,-0.012755,0.021369,-0.405982
18,3,363520,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205986,0.075722,0.887026,0.704495,-0.019232,0.709440,0.003358
18,3,363520,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000041
18,3,363520,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000020
18,3,363520,56,gripper,0,"","put hamburger on frying pan",-0.133453,-0.024666,1.012326,0.017579,-0.735203,0.061380,0.674834
18,3,363520,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.226910,-0.039555,0.889457,0.839840,-0.017999,0.047171,0.540481
18,3,363520,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.105469,-0.053150,0.889596,0.347366,-0.623214,0.340642,0.612294
18,3,363520,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084087,0.074936,0.872199,0.999998,-0.000000,-0.000001,-0.002200
18,3,363520,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115219,-0.075249,0.870870,0.999997,0.000000,0.000001,0.002526
18,3,363520,57,gripper,0,"","put hamburger on frying pan",-0.243870,-0.043261,0.916561,0.041383,-0.743940,-0.040700,0.665720
18,3,363520,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.166969,0.429276,0.021728,0.052890,0.780092,0.618224,-0.080360
18,3,363520,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.189255,0.078697,0.895231,0.585175,-0.415142,0.577593,0.389375
18,3,363520,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.213326,0.077400,0.872199,0.960838,0.000000,-0.000002,-0.277111
18,3,363520,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
18,3,363520,58,gripper,0,"","put hamburger on frying pan",-0.113693,0.012705,1.076652,0.016180,-0.749902,0.044331,0.659863
18,3,363520,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.106289,-0.052513,0.896078,0.193627,-0.034922,-0.043806,0.979475
18,3,363520,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.272951,-0.039616,0.887026,0.282079,-0.656514,0.269568,0.645564
18,3,363520,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000174
18,3,363520,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204830,0.075485,0.870870,0.999997,0.000000,-0.000000,-0.002291
18,3,363520,59,gripper,0,"","put hamburger on frying pan",-0.131767,-0.086544,1.071475,-0.060596,-0.768752,0.014293,0.636509
18,3,363520,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.178132,0.182533,0.890587,0.191584,0.056372,0.855149,-0.478370
18,3,363520,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.011038,0.008945,0.886092,0.440670,-0.022393,-0.001233,0.897389
18,3,363520,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075512,0.872199,0.999984,-0.000001,-0.000001,0.005690
18,3,363520,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084735,0.075695,0.870870,0.999998,-0.000000,-0.000001,-0.002021
18,3,363520,60,gripper,0,"","put hamburger on cutting board",-0.079774,-0.025206,1.079548,0.072256,-0.821985,-0.066150,0.561021
18,3,363520,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.068979,-0.058914,0.890529,0.609448,-0.026618,-0.007227,0.792346
18,3,363520,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.111700,0.010681,0.885720,-0.469315,-0.529953,0.444187,-0.549173
18,3,363520,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.203430,-0.073490,0.872199,0.999931,-0.000000,-0.000001,-0.011789
18,3,363520,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084194,-0.074673,0.870870,0.999981,-0.000000,-0.000000,-0.006184
18,3,363520,61,gripper,0,"","put hamburger on cutting board",-0.106487,-0.064999,1.067634,-0.100400,-0.752592,-0.052616,0.648657
18,3,363520,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.095943,-0.068523,0.890616,0.302292,-0.020934,-0.015325,0.952862
18,3,363520,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.258564,-0.069798,0.887026,0.314498,-0.641982,0.302561,0.630402
18,3,363520,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.106079,0.050182,0.872199,0.999912,-0.000000,-0.000001,-0.013255
18,3,363520,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,0.000000,0.000028
18,3,363520,62,gripper,0,"","put hamburger on cutting board",-0.074188,-0.012234,1.067472,-0.039415,-0.782884,0.058438,0.618161
18,3,363520,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.304050,0.091934,0.888112,-0.749346,0.027164,0.004546,-0.661605
18,3,363520,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.124374,-0.009624,0.889628,0.490581,-0.517840,0.487494,0.503509
18,3,363520,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
18,3,363520,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.113850,-0.046326,0.870869,0.999973,0.000000,0.000008,-0.007300
18,3,363520,63,gripper,0,"","put hamburger on cutting board",-0.272863,0.051849,0.993800,0.024705,-0.685181,-0.005068,0.727936
18,4,368640,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.154953,-0.059906,0.879223,-0.644212,0.034810,0.763535,0.028158
18,4,368640,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.066345,0.078430,0.881641,0.998321,-0.002774,0.040102,-0.041703
18,4,368640,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000044
18,4,368640,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000278
18,4,368640,0,gripper,0,"","put kitchen shovel on cloth",-0.190708,-0.066967,0.915481,-0.071900,-0.762678,-0.128128,0.629869
18,4,368640,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.081886,-0.038383,0.885113,0.065914,-0.745396,0.659254,0.073656
18,4,368640,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085762,0.074425,0.881638,0.923094,0.010855,-0.037807,0.382558
18,4,368640,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078388,-0.069870,0.869532,0.999853,-0.000001,-0.000001,-0.017128
18,4,368640,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205017,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000296
18,4,368640,1,gripper,0,"","put kitchen shovel on cloth",-0.118202,-0.062889,0.973785,-0.064740,-0.761276,-0.125143,0.632935
18,4,368640,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200653,-0.079216,0.884859,-0.060667,0.783828,-0.613003,-0.078491
18,4,368640,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.202587,-0.032471,0.881638,0.597479,0.028687,-0.026943,0.800918
18,4,368640,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.199829,-0.095947,0.869532,0.996241,-0.008255,-0.000714,0.086228
18,4,368640,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,1.000000,-0.000155,-0.001019,0.000041
18,4,368640,2,gripper,0,"","put kitchen shovel on cloth",-0.262058,-0.049770,0.914339,-0.119848,-0.737488,-0.084590,0.659237
18,4,368640,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.146360,0.089554,0.879088,0.882948,0.038745,-0.461448,0.077251
18,4,368640,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.203316,-0.161453,0.881637,0.894179,0.022419,0.052970,-0.444000
18,4,368640,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000005
18,4,368640,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.092749,0.039970,0.871288,0.999641,-0.000185,-0.001015,-0.026786
18,4,368640,3,gripper,0,"","put kitchen shovel on cloth",-0.188215,-0.085510,0.916997,-0.138725,-0.774906,-0.086752,0.610532
18,4,368640,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.143717,-0.071373,0.884160,0.453455,-0.528715,0.276890,0.661945
18,4,368640,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.092238,-0.024139,0.887261,0.750120,-0.040343,0.024619,0.659611
18,4,368640,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.083429,-0.048470,0.869533,0.999167,0.000001,-0.000002,-0.040809
18,4,368640,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.258341,0.130684,0.871288,-0.999409,0.000189,0.001014,0.034354
18,4,368640,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.198849,-0.104897,0.918020,-0.151560,-0.805169,-0.068863,0.569201
18,4,368640,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.193329,-0.084938,0.885368,-0.709964,0.183149,-0.209494,-0.646930
18,4,368640,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.130678,-0.010201,0.884320,0.832822,0.041783,0.007744,0.551908
18,4,368640,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204977,-0.075005,0.869532,1.000000,0.000000,-0.000000,-0.000341
18,4,368640,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.045036,0.871288,1.000000,-0.000153,-0.001019,0.000156
18,4,368640,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.227065,-0.047050,1.068715,0.099926,-0.788070,0.173325,0.582168
18,4,368640,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.135727,0.004349,0.879116,0.075701,-0.644776,0.757945,0.063659
18,4,368640,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.221523,-0.037674,0.889949,0.641074,0.019178,-0.036878,0.766353
18,4,368640,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114971,-0.075012,0.869532,1.000000,-0.000000,-0.000001,-0.000037
18,4,368640,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.231255,-0.039398,0.871288,0.999006,-0.000198,-0.001011,-0.044566
18,4,368640,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.211189,-0.105473,0.917570,-0.084951,-0.768727,-0.084706,0.628226
18,4,368640,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.155430,-0.047607,0.927840,0.489942,-0.495889,0.453187,0.555583
18,4,368640,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.075249,0.055252,0.881638,0.720724,0.023866,-0.031272,0.692104
18,4,368640,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.183178,-0.090157,0.869918,0.995929,0.002427,-0.006056,-0.089901
18,4,368640,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000155,-0.001019,0.000055
18,4,368640,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.205351,-0.048107,0.962963,-0.094340,-0.755706,0.007289,0.648040
18,4,368640,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.043991,0.101109,0.885084,0.669192,0.302091,-0.350108,0.581676
18,4,368640,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.074905,-0.007820,0.881638,0.565153,0.029738,-0.025790,0.824046
18,4,368640,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.073280,0.076340,0.869532,0.994557,0.000001,-0.000001,0.104191
18,4,368640,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.080956,-0.080830,0.871211,0.999690,-0.003807,-0.004222,0.024260
18,4,368640,8,gripper,0,"","put ketchup bottle on cloth",-0.065529,0.115877,1.032547,0.187397,-0.799295,0.259143,0.508778
18,4,368640,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.195541,0.103935,0.884977,0.642318,-0.340451,0.554942,0.404424
18,4,368640,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.121918,0.053711,0.883939,0.816031,0.054312,-0.026433,0.574843
18,4,368640,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.209610,0.091030,0.869532,0.996583,-0.000000,-0.000001,0.082595
18,4,368640,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.115017,-0.045593,0.871282,0.999989,-0.000457,-0.001263,-0.004481
18,4,368640,9,gripper,0,"","put ketchup bottle on cloth",-0.156380,0.092539,1.116432,0.058994,-0.737576,0.193658,0.644203
18,4,368640,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.188442,0.038143,0.885085,0.605912,0.336875,-0.317788,0.646836
18,4,368640,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.139587,0.058670,0.884304,0.698362,0.004894,0.049911,0.713985
18,4,368640,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.213776,0.060799,0.869532,0.998334,0.000000,-0.000000,-0.057697
18,4,368640,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.081814,-0.075714,0.871288,0.999941,-0.000165,-0.001018,-0.010849
18,4,368640,10,gripper,0,"","put ketchup bottle on cloth",-0.120512,0.107140,1.151813,0.070011,-0.779542,0.110403,0.612555
18,4,368640,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.233681,-0.130257,0.879212,0.210621,0.625367,-0.729012,0.181921
18,4,368640,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.182743,0.036606,0.886017,0.788223,0.039296,0.055350,0.611634
18,4,368640,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.285036,-0.192719,0.869532,0.992985,-0.000000,-0.000001,-0.118236
18,4,368640,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.242935,0.066368,0.871282,0.993726,-0.000589,-0.001207,-0.111837
18,4,368640,11,gripper,0,"","put ketchup bottle on cloth",-0.239914,-0.132376,0.943516,-0.004030,-0.820937,0.065413,0.567245
18,4,368640,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.187961,0.023750,0.885112,-0.077082,0.628042,-0.771867,-0.061994
18,4,368640,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.124998,0.053413,0.888963,0.694155,0.021729,-0.037808,0.718503
18,4,368640,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205005,0.044998,0.869532,1.000000,-0.000001,-0.000000,-0.000008
18,4,368640,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075008,0.871288,0.999999,-0.000154,-0.001019,-0.000015
18,4,368640,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.127049,0.048367,1.151948,0.025810,-0.785788,0.152206,0.598919
18,4,368640,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.047478,0.098965,0.884978,-0.612520,0.378342,-0.529901,-0.448197
18,4,368640,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.061199,0.059143,0.887608,0.790475,-0.024524,0.022667,0.611583
18,4,368640,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084970,0.074997,0.869532,1.000000,0.000003,-0.000004,-0.000385
18,4,368640,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235647,-0.076153,0.871853,0.999955,-0.007195,-0.006022,0.001198
18,4,368640,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.247438,-0.053001,0.923608,-0.121807,-0.722071,-0.069121,0.677494
18,4,368640,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.082909,0.100449,0.885210,0.235101,0.511046,-0.813267,0.148850
18,4,368640,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.041607,-0.044209,0.881638,0.911970,0.011920,-0.037498,0.408367
18,4,368640,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.118053,0.069778,0.869532,0.970282,-0.000000,-0.000000,0.241975
18,4,368640,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205212,-0.045036,0.871288,0.999999,-0.000156,-0.001022,0.001146
18,4,368640,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.214693,-0.040470,0.956834,0.066782,-0.689767,-0.005900,0.720921
18,4,368640,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.107246,0.018265,0.881308,0.513246,-0.503745,0.446066,0.532771
18,4,368640,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.049541,0.139248,0.883853,-0.876881,0.084058,-0.134633,-0.453749
18,4,368640,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115101,-0.045010,0.869532,0.999999,-0.000000,-0.000001,0.001453
18,4,368640,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000061
18,4,368640,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.210171,-0.057245,0.916697,-0.089920,-0.790534,-0.011951,0.605663
18,4,368640,16,obj,0,"003_bread_1","put 7up can on carpet",-0.085678,-0.027428,0.886737,0.392429,0.027284,0.002942,0.919373
18,4,368640,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.109871,-0.211411,0.885747,0.593009,-0.373341,0.365117,0.612900
18,4,368640,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.071793,-0.046329,0.869490,0.999570,0.000154,0.000880,0.029322
18,4,368640,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,0.044994,0.870461,1.000000,0.000019,-0.000159,0.000087
18,4,368640,16,gripper,0,"","put 7up can on carpet",-0.103577,-0.184574,0.943337,-0.069607,-0.780097,-0.025673,0.621244
18,4,368640,17,obj,0,"003_bread_1","put 7up can on carpet",-0.162254,-0.016087,0.886374,0.998335,0.003652,-0.010034,0.056687
18,4,368640,17,obj,1,"005_7up can_1","put 7up can on carpet",0.075302,0.129005,0.016815,0.825011,-0.089583,0.126465,0.543450
18,4,368640,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.074997,0.869490,1.000000,0.000180,0.000874,-0.000010
18,4,368640,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.204987,-0.045094,0.870416,1.000000,0.000034,-0.000617,0.000248
18,4,368640,17,gripper,0,"","put 7up can on carpet",-0.048193,-0.017790,0.988066,-0.107631,-0.746284,-0.071446,0.652972
18,4,368640,18,obj,0,"003_bread_1","put 7up can on carpet",-0.169552,0.094246,0.885101,0.422672,0.031547,0.002860,0.905729
18,4,368640,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.100346,-0.049335,0.885725,-0.564844,0.332211,-0.259690,-0.709329
18,4,368640,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204647,0.074993,0.869490,1.000000,0.000194,0.000893,0.000582
18,4,368640,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
18,4,368640,18,gripper,0,"","put 7up can on carpet",-0.145243,-0.036072,0.959571,-0.021939,-0.713069,0.049803,0.698978
18,4,368640,19,obj,0,"003_bread_1","put 7up can on carpet",-0.082558,-0.089211,0.886397,0.996846,0.006565,-0.007037,0.078769
18,4,368640,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.088341,-0.039112,0.886022,0.106311,0.686204,-0.711325,0.108803
18,4,368640,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.057066,0.068939,0.869490,0.960656,-0.000070,0.000890,0.277739
18,4,368640,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.106224,-0.093304,0.870448,0.999965,0.001537,0.001253,-0.008157
18,4,368640,19,gripper,0,"","put 7up can on carpet",-0.152798,-0.069721,0.932045,-0.017616,-0.768866,-0.059673,0.636375
18,4,368640,20,obj,0,"003_bread_1","put bread on newspaper",-0.207258,-0.114765,0.885482,0.750134,0.019189,0.000875,0.661007
18,4,368640,20,obj,1,"005_7up can_1","put bread on newspaper",-0.215069,-0.027557,0.887911,0.760889,0.083617,-0.069209,0.639740
18,4,368640,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.233051,-0.073997,0.869489,0.999948,0.000476,0.001344,0.010123
18,4,368640,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.075001,0.870448,0.999999,-0.000923,-0.000845,-0.000000
18,4,368640,20,gripper,0,"","put bread on newspaper",-0.069141,-0.011156,1.069556,0.198432,-0.761052,0.167909,0.594332
18,4,368640,21,obj,0,"003_bread_1","put bread on newspaper",-0.189434,-0.009544,0.884548,0.986179,0.013852,0.019810,0.163908
18,4,368640,21,obj,1,"005_7up can_1","put bread on newspaper",0.025120,-0.021545,0.017085,0.428164,-0.497472,-0.692135,-0.300244
18,4,368640,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.234398,-0.044827,0.869490,0.999998,0.000180,0.000874,-0.001750
18,4,368640,21,recep,1,"003_carpet_1","put bread on newspaper",-0.085154,0.044640,0.870461,1.000000,0.000018,-0.000158,-0.000320
18,4,368640,21,gripper,0,"","put bread on newspaper",-0.044655,0.020790,0.956530,-0.028487,-0.762212,-0.203285,0.613919
18,4,368640,22,obj,0,"003_bread_1","put bread on newspaper",-0.147575,-0.076019,0.887218,0.156083,0.024428,0.002935,0.987437
18,4,368640,22,obj,1,"005_7up can_1","put bread on newspaper",-0.138046,0.001442,0.889257,0.640759,0.131493,-0.087792,0.751286
18,4,368640,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.115055,-0.044598,0.869490,0.999999,0.000181,0.000874,-0.001356
18,4,368640,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000100
18,4,368640,22,gripper,0,"","put bread on newspaper",-0.151705,-0.049532,1.005983,0.030179,-0.772132,0.054636,0.632390
18,4,368640,23,obj,0,"003_bread_1","put bread on newspaper",-0.193031,0.087391,0.886534,0.824914,0.007656,-0.007084,0.565162
18,4,368640,23,obj,1,"005_7up can_1","put bread on newspaper",-0.197956,0.000095,0.885658,0.635502,-0.267391,0.241188,0.682984
18,4,368640,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
18,4,368640,23,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,0.075027,0.870447,0.999991,-0.003114,-0.002734,0.000166
18,4,368640,23,gripper,0,"","put bread on newspaper",-0.146238,0.060528,1.051001,-0.002098,-0.703928,0.045158,0.708831
18,4,368640,24,obj,0,"003_bread_1","put bread on carpet",-0.205475,-0.019028,0.886438,0.818083,0.007843,-0.006931,0.575005
18,4,368640,24,obj,1,"005_7up can_1","put bread on carpet",0.058945,0.104921,0.016827,0.825674,-0.127603,-0.194953,-0.513783
18,4,368640,24,recep,0,"004_newspaper_1","put bread on carpet",-0.077690,-0.073811,0.869490,0.999912,0.000191,0.000872,-0.013223
18,4,368640,24,recep,1,"003_carpet_1","put bread on carpet",-0.234993,-0.045004,0.870446,0.999991,-0.003107,-0.002728,-0.000047
18,4,368640,24,gripper,0,"","put bread on carpet",-0.074669,-0.095263,0.926461,-0.043790,-0.803899,-0.082029,0.587453
18,4,368640,25,obj,0,"003_bread_1","put bread on carpet",-0.203224,0.056320,0.883544,-0.435218,-0.012075,0.003811,-0.900236
18,4,368640,25,obj,1,"005_7up can_1","put bread on carpet",-0.196770,-0.061647,0.888510,0.623188,0.279394,-0.242831,0.688919
18,4,368640,25,recep,0,"004_newspaper_1","put bread on carpet",-0.076439,-0.105558,0.869490,0.999442,0.000150,0.000879,0.033388
18,4,368640,25,recep,1,"003_carpet_1","put bread on carpet",-0.234974,-0.074989,0.870461,1.000000,0.000019,-0.000159,-0.000143
18,4,368640,25,gripper,0,"","put bread on carpet",-0.176981,0.047637,0.967874,0.072744,-0.679013,0.056297,0.728341
18,4,368640,26,obj,0,"003_bread_1","put bread on carpet",-0.194782,0.086826,0.885990,0.999973,0.001613,0.005078,-0.005039
18,4,368640,26,obj,1,"005_7up can_1","put bread on carpet",-0.249203,-0.043327,0.885736,0.903587,-0.006460,-0.428128,-0.013977
18,4,368640,26,recep,0,"004_newspaper_1","put bread on carpet",-0.205032,0.075010,0.869490,1.000000,0.000180,0.000875,-0.000061
18,4,368640,26,recep,1,"003_carpet_1","put bread on carpet",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
18,4,368640,26,gripper,0,"","put bread on carpet",-0.250160,-0.042268,0.942249,-0.003181,-0.712081,0.018048,0.701858
18,4,368640,27,obj,0,"003_bread_1","put bread on carpet",-0.167015,-0.067619,0.957628,0.854533,-0.019688,0.096889,-0.509900
18,4,368640,27,obj,1,"005_7up can_1","put bread on carpet",-0.129297,0.048359,0.885687,0.914778,-0.008309,-0.403059,-0.025615
18,4,368640,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204853,-0.052620,0.869490,0.999512,0.000207,0.000868,-0.031214
18,4,368640,27,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
18,4,368640,27,gripper,0,"","put bread on carpet",-0.170737,-0.066756,0.995795,-0.054336,-0.733513,-0.037097,0.676484
18,4,368640,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.171938,0.025078,0.883544,0.699711,0.010221,-0.007461,0.714313
18,4,368640,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.191889,-0.050907,0.888683,0.607905,-0.339974,0.335223,0.634425
18,4,368640,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000005
18,4,368640,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204127,-0.042805,0.870447,0.999944,-0.000250,-0.000267,0.010523
18,4,368640,28,gripper,0,"","put 7up can on newspaper",-0.146702,-0.101819,0.968873,0.011470,-0.785777,0.027853,0.617776
18,4,368640,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.112671,-0.130161,0.883544,-0.326766,-0.012441,0.002356,-0.945020
18,4,368640,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.086021,-0.093483,0.888702,-0.671236,0.164583,-0.165292,-0.703586
18,4,368640,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234976,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000048
18,4,368640,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.075796,-0.069674,0.870461,0.996920,0.000007,-0.000159,-0.078426
18,4,368640,29,gripper,0,"","put 7up can on newspaper",-0.124400,-0.048831,1.027109,-0.055672,-0.786077,-0.018370,0.615342
18,4,368640,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.114178,-0.074213,0.887695,-0.040790,0.219724,-0.968072,0.113554
18,4,368640,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.173519,-0.004387,0.885950,0.377249,0.329235,-0.853840,0.142282
18,4,368640,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.107399,0.049297,0.869490,0.999264,0.000146,0.000881,0.038341
18,4,368640,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.077206,-0.056593,0.870447,0.999745,-0.003174,-0.002664,-0.022185
18,4,368640,30,gripper,0,"","put 7up can on newspaper",-0.094086,-0.077497,0.938840,-0.029841,-0.779921,0.006786,0.625130
18,4,368640,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.155235,-0.096191,0.886195,0.293878,0.017815,-0.002600,0.955673
18,4,368640,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.206429,-0.004313,0.885673,-0.623197,0.300247,-0.271924,-0.668980
18,4,368640,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
18,4,368640,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.201897,-0.081234,0.870415,0.998814,0.000026,-0.000613,-0.048683
18,4,368640,31,gripper,0,"","put 7up can on newspaper",-0.149506,-0.037361,0.924469,-0.036098,-0.725180,-0.022888,0.687231
18,4,368640,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096970,-0.065794,0.887524,0.923508,-0.016304,0.039835,0.381156
18,4,368640,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234711,0.074696,0.878547,0.923729,0.011477,0.006972,0.382812
18,4,368640,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
18,4,368640,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000000
18,4,368640,32,gripper,0,"","put banana on flat bowl",-0.223618,0.078422,0.958811,-0.071684,-0.671946,-0.121851,0.726982
18,4,368640,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204201,0.046531,0.887528,0.722145,-0.029869,0.031243,0.690390
18,4,368640,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.074995,0.878547,0.706789,0.007963,0.010884,0.707296
18,4,368640,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
18,4,368640,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114895,-0.044977,0.874362,0.999970,0.000001,-0.000000,-0.007720
18,4,368640,33,gripper,0,"","put banana on flat bowl",-0.166002,-0.001813,1.016214,-0.031731,-0.680186,-0.137204,0.719385
18,4,368640,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.233910,0.045352,0.887528,0.999042,-0.000295,0.043222,0.006803
18,4,368640,34,obj,1,"013_banana_1","put banana on flat bowl",-0.114986,0.074559,0.878547,0.999909,0.013293,0.002055,0.000300
18,4,368640,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
18,4,368640,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
18,4,368640,34,gripper,0,"","put banana on flat bowl",-0.071762,0.075545,0.968180,0.261362,-0.730906,0.308650,0.549728
18,4,368640,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211834,-0.060378,0.887315,0.996173,0.002814,0.033647,0.080618
18,4,368640,35,obj,1,"013_banana_1","put banana on flat bowl",-0.234999,0.074571,0.878547,0.999910,0.013285,0.002047,0.000057
18,4,368640,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
18,4,368640,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
18,4,368640,35,gripper,0,"","put banana on flat bowl",-0.181832,0.092590,0.996184,-0.200434,-0.674404,-0.193779,0.683707
18,4,368640,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089416,0.083944,0.887254,0.997089,0.005076,0.032997,0.068547
18,4,368640,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234996,0.074569,0.878547,0.999910,0.013287,0.002046,-0.000088
18,4,368640,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
18,4,368640,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000001
18,4,368640,36,gripper,0,"","put carrot on sheet metal",-0.061574,0.095192,1.015244,0.102865,-0.741869,-0.007973,0.662560
18,4,368640,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.233919,0.045266,0.887528,0.999048,-0.000255,0.043221,0.005879
18,4,368640,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084990,-0.075438,0.878547,0.999910,0.013285,0.002056,0.000352
18,4,368640,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
18,4,368640,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.075000,0.874363,1.000000,-0.000001,0.000000,-0.000000
18,4,368640,37,gripper,0,"","put carrot on sheet metal",-0.188127,0.067582,0.978369,-0.007772,-0.691525,0.029821,0.721695
18,4,368640,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092823,0.063781,0.887511,0.380509,-0.027476,0.012379,0.924286
18,4,368640,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003196,0.013085,0.923968
18,4,368640,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
18,4,368640,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
18,4,368640,38,gripper,0,"","put carrot on sheet metal",-0.056089,0.047815,0.970737,0.053568,-0.795850,0.068708,0.599193
18,4,368640,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090092,-0.071469,0.887530,0.992695,-0.002230,0.031296,0.116496
18,4,368640,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204994,0.044556,0.878547,0.999910,0.013290,0.002053,0.000284
18,4,368640,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
18,4,368640,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
18,4,368640,39,gripper,0,"","put carrot on sheet metal",-0.055986,0.082367,1.029110,-0.041755,-0.733462,-0.090852,0.672336
18,4,368640,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.212616,-0.086361,0.887362,0.394779,-0.021189,0.012172,0.918451
18,4,368640,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084679,0.075344,0.878547,0.383537,0.003207,0.013068,0.923427
18,4,368640,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075047,0.871345,0.999999,-0.000157,0.001163,-0.000133
18,4,368640,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000453
18,4,368640,40,gripper,0,"","put carrot on flat bowl",-0.171875,-0.072795,0.986843,-0.079442,-0.708366,-0.039523,0.700246
18,4,368640,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213924,-0.056696,0.887239,0.385220,-0.025677,0.018938,0.922273
18,4,368640,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.113964,0.045483,0.878547,0.408429,0.003563,0.012984,0.912691
18,4,368640,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
18,4,368640,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
18,4,368640,41,gripper,0,"","put carrot on flat bowl",-0.162724,-0.025614,0.969925,0.038556,-0.728109,0.047828,0.682703
18,4,368640,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203411,0.075687,0.887529,0.999059,0.000149,0.043221,-0.003477
18,4,368640,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999909,0.013298,0.002040,-0.000791
18,4,368640,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
18,4,368640,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
18,4,368640,42,gripper,0,"","put carrot on flat bowl",-0.064138,0.014550,0.988114,-0.183987,-0.867572,-0.043703,0.459954
18,4,368640,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
18,4,368640,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084982,-0.075443,0.878548,0.999908,0.013330,0.002032,-0.001169
18,4,368640,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,4,368640,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
18,4,368640,43,gripper,0,"","put carrot on flat bowl",-0.102612,0.054788,1.045476,0.006080,-0.751888,-0.002141,0.659259
18,4,368640,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.125858,0.042065,0.887432,0.767743,-0.023281,0.024927,0.639849
18,4,368640,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084561,-0.074993,0.878547,0.706792,0.007942,0.010853,0.707294
18,4,368640,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
18,4,368640,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.075001,0.874362,1.000000,0.000000,0.000000,0.000003
18,4,368640,44,gripper,0,"","put banana on sheet metal",-0.040004,-0.005678,0.993675,0.070465,-0.752806,0.152116,0.636536
18,4,368640,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
18,4,368640,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204981,-0.075438,0.878547,0.999910,0.013276,0.002045,-0.000412
18,4,368640,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
18,4,368640,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
18,4,368640,45,gripper,0,"","put banana on sheet metal",-0.156618,-0.056122,0.969417,-0.004428,-0.736903,-0.032532,0.675201
18,4,368640,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237370,-0.074835,0.887529,0.672618,-0.031959,0.029098,0.738727
18,4,368640,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084549,0.075020,0.878547,0.707910,0.007968,0.010844,0.706174
18,4,368640,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
18,4,368640,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
18,4,368640,46,gripper,0,"","put banana on sheet metal",-0.055525,0.089914,0.998446,0.122930,-0.714602,0.061875,0.685860
18,4,368640,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205940,0.079636,0.887116,0.365575,-0.021548,0.020139,0.930315
18,4,368640,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114704,-0.074667,0.878547,0.384189,0.003218,0.013070,0.923156
18,4,368640,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
18,4,368640,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000609
18,4,368640,47,gripper,0,"","put banana on sheet metal",-0.080986,-0.040766,0.968440,0.142853,-0.779090,0.088015,0.604041
18,4,368640,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085281,0.097889,0.890726,0.799759,-0.027882,0.000960,0.599672
18,4,368640,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.232712,-0.043415,0.895359,0.472689,-0.534395,0.458820,0.529596
18,4,368640,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.239410,-0.076061,0.872199,0.999967,-0.000000,-0.000001,0.008185
18,4,368640,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.074993,0.870870,1.000000,-0.000000,-0.000001,0.000106
18,4,368640,48,gripper,0,"","put plastic bottle on cutting board",-0.213806,-0.038609,0.971061,-0.161956,-0.727506,-0.157319,0.647886
18,4,368640,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.097660,-0.046116,0.890751,0.779262,-0.027613,0.000185,0.626090
18,4,368640,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.199181,-0.056137,0.893379,0.541278,-0.427987,0.490096,0.532590
18,4,368640,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236214,-0.103207,0.873460,0.963619,-0.019824,0.002411,-0.266532
18,4,368640,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114182,-0.045963,0.870867,0.999979,0.000000,0.000033,0.006478
18,4,368640,49,gripper,0,"","put plastic bottle on cutting board",-0.193134,-0.051834,0.950878,-0.138949,-0.791272,-0.157692,0.574208
18,4,368640,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.146946,0.085724,0.894225,0.893724,-0.205142,-0.249530,0.311302
18,4,368640,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.195686,-0.092484,0.887243,0.507740,-0.502107,0.513158,0.476191
18,4,368640,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000096
18,4,368640,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
18,4,368640,50,gripper,0,"","put plastic bottle on cutting board",-0.175238,-0.092216,0.926647,-0.050535,-0.739333,-0.047746,0.669741
18,4,368640,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.221115,0.071270,0.888112,0.664578,-0.026421,-0.007771,0.746711
18,4,368640,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078505,0.075272,0.894949,0.547492,-0.470807,0.495299,0.482983
18,4,368640,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083628,0.074715,0.872199,0.999851,-0.000001,-0.000001,0.017234
18,4,368640,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204966,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000066
18,4,368640,51,gripper,0,"","put plastic bottle on cutting board",-0.101030,0.059427,1.011963,-0.057439,-0.753058,-0.075207,0.651113
18,4,368640,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235471,0.076088,0.888111,0.932331,-0.027055,0.005157,0.360557
18,4,368640,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.092029,-0.052994,0.898132,-0.028380,0.736041,-0.675545,-0.032819
18,4,368640,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085345,-0.075172,0.872199,1.000000,-0.000000,-0.000000,-0.000450
18,4,368640,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.093485,0.063328,0.870870,0.997883,-0.000000,-0.000001,-0.065028
18,4,368640,52,gripper,0,"","put hamburger on frying pan",-0.135445,-0.106586,0.983543,0.101102,-0.736697,0.125398,0.656758
18,4,368640,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235949,0.075615,0.888112,0.713102,-0.026883,-0.005979,0.700520
18,4,368640,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.107204,0.015129,0.889919,-0.008268,-0.749558,0.661884,0.002210
18,4,368640,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084412,-0.074993,0.872199,1.000000,-0.000001,-0.000001,0.000001
18,4,368640,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.202517,-0.029099,0.870882,0.996467,0.000575,0.000694,0.083977
18,4,368640,53,gripper,0,"","put hamburger on frying pan",-0.082331,0.024443,0.990520,0.111932,-0.742790,0.051114,0.658119
18,4,368640,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.053398,-0.229881,0.893435,0.067014,-0.279048,0.746791,0.599954
18,4,368640,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",1.081734,1.432423,0.021845,0.003341,-0.976723,0.075381,0.200796
18,4,368640,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.206581,0.088158,0.872199,0.983735,-0.000001,-0.000000,0.179626
18,4,368640,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.087776,-0.169144,0.870883,0.750313,0.000974,0.000071,-0.661081
18,4,368640,54,gripper,0,"","put hamburger on frying pan",-0.193686,-0.124294,0.979549,0.019582,-0.744589,-0.000550,0.667236
18,4,368640,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.062885,0.101757,0.899014,0.518630,-0.525526,0.614126,0.278737
18,4,368640,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.220661,-0.061455,0.887026,0.702642,-0.067238,0.706516,0.051064
18,4,368640,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.075249,0.082066,0.872199,0.999867,0.000000,-0.000000,0.016292
18,4,368640,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
18,4,368640,55,gripper,0,"","put hamburger on frying pan",-0.129025,0.021297,1.024178,0.095241,-0.737864,0.076326,0.663822
18,4,368640,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.045189,0.055622,0.896490,0.922235,-0.015293,0.019509,-0.385835
18,4,368640,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205978,0.075722,0.887026,0.704494,-0.019359,0.709438,0.003485
18,4,368640,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085335,0.074379,0.872199,0.999812,0.000001,-0.000003,-0.019401
18,4,368640,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234985,-0.075012,0.870870,1.000000,-0.000000,-0.000001,0.000020
18,4,368640,56,gripper,0,"","put hamburger on cutting board",-0.127430,-0.010496,1.033113,0.028673,-0.709083,0.153883,0.687531
18,4,368640,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.088638,-0.159271,0.890719,-0.515492,0.709060,-0.443263,0.187135
18,4,368640,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.105602,-0.053326,0.889597,0.347099,-0.623360,0.340370,0.612448
18,4,368640,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084087,0.074936,0.872199,0.999998,-0.000000,-0.000001,-0.002200
18,4,368640,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115219,-0.075268,0.870870,0.999996,0.000000,0.000000,0.002699
18,4,368640,57,gripper,0,"","put hamburger on cutting board",-0.144882,-0.076630,1.080010,0.001521,-0.755535,-0.008908,0.655046
18,4,368640,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.166969,0.429276,0.021728,0.052919,0.779872,0.618502,-0.080341
18,4,368640,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.164700,0.001690,0.931007,0.392448,0.609787,-0.334940,0.601631
18,4,368640,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205227,0.074223,0.872199,0.928089,-0.000001,-0.000001,-0.372359
18,4,368640,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084507,0.075825,0.870870,0.999977,0.000000,-0.000000,0.006725
18,4,368640,58,gripper,0,"","put hamburger on cutting board",-0.196062,-0.014690,0.962312,-0.115277,-0.744211,-0.118771,0.647112
18,4,368640,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.162907,0.103233,0.890428,0.169956,-0.017952,-0.018053,0.985123
18,4,368640,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.272951,-0.039616,0.887026,0.282099,-0.656507,0.269588,0.645555
18,4,368640,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114798,-0.078896,0.872199,0.999453,-0.000000,-0.000001,-0.033080
18,4,368640,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204830,0.075485,0.870870,0.999997,-0.000003,-0.000003,-0.002253
18,4,368640,59,gripper,0,"","put hamburger on cutting board",-0.147141,0.095621,1.098674,0.039158,-0.696538,0.125755,0.705328
18,4,368640,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.177558,0.189110,0.890719,0.170252,-0.087790,0.831588,-0.521315
18,4,368640,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.189775,0.146282,0.889773,0.028663,-0.622145,0.781969,0.025259
18,4,368640,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235500,0.075485,0.872199,0.999963,-0.000000,-0.000001,0.008652
18,4,368640,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.057893,0.067047,0.870876,0.984343,0.000745,0.000589,-0.176261
18,4,368640,60,gripper,0,"","put plastic bottle on frying pan",-0.122362,0.108074,0.936706,0.064129,-0.853257,0.024501,0.516952
18,4,368640,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.076403,-0.046402,0.954236,0.628432,-0.010901,0.045513,0.776456
18,4,368640,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.101507,-0.005032,0.885720,-0.505419,-0.498667,0.479009,-0.516172
18,4,368640,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.203430,-0.073490,0.872199,0.999931,-0.000000,-0.000001,-0.011772
18,4,368640,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082569,-0.082085,0.870871,0.999916,-0.000000,-0.000001,-0.012980
18,4,368640,61,gripper,0,"","put plastic bottle on frying pan",-0.086752,-0.050320,0.981365,0.003372,-0.804825,-0.057802,0.590681
18,4,368640,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.095943,-0.068523,0.890616,0.302322,-0.020930,-0.015324,0.952853
18,4,368640,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.258564,-0.069798,0.887026,0.314496,-0.641985,0.302559,0.630401
18,4,368640,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.106079,0.050182,0.872199,0.999911,-0.000001,-0.000001,-0.013304
18,4,368640,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000046
18,4,368640,62,gripper,0,"","put plastic bottle on frying pan",-0.225904,-0.016268,0.964078,0.237796,-0.700692,0.439253,0.509450
18,4,368640,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.304863,0.105667,0.888749,-0.613609,-0.023939,-0.016041,-0.789084
18,4,368640,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.222973,0.073418,0.889091,-0.402399,-0.566108,0.632483,-0.342871
18,4,368640,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.237934,-0.092911,0.872199,0.999435,-0.000000,-0.000001,0.033612
18,4,368640,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.113258,-0.045650,0.870870,0.999933,0.000000,-0.000001,-0.011549
18,4,368640,63,gripper,0,"","put plastic bottle on frying pan",-0.204113,0.065313,0.919472,0.091736,-0.759522,0.003596,0.643970
19,1,373760,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.200424,-0.065491,0.885083,0.649696,0.313285,-0.339572,0.603688
19,1,373760,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205109,0.074020,0.881637,0.706826,0.024498,-0.030806,0.706291
19,1,373760,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000024
19,1,373760,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
19,1,373760,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.250645,-0.053066,1.076735,0.007273,-0.734709,0.032805,0.677550
19,1,373760,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.085423,-0.072983,0.879213,0.277457,-0.078127,-0.957310,-0.021697
19,1,373760,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235962,0.075111,0.881638,0.999225,-0.004457,-0.039111,-0.000289
19,1,373760,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
19,1,373760,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.316757,-0.042419,0.871178,0.972497,-0.001521,-0.004064,-0.232877
19,1,373760,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.264431,-0.091682,0.912843,0.172435,-0.680882,0.170073,0.691188
19,1,373760,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202015,0.060577,0.885368,0.712906,-0.182183,0.210318,0.643693
19,1,373760,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205776,-0.075592,0.881638,0.923218,0.010858,-0.037841,0.382255
19,1,373760,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234993,0.044998,0.869532,1.000000,-0.000001,-0.000001,-0.000027
19,1,373760,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
19,1,373760,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.226521,0.057156,1.115209,0.045865,-0.745212,0.019691,0.664957
19,1,373760,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.228256,0.094528,0.879375,0.961907,-0.018154,-0.086306,-0.258760
19,1,373760,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204020,-0.043549,0.881638,0.999098,-0.005065,-0.039049,-0.015909
19,1,373760,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
19,1,373760,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
19,1,373760,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.277665,0.038319,0.918151,0.224070,-0.692479,0.135974,0.672143
19,1,373760,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.201552,0.030014,0.885085,0.560727,0.357571,-0.294187,0.686427
19,1,373760,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084247,-0.075172,0.884037,0.707563,0.028892,0.020238,0.705770
19,1,373760,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234996,0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000004
19,1,373760,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205013,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000063
19,1,373760,4,gripper,0,"","put ketchup bottle on cloth",-0.205191,0.017109,1.013235,-0.046527,-0.767612,-0.015636,0.639032
19,1,373760,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.201582,0.054085,0.888048,0.760908,0.230899,-0.406839,0.449652
19,1,373760,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115154,-0.046234,0.883923,0.922678,0.046461,-0.024210,0.381995
19,1,373760,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000008
19,1,373760,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205318,0.045174,0.871210,0.999982,-0.003917,-0.004120,-0.002118
19,1,373760,5,gripper,0,"","put ketchup bottle on cloth",-0.225779,0.087315,1.066613,0.123105,-0.718077,0.246199,0.639215
19,1,373760,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.058041,0.076103,0.879255,-0.290611,-0.082602,0.952853,-0.028180
19,1,373760,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.086269,-0.075783,0.881638,0.999221,-0.004324,-0.039101,0.003096
19,1,373760,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000019
19,1,373760,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000451,-0.001265,-0.000001
19,1,373760,6,gripper,0,"","put ketchup bottle on cloth",-0.067034,0.040150,0.928250,0.040435,-0.797221,-0.047665,0.600443
19,1,373760,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.139885,0.034256,0.883450,0.452506,-0.547539,0.321525,0.626148
19,1,373760,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235115,-0.075981,0.881638,0.706778,0.024507,-0.030812,0.706339
19,1,373760,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085003,0.074982,0.869532,1.000000,-0.000000,-0.000001,0.000050
19,1,373760,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
19,1,373760,7,gripper,0,"","put ketchup bottle on cloth",-0.200756,0.011860,0.934772,-0.122390,-0.742599,-0.138626,0.643701
19,1,373760,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.200371,0.032669,0.885209,0.219861,0.586876,-0.760273,0.170945
19,1,373760,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083893,0.074192,0.883292,0.706509,0.041943,-0.007859,0.706416
19,1,373760,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205009,0.074993,0.869532,1.000000,0.000000,-0.000001,-0.000070
19,1,373760,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.074715,-0.074486,0.871288,0.999034,-0.000198,-0.001011,-0.043924
19,1,373760,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.175976,0.057142,0.979311,0.034606,-0.730063,0.049581,0.680699
19,1,373760,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094727,0.075008,0.879089,0.886324,-0.001327,-0.463063,0.000566
19,1,373760,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205971,-0.074890,0.881638,0.999226,-0.004459,-0.039079,-0.000320
19,1,373760,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
19,1,373760,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074955,0.871612,0.999958,-0.008441,-0.003494,-0.000038
19,1,373760,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.112467,-0.027384,0.917137,-0.131220,-0.706577,0.013554,0.695232
19,1,373760,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078064,-0.081852,0.879089,0.338490,0.427346,-0.178347,0.819141
19,1,373760,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204395,0.044228,0.881638,0.382539,0.034435,-0.019078,0.923100
19,1,373760,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
19,1,373760,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
19,1,373760,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.140549,0.097391,1.002596,0.019790,-0.706633,0.020314,0.707012
19,1,373760,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078070,-0.081879,0.879088,0.338426,0.427357,-0.178312,0.819169
19,1,373760,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.194031,-0.031174,0.894129,0.677066,-0.038851,-0.051019,0.733123
19,1,373760,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235003,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000018
19,1,373760,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,0.045002,0.871288,0.999999,-0.000154,-0.001019,0.000002
19,1,373760,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.204879,-0.033609,0.927285,0.002847,-0.758587,-0.043283,0.650126
19,1,373760,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.082608,-0.085148,0.879089,0.613758,0.332951,-0.321836,0.639426
19,1,373760,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.184273,-0.003941,0.881638,0.698740,0.024833,-0.030513,0.714293
19,1,373760,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
19,1,373760,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
19,1,373760,12,gripper,0,"","put kitchen shovel on cloth",-0.200140,-0.007137,0.928717,0.000403,-0.741418,-0.013340,0.670911
19,1,373760,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097622,-0.087669,0.879125,0.585813,0.294794,-0.715019,0.242214
19,1,373760,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.245264,0.066391,0.883889,0.803115,0.040149,0.000783,0.594469
19,1,373760,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000003
19,1,373760,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
19,1,373760,13,gripper,0,"","put kitchen shovel on cloth",-0.216981,0.055071,0.914433,0.115710,-0.712623,0.075709,0.687785
19,1,373760,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214771,0.045078,0.879088,0.886666,-0.001695,-0.462408,0.000009
19,1,373760,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.066509,0.069099,0.881641,0.995002,-0.000772,0.040186,-0.091412
19,1,373760,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
19,1,373760,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
19,1,373760,14,gripper,0,"","put kitchen shovel on cloth",-0.109201,0.117069,0.998064,0.214448,-0.708445,0.147687,0.655977
19,1,373760,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.216000,-0.086102,0.948948,0.786252,0.172999,-0.369355,0.464173
19,1,373760,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.131718,0.061363,0.888455,0.802831,0.016939,-0.038275,0.594735
19,1,373760,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000022
19,1,373760,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871289,0.999999,-0.000157,-0.001019,-0.000004
19,1,373760,15,gripper,0,"","put kitchen shovel on cloth",-0.224627,-0.078220,0.991510,0.144657,-0.750973,0.220336,0.605447
19,1,373760,16,obj,0,"003_bread_1","put bread on newspaper",-0.218918,0.014965,0.885161,0.456105,0.049596,-0.046362,0.887332
19,1,373760,16,obj,1,"005_7up can_1","put bread on newspaper",-0.185898,-0.078594,0.937873,0.682613,0.090928,-0.090739,0.719402
19,1,373760,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234818,0.074974,0.869489,0.999998,0.000539,0.001413,0.001302
19,1,373760,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.075001,0.870367,0.999997,0.000177,-0.001144,0.002090
19,1,373760,16,gripper,0,"","put bread on newspaper",-0.168682,-0.079266,0.977843,0.045880,-0.781303,0.024986,0.621961
19,1,373760,17,obj,0,"003_bread_1","put bread on newspaper",-0.182213,-0.052860,0.884163,0.999550,-0.000040,0.014156,0.026429
19,1,373760,17,obj,1,"005_7up can_1","put bread on newspaper",-0.244328,0.075180,0.885636,0.958611,-0.005305,-0.284670,0.000381
19,1,373760,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235027,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000138
19,1,373760,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
19,1,373760,17,gripper,0,"","put bread on newspaper",-0.160749,-0.012947,0.969249,0.042868,-0.722760,0.069573,0.686251
19,1,373760,18,obj,0,"003_bread_1","put bread on newspaper",-0.225754,0.028625,0.886748,0.948366,0.013847,-0.000122,0.316876
19,1,373760,18,obj,1,"005_7up can_1","put bread on newspaper",-0.120514,-0.080257,0.885626,0.897961,0.084494,-0.217151,0.373326
19,1,373760,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205032,0.075031,0.869490,1.000000,0.000182,0.000874,-0.000363
19,1,373760,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000037
19,1,373760,18,gripper,0,"","put bread on newspaper",-0.236284,0.013865,0.945029,0.059289,-0.738697,-0.033492,0.670589
19,1,373760,19,obj,0,"003_bread_1","put bread on newspaper",-0.136728,-0.107574,0.888441,0.987293,-0.079353,0.130939,-0.042547
19,1,373760,19,obj,1,"005_7up can_1","put bread on newspaper",-0.242598,0.075172,0.885626,0.972477,-0.005088,-0.232941,0.001058
19,1,373760,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.204983,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000013
19,1,373760,19,recep,1,"003_carpet_1","put bread on newspaper",-0.114988,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000037
19,1,373760,19,gripper,0,"","put bread on newspaper",-0.130308,-0.108086,0.938670,-0.057199,-0.781573,-0.085654,0.615252
19,1,373760,20,obj,0,"003_bread_1","put bread on carpet",-0.173837,0.064682,0.883544,0.943588,0.005856,-0.011216,0.330881
19,1,373760,20,obj,1,"005_7up can_1","put bread on carpet",-0.090505,0.069744,0.885626,0.898152,0.084382,-0.217191,0.372867
19,1,373760,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000000
19,1,373760,20,recep,1,"003_carpet_1","put bread on carpet",-0.115002,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000001
19,1,373760,20,gripper,0,"","put bread on carpet",-0.158856,0.074148,0.941037,0.000459,-0.741174,0.035935,0.670350
19,1,373760,21,obj,0,"003_bread_1","put bread on carpet",-0.205927,-0.039528,0.886582,0.239703,0.012929,-0.000040,0.970760
19,1,373760,21,obj,1,"005_7up can_1","put bread on carpet",-0.228525,0.068298,0.885635,0.365961,0.261022,-0.113676,0.886012
19,1,373760,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
19,1,373760,21,recep,1,"003_carpet_1","put bread on carpet",-0.204966,-0.044998,0.870447,0.999999,-0.000872,-0.000800,-0.001154
19,1,373760,21,gripper,0,"","put bread on carpet",-0.084423,-0.088465,0.958714,0.010044,-0.773291,-0.039284,0.632753
19,1,373760,22,obj,0,"003_bread_1","put bread on carpet",-0.084480,-0.075478,0.883544,0.383606,0.012273,-0.003119,0.923410
19,1,373760,22,obj,1,"005_7up can_1","put bread on carpet",-0.143730,-0.006115,0.885974,0.274629,0.603971,-0.712067,0.229691
19,1,373760,22,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
19,1,373760,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
19,1,373760,22,gripper,0,"","put bread on carpet",-0.160563,-0.010052,0.971357,0.017458,-0.753724,-0.082535,0.651754
19,1,373760,23,obj,0,"003_bread_1","put bread on carpet",-0.235134,0.074444,0.883544,0.709273,0.010112,-0.007602,0.704821
19,1,373760,23,obj,1,"005_7up can_1","put bread on carpet",-0.172089,-0.019840,0.885637,0.780014,0.095854,-0.118686,0.606881
19,1,373760,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
19,1,373760,23,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
19,1,373760,23,gripper,0,"","put bread on carpet",-0.119526,-0.081604,0.953887,-0.075682,-0.751153,0.004841,0.655758
19,1,373760,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.253311,-0.071983,0.883544,0.699942,0.010223,-0.007471,0.714087
19,1,373760,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.164009,0.045895,0.885929,0.173326,-0.803117,0.288787,0.491490
19,1,373760,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000030
19,1,373760,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084717,0.074705,0.870448,0.999999,-0.000821,-0.000758,-0.001063
19,1,373760,24,gripper,0,"","put 7up can on newspaper",-0.192448,-0.040227,0.942750,-0.080546,-0.765986,-0.050890,0.635758
19,1,373760,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,0.074490,0.883544,0.924410,0.006459,-0.010886,0.381189
19,1,373760,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.203773,0.011856,0.885934,0.658770,0.335066,-0.417645,0.528513
19,1,373760,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
19,1,373760,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234917,-0.045725,0.870460,0.999986,0.000018,-0.000158,-0.005216
19,1,373760,25,gripper,0,"","put 7up can on newspaper",-0.158468,-0.050178,0.999903,0.065615,-0.756840,0.097012,0.643022
19,1,373760,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.204487,-0.075495,0.883544,0.383585,0.012268,-0.003116,0.923419
19,1,373760,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092232,-0.002455,0.885767,0.653317,-0.351056,0.490492,0.457552
19,1,373760,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235004,0.045000,0.869490,1.000000,0.000180,0.000874,-0.000152
19,1,373760,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.075018,0.870447,0.999999,-0.000922,-0.000845,-0.000021
19,1,373760,26,gripper,0,"","put 7up can on newspaper",-0.099806,-0.018631,0.943955,-0.069805,-0.797400,-0.126385,0.585924
19,1,373760,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.205128,-0.075546,0.883544,0.709128,0.010115,-0.007608,0.704966
19,1,373760,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.110516,0.094587,0.885995,0.256553,-0.632395,0.694160,0.228908
19,1,373760,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
19,1,373760,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
19,1,373760,27,gripper,0,"","put 7up can on newspaper",-0.110009,0.089849,0.922849,0.072611,-0.753341,-0.012737,0.653485
19,1,373760,28,obj,0,"003_bread_1","put 7up can on carpet",-0.084486,-0.075491,0.883544,0.383682,0.012270,-0.003126,0.923378
19,1,373760,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.215729,0.032648,0.885617,-0.727494,0.079740,-0.078035,-0.676982
19,1,373760,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000005
19,1,373760,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.234925,-0.045277,0.870445,0.999997,-0.000729,-0.001045,-0.001996
19,1,373760,28,gripper,0,"","put 7up can on carpet",-0.219631,0.034610,0.965001,-0.042427,-0.772227,-0.056528,0.631403
19,1,373760,29,obj,0,"003_bread_1","put 7up can on carpet",-0.200375,-0.079401,0.883649,0.958354,0.007944,-0.019014,0.284837
19,1,373760,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092808,0.094013,0.888888,0.573135,-0.327126,0.704477,0.261183
19,1,373760,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235020,0.045000,0.869490,1.000000,0.000179,0.000874,-0.000020
19,1,373760,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.086294,0.075722,0.870362,0.999930,-0.000640,-0.001831,-0.011673
19,1,373760,29,gripper,0,"","put 7up can on carpet",-0.219547,-0.100094,0.941829,0.004823,-0.677475,0.054269,0.733525
19,1,373760,30,obj,0,"003_bread_1","put 7up can on carpet",-0.239159,-0.024519,0.883544,0.769014,0.009407,-0.008466,0.639107
19,1,373760,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.237820,-0.084219,0.885678,0.628677,0.225654,-0.203109,0.715955
19,1,373760,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204281,0.075706,0.869490,0.999990,0.000176,0.000875,0.004336
19,1,373760,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
19,1,373760,30,gripper,0,"","put 7up can on carpet",-0.226788,-0.077361,0.934617,-0.221540,-0.723381,-0.175518,0.629947
19,1,373760,31,obj,0,"003_bread_1","put 7up can on carpet",-0.216396,-0.069851,0.886505,0.999904,0.003061,-0.008796,-0.010304
19,1,373760,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.213448,0.045347,0.885598,0.965862,-0.009411,-0.258883,0.001624
19,1,373760,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
19,1,373760,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.234608,-0.074421,0.870461,0.999994,0.000011,-0.000166,0.003394
19,1,373760,31,gripper,0,"","put 7up can on carpet",-0.106627,-0.100084,0.949501,-0.060568,-0.761879,0.002919,0.644874
19,1,373760,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.223244,-0.078704,0.994415,0.984176,-0.028796,0.142068,0.101912
19,1,373760,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.085007,0.074563,0.878547,0.999910,0.013264,0.002052,0.000417
19,1,373760,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
19,1,373760,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
19,1,373760,32,gripper,0,"","put carrot on sheet metal",-0.200607,-0.070809,1.039328,-0.116708,-0.695668,-0.074445,0.704899
19,1,373760,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238285,-0.068224,0.887332,0.999319,-0.004580,0.034310,-0.012758
19,1,373760,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
19,1,373760,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
19,1,373760,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
19,1,373760,33,gripper,0,"","put carrot on sheet metal",-0.180613,-0.028135,0.984349,-0.188456,-0.688359,-0.077314,0.696181
19,1,373760,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007858
19,1,373760,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.075440,0.878547,0.999910,0.013273,0.002050,0.000284
19,1,373760,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
19,1,373760,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
19,1,373760,34,gripper,0,"","put carrot on sheet metal",-0.175402,0.078111,0.980493,-0.049409,-0.745940,0.012651,0.664057
19,1,373760,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203398,0.076014,0.887529,0.998967,-0.000608,0.043216,0.014023
19,1,373760,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.114992,-0.075438,0.878547,0.999909,0.013302,0.002054,0.000330
19,1,373760,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
19,1,373760,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
19,1,373760,35,gripper,0,"","put carrot on sheet metal",-0.169619,0.083614,0.973069,0.039035,-0.754470,-0.027690,0.654587
19,1,373760,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236549,-0.073745,0.887529,0.374960,-0.040064,0.016221,0.926033
19,1,373760,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204693,0.075320,0.878547,0.382234,0.003197,0.013097,0.923967
19,1,373760,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000158,0.001164,-0.000016
19,1,373760,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000001,0.000003
19,1,373760,36,gripper,0,"","put carrot on flat bowl",-0.191765,-0.063875,0.999480,0.015585,-0.708024,0.092903,0.699877
19,1,373760,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087921,0.041682,0.887315,0.355941,-0.013703,0.002507,0.934405
19,1,373760,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204695,0.075317,0.878547,0.382300,0.003195,0.013090,0.923940
19,1,373760,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000010
19,1,373760,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
19,1,373760,37,gripper,0,"","put carrot on flat bowl",-0.061565,0.085812,0.993990,0.247001,-0.676927,0.270759,0.638319
19,1,373760,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087170,-0.071604,0.887344,0.911017,-0.010026,0.034827,0.410773
19,1,373760,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
19,1,373760,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
19,1,373760,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
19,1,373760,38,gripper,0,"","put carrot on flat bowl",-0.065643,-0.035780,0.999056,-0.041850,-0.767635,0.073201,0.635316
19,1,373760,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237728,-0.075952,0.887548,0.997261,-0.000106,0.027584,-0.068631
19,1,373760,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114998,-0.045441,0.878547,0.999910,0.013277,0.002053,0.000340
19,1,373760,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
19,1,373760,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
19,1,373760,39,gripper,0,"","put carrot on flat bowl",-0.143202,-0.018355,1.049790,-0.043998,-0.738731,0.005922,0.672536
19,1,373760,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236343,0.075947,0.887450,0.997457,-0.002036,0.025960,0.066349
19,1,373760,40,obj,1,"013_banana_1","put banana on sheet metal",-0.205009,-0.075436,0.878547,0.999909,0.013302,0.002047,0.000048
19,1,373760,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
19,1,373760,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
19,1,373760,40,gripper,0,"","put banana on sheet metal",-0.144550,-0.026094,1.027903,0.007689,-0.717627,0.007833,0.696341
19,1,373760,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088528,-0.076784,0.887409,0.349863,-0.037180,0.010327,0.936006
19,1,373760,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234711,-0.044708,0.878547,0.382751,0.003202,0.013076,0.923753
19,1,373760,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
19,1,373760,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
19,1,373760,41,gripper,0,"","put banana on sheet metal",-0.206032,-0.045242,0.968264,0.102822,-0.683714,0.212490,0.690515
19,1,373760,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203415,0.075573,0.887529,0.999053,-0.000214,0.043220,0.004929
19,1,373760,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.075434,0.878546,0.999910,0.013237,0.002048,-0.000197
19,1,373760,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
19,1,373760,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
19,1,373760,42,gripper,0,"","put banana on sheet metal",-0.073786,0.018804,1.028249,-0.005954,-0.762200,0.052394,0.645190
19,1,373760,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239971,-0.072535,0.887186,0.997799,0.010120,0.025522,-0.060355
19,1,373760,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084980,0.074562,0.878547,0.999910,0.013293,0.002048,0.000117
19,1,373760,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
19,1,373760,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
19,1,373760,43,gripper,0,"","put banana on sheet metal",-0.033900,0.040960,0.965413,0.275879,-0.835731,0.239071,0.410232
19,1,373760,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207214,-0.073025,0.887190,0.909458,0.000926,0.012439,0.415609
19,1,373760,44,obj,1,"013_banana_1","put banana on flat bowl",-0.084685,0.074690,0.878547,0.923614,0.011491,0.006984,0.383089
19,1,373760,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
19,1,373760,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
19,1,373760,44,gripper,0,"","put banana on flat bowl",-0.056805,0.068593,0.992275,-0.013544,-0.734501,-0.071056,0.674741
19,1,373760,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232569,-0.046631,0.887529,0.928581,-0.015948,0.040175,0.368603
19,1,373760,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084675,0.074692,0.878547,0.923804,0.011494,0.006978,0.382631
19,1,373760,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
19,1,373760,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000060
19,1,373760,45,gripper,0,"","put banana on flat bowl",-0.062375,0.088367,0.968811,0.166182,-0.724611,0.021038,0.668491
19,1,373760,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243641,0.070253,0.887352,0.251805,-0.033944,0.013751,0.967085
19,1,373760,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
19,1,373760,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
19,1,373760,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000000,-0.000000,0.000140
19,1,373760,46,gripper,0,"","put banana on flat bowl",-0.030188,-0.028602,0.964299,0.191156,-0.816355,0.340417,0.425605
19,1,373760,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207233,-0.071217,0.887486,0.996500,-0.001867,0.028829,0.078437
19,1,373760,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
19,1,373760,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
19,1,373760,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
19,1,373760,47,gripper,0,"","put banana on flat bowl",-0.158928,0.066990,0.978163,-0.239707,-0.673853,-0.204027,0.668458
19,1,373760,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.105995,-0.035797,0.964907,0.717768,0.022385,0.076723,0.691680
19,1,373760,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085907,0.104305,0.887026,0.497157,-0.513902,0.489480,0.499149
19,1,373760,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
19,1,373760,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
19,1,373760,48,gripper,0,"","put hamburger on frying pan",-0.113117,-0.037468,1.011291,-0.038841,-0.715590,-0.045001,0.695987
19,1,373760,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.169800,0.168465,0.891791,-0.225942,-0.889793,0.392762,-0.054370
19,1,373760,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.135437,-0.115482,0.921616,0.689558,0.677977,0.200924,0.156480
19,1,373760,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234997,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000043
19,1,373760,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
19,1,373760,49,gripper,0,"","put hamburger on frying pan",-0.157120,-0.111269,1.002261,0.070108,-0.744161,0.087517,0.658520
19,1,373760,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234406,0.075962,0.888112,0.999587,-0.023252,0.014761,-0.008243
19,1,373760,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.058773,0.015785,0.887026,0.646198,-0.297156,0.644503,0.280611
19,1,373760,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000234
19,1,373760,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084019,-0.076920,0.870870,0.999543,0.000000,-0.000001,-0.030233
19,1,373760,50,gripper,0,"","put hamburger on frying pan",-0.129543,-0.055035,0.989666,-0.013109,-0.778981,0.024005,0.626450
19,1,373760,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.428551,-0.345810,0.019312,-0.810649,0.027478,0.001860,-0.584884
19,1,373760,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.095043,0.066483,0.887026,0.649653,-0.289082,0.648164,0.272518
19,1,373760,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,1,373760,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
19,1,373760,51,gripper,0,"","put hamburger on frying pan",-0.148878,-0.100763,0.973345,-0.174341,-0.769240,-0.193908,0.583331
19,1,373760,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.214234,-0.073654,0.889238,0.980689,-0.063766,-0.029485,-0.182522
19,1,373760,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055609,-0.074226,0.887027,0.704495,-0.017155,0.709500,0.001295
19,1,373760,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
19,1,373760,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
19,1,373760,52,gripper,0,"","put hamburger on cutting board",-0.235217,-0.079065,0.931350,-0.088058,-0.730595,-0.051151,0.675174
19,1,373760,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.048218,-0.005798,0.888214,0.511099,-0.025484,0.034029,0.858470
19,1,373760,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235758,0.104279,0.887026,0.497417,-0.513648,0.489748,0.498888
19,1,373760,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
19,1,373760,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084991,-0.075001,0.870870,1.000000,-0.000000,-0.000000,0.000004
19,1,373760,53,gripper,0,"","put hamburger on cutting board",-0.105639,-0.013121,0.993820,-0.175774,-0.788541,-0.088442,0.582653
19,1,373760,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.198593,-0.021477,0.890453,0.286011,-0.020559,-0.015746,0.957876
19,1,373760,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107578,0.097202,0.887055,0.246054,-0.660429,0.229728,0.671204
19,1,373760,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205006,0.075005,0.872199,1.000000,0.000000,-0.000001,-0.000101
19,1,373760,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045048,0.870862,1.000000,0.000074,0.000001,0.000051
19,1,373760,54,gripper,0,"","put hamburger on cutting board",-0.162874,-0.007242,1.043380,0.017125,-0.748763,0.033477,0.661771
19,1,373760,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.234406,0.075962,0.888112,0.999587,-0.023252,0.014761,-0.008243
19,1,373760,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.005844,-0.047268,0.887027,0.703918,0.012871,0.709592,-0.028505
19,1,373760,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
19,1,373760,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
19,1,373760,55,gripper,0,"","put hamburger on cutting board",-0.078497,-0.130346,0.975080,0.000655,-0.774980,0.033697,0.631086
19,1,373760,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236092,0.044807,0.888112,0.408186,-0.022845,-0.015381,0.912484
19,1,373760,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.118134,0.068821,0.887083,0.403768,0.230431,-0.106342,0.878956
19,1,373760,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
19,1,373760,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,-0.000000,0.000032
19,1,373760,56,gripper,0,"","put plastic bottle on frying pan",-0.088528,0.023626,1.026583,-0.041431,-0.720540,0.011123,0.692085
19,1,373760,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234406,0.075962,0.888112,0.999587,-0.023252,0.014761,-0.008243
19,1,373760,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.151993,-0.065609,0.887026,0.674537,0.189537,0.683931,-0.203261
19,1,373760,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.130806,0.092365,0.872199,0.962692,-0.000000,-0.000001,0.270600
19,1,373760,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.064705,-0.076530,0.870870,0.995496,-0.000000,-0.000001,-0.094807
19,1,373760,57,gripper,0,"","put plastic bottle on frying pan",-0.150709,-0.067160,1.004479,0.002952,-0.737529,0.042858,0.673947
19,1,373760,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115955,-0.074375,0.888112,0.712314,-0.026876,-0.006016,0.701321
19,1,373760,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205742,0.104126,0.887026,0.497525,-0.513541,0.489857,0.498784
19,1,373760,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,1,373760,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
19,1,373760,58,gripper,0,"","put plastic bottle on frying pan",-0.211349,0.116138,0.970343,-0.034475,-0.741707,-0.009178,0.669774
19,1,373760,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.037161,-0.064312,0.892100,0.565250,0.816248,-0.107488,-0.051762
19,1,373760,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065046,0.096497,0.887026,0.649686,-0.289002,0.648201,0.272438
19,1,373760,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235008,-0.075050,0.872199,1.000000,-0.000000,-0.000000,-0.000364
19,1,373760,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.229849,0.074379,0.870870,0.999587,-0.000000,-0.000001,0.028753
19,1,373760,59,gripper,0,"","put plastic bottle on frying pan",-0.142911,-0.020800,0.921091,-0.080385,-0.786067,-0.099699,0.604729
19,1,373760,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086097,0.074749,0.888112,0.388974,-0.022517,-0.015861,0.920837
19,1,373760,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.177012,0.070026,0.944343,0.715513,-0.678325,-0.149042,0.075515
19,1,373760,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
19,1,373760,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
19,1,373760,60,gripper,0,"","put plastic bottle on cutting board",-0.188774,0.060452,1.036881,-0.148594,-0.678994,-0.189055,0.693646
19,1,373760,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,-0.075222,0.888112,0.388398,-0.022508,-0.015874,0.921080
19,1,373760,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.273849,-0.101044,0.887026,0.227420,-0.676662,0.214044,0.666778
19,1,373760,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000010
19,1,373760,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
19,1,373760,61,gripper,0,"","put plastic bottle on cutting board",-0.222598,-0.010599,0.947599,0.265257,-0.744300,0.297091,0.536090
19,1,373760,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
19,1,373760,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.220352,0.070869,0.890040,0.588219,-0.412273,0.502281,0.481397
19,1,373760,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,1,373760,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235493,0.045197,0.870871,0.999997,-0.000014,-0.000008,0.002425
19,1,373760,62,gripper,0,"","put plastic bottle on cutting board",-0.205137,0.064705,0.972728,0.121545,-0.726893,0.030883,0.675203
19,1,373760,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204987,0.046104,0.888112,0.928273,-0.027111,0.004864,0.370878
19,1,373760,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.137001,-0.040405,0.905297,0.677940,-0.132663,0.132113,0.710876
19,1,373760,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,1,373760,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.239494,-0.079998,0.870870,0.999656,0.000000,-0.000001,0.026210
19,1,373760,63,gripper,0,"","put plastic bottle on cutting board",-0.146507,-0.038057,0.936623,-0.034432,-0.811608,-0.010281,0.583097
19,2,378880,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.209930,-0.036232,0.884978,-0.558054,0.435695,-0.483615,-0.514648
19,2,378880,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205414,0.074005,0.881638,0.706883,0.024499,-0.030811,0.706234
19,2,378880,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235275,-0.072525,0.869532,0.999122,-0.000000,-0.000001,0.041887
19,2,378880,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000157,-0.001019,0.000033
19,2,378880,0,gripper,0,"","put ketchup bottle on cloth",-0.219299,-0.048321,0.942439,-0.006806,-0.797142,0.012779,0.603619
19,2,378880,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.056400,0.055405,0.884977,-0.659383,0.315858,-0.569307,-0.375949
19,2,378880,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235962,0.075111,0.881638,0.999226,-0.004459,-0.039087,-0.000325
19,2,378880,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075005,0.869532,1.000000,0.000000,-0.000000,0.000056
19,2,378880,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.319252,-0.041130,0.871210,0.972445,-0.004763,-0.003103,-0.233061
19,2,378880,1,gripper,0,"","put ketchup bottle on cloth",-0.162586,0.008823,1.063093,0.079425,-0.722224,0.104019,0.679164
19,2,378880,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202007,0.060570,0.885368,0.712937,-0.182181,0.210338,0.643653
19,2,378880,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205772,-0.075592,0.881638,0.923196,0.010861,-0.037842,0.382308
19,2,378880,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234989,0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000089
19,2,378880,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
19,2,378880,2,gripper,0,"","put ketchup bottle on cloth",-0.150736,0.054081,1.100801,0.018595,-0.844088,0.105905,0.525312
19,2,378880,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.068499,0.110573,0.888001,0.755778,-0.059202,-0.064991,-0.648900
19,2,378880,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204018,-0.043556,0.881638,0.999099,-0.005064,-0.039046,-0.015867
19,2,378880,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000003
19,2,378880,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000010
19,2,378880,3,gripper,0,"","put ketchup bottle on cloth",-0.113914,0.079102,1.052921,0.075390,-0.822564,0.034380,0.562603
19,2,378880,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.168817,-0.024628,0.895266,0.648457,-0.026765,0.117429,0.751663
19,2,378880,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.088888,-0.034668,0.889358,0.662244,0.154303,-0.134306,0.720822
19,2,378880,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.232840,0.042946,0.869532,0.999440,0.000000,-0.000001,0.033470
19,2,378880,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.199906,-0.083534,0.871320,0.995950,-0.001121,-0.001190,-0.089892
19,2,378880,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.174469,-0.032532,0.922889,-0.022216,-0.775695,-0.030659,0.629972
19,2,378880,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.087744,0.074623,0.885369,-0.748729,0.169795,-0.220442,-0.601648
19,2,378880,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.106945,-0.039391,0.883973,0.901085,0.048356,-0.021389,0.430407
19,2,378880,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,0.074989,0.869532,1.000000,0.000001,-0.000001,0.000094
19,2,378880,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205320,0.045181,0.871210,0.999982,-0.003916,-0.004121,-0.001913
19,2,378880,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.159648,-0.060768,0.914856,0.164131,-0.793205,0.157902,0.564760
19,2,378880,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.058815,0.075554,0.879213,-0.277358,-0.076203,0.957463,-0.023022
19,2,378880,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.067822,-0.072624,0.881637,0.987587,0.004969,0.057310,-0.146163
19,2,378880,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000050
19,2,378880,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000449,-0.001263,0.000013
19,2,378880,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.096972,-0.039181,0.914117,0.011389,-0.829945,-0.001194,0.557728
19,2,378880,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.068539,0.078438,0.885083,0.628820,0.324804,-0.329111,0.625119
19,2,378880,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235115,-0.075974,0.881638,0.706694,0.024505,-0.030805,0.706423
19,2,378880,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085026,0.074982,0.869532,1.000000,-0.000001,-0.000000,-0.000075
19,2,378880,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.092628,-0.068909,0.871289,0.999912,-0.000144,-0.001021,0.013185
19,2,378880,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.097837,0.080929,1.045703,-0.028257,-0.697310,-0.052046,0.714319
19,2,378880,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.079575,-0.031513,0.888269,-0.583071,0.214264,-0.181727,-0.762296
19,2,378880,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085167,0.073761,0.883306,0.702164,0.042190,-0.007521,0.710725
19,2,378880,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205154,0.074989,0.869532,0.999998,-0.000001,-0.000001,0.001874
19,2,378880,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.074715,-0.074490,0.871288,0.999037,-0.000197,-0.001011,-0.043864
19,2,378880,8,gripper,0,"","put kitchen shovel on cloth",-0.164768,-0.077801,0.958703,-0.134003,-0.748895,-0.148421,0.631800
19,2,378880,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094727,0.075008,0.879089,0.886322,-0.001327,-0.463066,0.000565
19,2,378880,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.183010,-0.078236,0.881655,0.988711,-0.011569,0.057451,0.137898
19,2,378880,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
19,2,378880,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,-0.074982,0.871288,0.999999,-0.000153,-0.001019,-0.000020
19,2,378880,9,gripper,0,"","put kitchen shovel on cloth",-0.211414,-0.097708,0.913895,-0.004403,-0.755611,-0.002140,0.655002
19,2,378880,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078064,-0.081852,0.879089,0.338492,0.427345,-0.178347,0.819141
19,2,378880,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.130341,-0.024521,0.881638,0.696013,0.024940,-0.030413,0.716951
19,2,378880,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.077972,0.072273,0.869532,0.994062,0.000000,-0.000002,0.108811
19,2,378880,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.231392,-0.094021,0.871288,0.992588,-0.000276,-0.000993,-0.121520
19,2,378880,10,gripper,0,"","put kitchen shovel on cloth",-0.208130,-0.056225,0.977044,0.093073,-0.740348,0.139072,0.651061
19,2,378880,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.051355,-0.100040,0.879213,0.026060,0.955958,-0.093183,0.277097
19,2,378880,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.142338,0.040733,0.889920,0.702799,-0.044138,0.018940,0.709765
19,2,378880,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,0.000000,-0.000000,-0.000018
19,2,378880,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114988,0.045002,0.871288,0.999999,-0.000154,-0.001019,0.000025
19,2,378880,11,gripper,0,"","put kitchen shovel on cloth",-0.216583,0.035818,0.965535,-0.078717,-0.647398,-0.125158,0.747673
19,2,378880,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.082118,-0.086197,0.879135,0.617653,0.336643,-0.332420,0.628230
19,2,378880,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.125356,-0.049057,0.881785,0.713662,0.023892,-0.031933,0.699354
19,2,378880,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
19,2,378880,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
19,2,378880,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.145213,-0.050264,0.914678,0.027373,-0.802865,-0.004359,0.595516
19,2,378880,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.140671,-0.112835,0.879116,0.025528,0.959931,0.262189,-0.095591
19,2,378880,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.246414,0.066299,0.881638,0.802627,0.019726,-0.034060,0.595182
19,2,378880,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000007
19,2,378880,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
19,2,378880,13,gripper,0,"","put ketchup bottle on yellow_plate",0.086434,-0.052612,0.970699,0.098175,0.622594,-0.388181,-0.672350
19,2,378880,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.108593,-0.024307,0.885370,0.807515,0.055434,-0.068396,0.583240
19,2,378880,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.066162,0.068661,0.881641,0.996216,-0.001354,0.040139,-0.077082
19,2,378880,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114647,-0.045456,0.869532,0.999960,-0.000000,-0.000001,-0.008966
19,2,378880,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000096
19,2,378880,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.209095,-0.033726,0.966080,-0.044574,-0.777272,-0.019810,0.627271
19,2,378880,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.123112,0.004383,0.955672,0.559892,0.287789,-0.365449,0.685672
19,2,378880,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.131092,0.067863,0.888770,0.818633,-0.017690,0.006476,0.574009
19,2,378880,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.202209,0.086872,0.869532,0.999936,-0.000001,-0.000001,0.011347
19,2,378880,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075005,0.871288,1.000000,-0.000154,-0.001019,-0.000005
19,2,378880,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.169907,-0.000629,0.982836,-0.026259,-0.811356,-0.042806,0.582391
19,2,378880,16,obj,0,"003_bread_1","put bread on carpet",-0.218910,0.014877,0.885155,0.461683,0.049712,-0.045744,0.884468
19,2,378880,16,obj,1,"005_7up can_1","put bread on carpet",-0.161644,-0.079224,0.888378,0.619865,0.216326,-0.187426,0.730645
19,2,378880,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234818,0.074978,0.869489,0.999998,0.000546,0.001425,0.001491
19,2,378880,16,recep,1,"003_carpet_1","put bread on carpet",-0.204994,-0.074993,0.870368,0.999996,0.000107,-0.001086,0.002372
19,2,378880,16,gripper,0,"","put bread on carpet",-0.091297,-0.055874,1.121116,0.067082,-0.796650,0.062087,0.597490
19,2,378880,17,obj,0,"003_bread_1","put bread on carpet",-0.182213,-0.052860,0.884163,0.999556,-0.000034,0.014153,0.026230
19,2,378880,17,obj,1,"005_7up can_1","put bread on carpet",-0.246349,0.081406,0.885641,0.959486,-0.002770,-0.281599,0.009013
19,2,378880,17,recep,0,"004_newspaper_1","put bread on carpet",-0.235027,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000113
19,2,378880,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
19,2,378880,17,gripper,0,"","put bread on carpet",-0.184425,0.057953,0.973267,0.128271,-0.672334,0.076136,0.725064
19,2,378880,18,obj,0,"003_bread_1","put bread on carpet",-0.221848,0.012535,0.885811,0.954376,0.071412,-0.007902,0.289833
19,2,378880,18,obj,1,"005_7up can_1","put bread on carpet",-0.239132,0.049915,0.889560,-0.514803,0.466987,-0.452401,-0.558779
19,2,378880,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204823,0.074631,0.869490,0.999998,0.000180,0.000875,0.001931
19,2,378880,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.045025,0.870447,0.999999,-0.000923,-0.000845,-0.000078
19,2,378880,18,gripper,0,"","put bread on carpet",-0.195368,0.014025,0.980236,-0.015655,-0.726494,-0.028188,0.686416
19,2,378880,19,obj,0,"003_bread_1","put bread on carpet",-0.183344,-0.042286,0.885584,0.994093,-0.001516,0.004862,-0.108415
19,2,378880,19,obj,1,"005_7up can_1","put bread on carpet",-0.242598,0.075172,0.885626,0.972475,-0.005090,-0.232948,0.001051
19,2,378880,19,recep,0,"004_newspaper_1","put bread on carpet",-0.205038,-0.075039,0.869490,1.000000,0.000180,0.000875,-0.000032
19,2,378880,19,recep,1,"003_carpet_1","put bread on carpet",-0.114975,0.045002,0.870447,0.999999,-0.000923,-0.000845,-0.000070
19,2,378880,19,gripper,0,"","put bread on carpet",-0.168827,-0.028376,0.985360,0.060302,-0.733995,0.101135,0.668870
19,2,378880,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.227923,0.073067,0.883614,-0.068480,-0.995949,-0.011909,0.057042
19,2,378880,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.080351,0.076874,0.885675,0.964268,0.015744,-0.064472,0.256482
19,2,378880,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234920,-0.045071,0.869490,0.999999,0.000180,0.000874,-0.000684
19,2,378880,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000001
19,2,378880,20,gripper,0,"","put 7up can on newspaper",-0.213067,0.075977,0.963052,0.162248,-0.713552,0.111833,0.672318
19,2,378880,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.196196,-0.050137,0.886628,0.387840,0.014855,-0.002139,0.921605
19,2,378880,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.261909,0.086971,0.885626,-0.419031,-0.207900,0.105191,-0.877568
19,2,378880,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000006
19,2,378880,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.196985,-0.050449,0.870448,0.998523,-0.000958,-0.000786,-0.054314
19,2,378880,21,gripper,0,"","put 7up can on newspaper",-0.150559,-0.004408,0.994877,-0.030060,-0.771404,-0.039115,0.634430
19,2,378880,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.147179,-0.095200,0.883986,0.003448,0.373398,-0.898523,-0.230693
19,2,378880,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.125294,0.019947,0.887027,0.287009,0.493063,-0.807325,0.150801
19,2,378880,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
19,2,378880,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.086109,0.075638,0.870433,0.999956,-0.000656,-0.001096,-0.009295
19,2,378880,22,gripper,0,"","put 7up can on newspaper",-0.153877,-0.032648,0.916867,0.135824,-0.739069,0.060349,0.657029
19,2,378880,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.235134,0.074444,0.883544,0.709202,0.010115,-0.007606,0.704892
19,2,378880,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.188217,-0.069183,0.886751,0.627151,0.387053,-0.450376,0.504017
19,2,378880,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.236008,-0.074863,0.869483,0.999979,0.000542,0.001345,0.006276
19,2,378880,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
19,2,378880,23,gripper,0,"","put 7up can on newspaper",-0.101870,-0.053650,1.042043,0.013483,-0.755092,-0.008801,0.655421
19,2,378880,24,obj,0,"003_bread_1","put 7up can on carpet",-0.253311,-0.071983,0.883544,0.699862,0.010223,-0.007468,0.714166
19,2,378880,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.109718,-0.001505,0.885675,0.489363,0.309699,-0.187596,0.793359
19,2,378880,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085625,-0.076820,0.869490,0.999946,0.000171,0.000876,0.010379
19,2,378880,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.080971,0.070614,0.870448,0.999340,-0.000892,-0.000878,0.036292
19,2,378880,24,gripper,0,"","put 7up can on carpet",-0.151794,-0.043270,0.938138,-0.000771,-0.757260,-0.048641,0.651300
19,2,378880,25,obj,0,"003_bread_1","put 7up can on carpet",-0.229443,-0.006254,0.886581,0.836355,0.008212,-0.005274,0.548101
19,2,378880,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.200417,0.026318,0.885633,0.778473,0.069584,-0.083192,0.618237
19,2,378880,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
19,2,378880,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.234921,-0.045723,0.870466,0.999985,-0.000949,-0.001038,-0.005291
19,2,378880,25,gripper,0,"","put 7up can on carpet",-0.082966,0.066269,1.068399,-0.052921,-0.690705,0.055028,0.719095
19,2,378880,26,obj,0,"003_bread_1","put 7up can on carpet",-0.204487,-0.075495,0.883544,0.383454,0.012272,-0.003116,0.923473
19,2,378880,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.075993,0.059822,0.888455,-0.576353,-0.419742,0.454266,-0.534112
19,2,378880,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235004,0.044998,0.869490,1.000000,0.000180,0.000874,-0.000288
19,2,378880,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.116550,0.077854,0.870462,0.999768,0.000039,-0.000157,0.021549
19,2,378880,26,gripper,0,"","put 7up can on carpet",-0.102509,0.014697,0.962194,-0.064345,-0.748284,-0.111803,0.650715
19,2,378880,27,obj,0,"003_bread_1","put 7up can on carpet",-0.205128,-0.075546,0.883544,0.709032,0.010114,-0.007606,0.705062
19,2,378880,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.103304,-0.065914,0.888981,0.403911,-0.567963,0.389563,0.602092
19,2,378880,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234987,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000021
19,2,378880,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074978,0.870447,0.999999,-0.000923,-0.000844,0.000051
19,2,378880,27,gripper,0,"","put 7up can on carpet",-0.117295,-0.067033,1.127666,-0.111644,-0.792889,-0.100693,0.590528
19,2,378880,28,obj,0,"003_bread_1","put bread on newspaper",-0.223181,-0.032614,0.886570,0.237329,0.015520,-0.001020,0.971305
19,2,378880,28,obj,1,"005_7up can_1","put bread on newspaper",-0.215740,0.032383,0.885609,-0.729491,0.075882,-0.074261,-0.675699
19,2,378880,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000006
19,2,378880,28,recep,1,"003_carpet_1","put bread on newspaper",-0.234925,-0.045277,0.870445,0.999997,-0.000729,-0.001045,-0.001992
19,2,378880,28,gripper,0,"","put bread on newspaper",-0.105425,-0.073772,1.007743,0.019670,-0.765940,0.097748,0.635134
19,2,378880,29,obj,0,"003_bread_1","put bread on newspaper",-0.202370,-0.035669,0.883544,0.979089,0.004320,-0.011898,0.203038
19,2,378880,29,obj,1,"005_7up can_1","put bread on newspaper",-0.092585,0.104416,0.888952,0.615187,-0.152171,0.764584,0.117473
19,2,378880,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234873,0.044754,0.869489,1.000000,0.000180,0.000875,0.000258
19,2,378880,29,recep,1,"003_carpet_1","put bread on newspaper",-0.086323,0.076176,0.870448,0.999858,-0.000929,-0.000825,-0.016807
19,2,378880,29,gripper,0,"","put bread on newspaper",-0.181966,-0.017052,0.964054,-0.027904,-0.781574,-0.028914,0.622517
19,2,378880,30,obj,0,"003_bread_1","put bread on newspaper",-0.243927,0.006079,0.883544,0.617250,0.010981,-0.006299,0.786665
19,2,378880,30,obj,1,"005_7up can_1","put bread on newspaper",-0.210148,-0.067158,0.935064,0.626066,-0.105953,0.182518,0.750668
19,2,378880,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.204102,0.080881,0.869490,0.999801,0.000197,0.000870,-0.019945
19,2,378880,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
19,2,378880,30,gripper,0,"","put bread on newspaper",-0.243238,-0.072640,0.968070,-0.021514,-0.748086,-0.054465,0.661013
19,2,378880,31,obj,0,"003_bread_1","put bread on newspaper",-0.216396,-0.069843,0.886505,0.999906,0.003077,-0.008777,-0.010079
19,2,378880,31,obj,1,"005_7up can_1","put bread on newspaper",-0.192688,0.045456,0.885618,0.779484,0.210013,-0.319925,0.495930
19,2,378880,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
19,2,378880,31,recep,1,"003_carpet_1","put bread on newspaper",-0.234608,-0.074413,0.870461,0.999994,0.000019,-0.000159,0.003310
19,2,378880,31,gripper,0,"","put bread on newspaper",-0.123859,-0.047789,0.991113,0.090097,-0.698176,-0.044982,0.708808
19,2,378880,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237938,-0.067769,0.887236,0.976548,0.000783,0.032859,0.212774
19,2,378880,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.085007,0.074563,0.878547,0.999910,0.013260,0.002051,0.000417
19,2,378880,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
19,2,378880,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
19,2,378880,32,gripper,0,"","put carrot on flat bowl",-0.196690,-0.035605,1.027152,-0.090666,-0.718684,-0.061002,0.686697
19,2,378880,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.244766,-0.065862,0.887129,0.997941,-0.011894,0.027339,0.056788
19,2,378880,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
19,2,378880,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
19,2,378880,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
19,2,378880,33,gripper,0,"","put carrot on flat bowl",-0.228743,0.002743,0.999372,0.016274,-0.703069,0.046960,0.709383
19,2,378880,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007857
19,2,378880,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013280,0.002051,0.000284
19,2,378880,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
19,2,378880,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
19,2,378880,34,gripper,0,"","put carrot on flat bowl",-0.140680,0.060415,1.039475,-0.127959,-0.703404,-0.092518,0.693030
19,2,378880,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.203398,0.076014,0.887529,0.998967,-0.000609,0.043216,0.014023
19,2,378880,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.114992,-0.075438,0.878547,0.999909,0.013300,0.002054,0.000331
19,2,378880,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
19,2,378880,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
19,2,378880,35,gripper,0,"","put carrot on flat bowl",-0.043917,0.126860,1.036555,-0.131025,-0.740594,-0.095528,0.652095
19,2,378880,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236453,-0.070658,0.887486,0.354138,-0.039546,0.014985,0.934236
19,2,378880,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,0.075320,0.878547,0.382235,0.003190,0.013075,0.923967
19,2,378880,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
19,2,378880,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000004
19,2,378880,36,gripper,0,"","put banana on sheet metal",-0.184614,0.095939,1.010346,-0.000678,-0.704016,0.116311,0.700595
19,2,378880,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089231,0.039789,0.887554,0.366611,-0.020160,0.011524,0.930084
19,2,378880,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204695,0.075317,0.878547,0.382300,0.003193,0.013082,0.923940
19,2,378880,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000010
19,2,378880,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
19,2,378880,37,gripper,0,"","put banana on sheet metal",-0.139264,0.054097,1.026176,0.188659,-0.679727,0.141827,0.694453
19,2,378880,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091125,-0.070103,0.887323,0.916838,-0.003458,0.014009,0.398999
19,2,378880,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084682,0.074692,0.878547,0.923633,0.011467,0.006971,0.383043
19,2,378880,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
19,2,378880,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
19,2,378880,38,gripper,0,"","put banana on sheet metal",-0.133278,0.081953,1.042094,-0.005124,-0.705029,-0.062495,0.706401
19,2,378880,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243980,-0.073908,0.887501,0.997776,0.001420,0.042086,-0.051673
19,2,378880,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114998,-0.045441,0.878547,0.999910,0.013271,0.002052,0.000340
19,2,378880,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
19,2,378880,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
19,2,378880,39,gripper,0,"","put banana on sheet metal",-0.064417,0.004366,1.006793,0.195090,-0.730800,0.250204,0.604375
19,2,378880,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236351,0.075260,0.887548,0.997032,-0.000114,0.030777,0.070566
19,2,378880,40,obj,1,"013_banana_1","put banana on flat bowl",-0.205009,-0.075438,0.878547,0.999910,0.013285,0.002043,-0.000234
19,2,378880,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
19,2,378880,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
19,2,378880,40,gripper,0,"","put banana on flat bowl",-0.185879,-0.068194,1.013817,-0.076705,-0.688029,-0.077231,0.717474
19,2,378880,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090385,-0.080416,0.887388,0.363401,-0.022161,0.010863,0.931306
19,2,378880,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234715,-0.044703,0.878547,0.383234,0.003201,0.013051,0.923553
19,2,378880,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
19,2,378880,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
19,2,378880,41,gripper,0,"","put banana on flat bowl",-0.145075,-0.082134,0.923046,-0.402119,-0.700033,-0.168578,0.565540
19,2,378880,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203415,0.075611,0.887529,0.999063,-0.000095,0.043222,0.002162
19,2,378880,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075436,0.878547,0.999910,0.013264,0.002045,-0.000548
19,2,378880,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
19,2,378880,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
19,2,378880,42,gripper,0,"","put banana on flat bowl",-0.058792,0.024407,1.051477,0.046858,-0.690227,-0.220898,0.687456
19,2,378880,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.245499,-0.065657,0.887135,0.998686,0.011273,0.025791,-0.042822
19,2,378880,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084978,0.074560,0.878547,0.999909,0.013313,0.002047,-0.000023
19,2,378880,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
19,2,378880,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
19,2,378880,43,gripper,0,"","put banana on flat bowl",-0.054203,0.098269,0.994336,-0.054961,-0.729549,-0.064960,0.678615
19,2,378880,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.211030,-0.070724,0.887412,0.914171,-0.005563,0.010743,0.405148
19,2,378880,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.084685,0.074690,0.878547,0.923614,0.011489,0.006983,0.383089
19,2,378880,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
19,2,378880,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
19,2,378880,44,gripper,0,"","put carrot on sheet metal",-0.201045,-0.055318,0.954889,-0.172596,-0.739377,-0.031829,0.650015
19,2,378880,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232477,-0.046734,0.887529,0.924802,-0.016353,0.040011,0.377986
19,2,378880,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,0.074692,0.878548,0.923942,0.011530,0.006991,0.382295
19,2,378880,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
19,2,378880,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000002,0.000160
19,2,378880,45,gripper,0,"","put carrot on sheet metal",-0.196830,-0.041779,0.962095,-0.156261,-0.736119,-0.019989,0.658265
19,2,378880,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243439,0.068392,0.887465,0.248073,-0.020885,0.006152,0.968497
19,2,378880,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
19,2,378880,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
19,2,378880,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000287
19,2,378880,46,gripper,0,"","put carrot on sheet metal",-0.183939,0.078064,1.011746,0.023624,-0.679776,0.043597,0.731741
19,2,378880,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207771,-0.069273,0.887494,0.996809,-0.003333,0.038919,0.069619
19,2,378880,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
19,2,378880,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
19,2,378880,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
19,2,378880,47,gripper,0,"","put carrot on sheet metal",-0.173128,-0.046117,0.978428,-0.048582,-0.728960,0.058110,0.680353
19,2,378880,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.171333,0.049580,0.890748,0.178624,0.008287,0.024289,-0.983583
19,2,378880,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.078293,0.110416,0.887206,0.514000,-0.495471,0.515974,0.473375
19,2,378880,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084991,-0.075005,0.872199,1.000000,0.000000,-0.000001,0.000002
19,2,378880,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.183838,0.094398,0.870883,0.999686,0.000719,0.000694,-0.025042
19,2,378880,48,gripper,0,"","put hamburger on cutting board",-0.161411,0.001303,1.009112,0.023654,-0.759518,-0.098179,0.642599
19,2,378880,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.169800,0.168465,0.891790,-0.225938,-0.889795,0.392760,-0.054379
19,2,378880,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.173473,-0.187668,0.885720,0.129076,0.681488,-0.117023,0.710788
19,2,378880,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234997,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000037
19,2,378880,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
19,2,378880,49,gripper,0,"","put hamburger on cutting board",-0.153450,-0.113169,0.979340,-0.130689,-0.731530,-0.109331,0.660175
19,2,378880,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.078327,-0.063370,0.890743,0.997832,-0.024802,0.018305,-0.058146
19,2,378880,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.058773,0.015785,0.887026,0.646189,-0.297176,0.644494,0.280630
19,2,378880,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000393
19,2,378880,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084049,-0.076908,0.870870,0.999542,-0.000000,-0.000001,-0.030272
19,2,378880,50,gripper,0,"","put hamburger on cutting board",-0.105263,-0.028419,1.113221,0.094236,-0.737375,0.082842,0.663728
19,2,378880,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.428543,-0.345806,0.019312,-0.813916,0.027488,0.001705,-0.580330
19,2,378880,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.025974,0.003143,0.887027,0.535530,-0.473057,0.529059,0.457736
19,2,378880,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,2,378880,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
19,2,378880,51,gripper,0,"","put hamburger on cutting board",-0.050464,0.005985,0.936950,-0.080934,-0.808148,-0.050535,0.581200
19,2,378880,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.211831,-0.077335,0.888112,0.972226,-0.019344,0.019602,-0.232419
19,2,378880,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.050768,-0.070232,0.887026,0.704287,-0.033096,0.708937,0.017127
19,2,378880,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000002,-0.000000
19,2,378880,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000000
19,2,378880,52,gripper,0,"","put plastic bottle on frying pan",-0.053025,-0.102581,0.954758,-0.051566,-0.744640,-0.047981,0.663739
19,2,378880,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.048218,-0.005798,0.888214,0.509796,-0.025546,0.034277,0.859232
19,2,378880,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.168707,0.006657,0.889793,-0.075390,-0.651216,0.754041,-0.040701
19,2,378880,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205027,-0.075073,0.872199,0.999999,0.000000,-0.000001,0.001371
19,2,378880,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084991,-0.075001,0.870870,1.000000,0.000000,-0.000000,0.000176
19,2,378880,53,gripper,0,"","put plastic bottle on frying pan",-0.163528,0.007223,0.954261,0.073771,-0.780531,0.028035,0.620116
19,2,378880,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.283123,-0.762627,0.019312,0.861133,-0.027533,0.000683,0.507633
19,2,378880,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.238838,0.084084,0.885720,-0.671400,0.249025,0.645086,0.266594
19,2,378880,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",0.108963,-0.753143,0.003399,-0.502092,-0.000000,-0.000000,0.864814
19,2,378880,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235050,-0.045124,0.870870,1.000000,-0.000000,-0.000001,-0.000965
19,2,378880,54,gripper,0,"","put plastic bottle on frying pan",-0.113083,0.022024,0.987935,0.019133,-0.757221,0.009157,0.652814
19,2,378880,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234406,0.075962,0.888112,0.999586,-0.023252,0.014763,-0.008352
19,2,378880,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.182865,0.016953,0.018226,0.668089,-0.240171,0.667835,0.223542
19,2,378880,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
19,2,378880,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
19,2,378880,55,gripper,0,"","put plastic bottle on frying pan",-0.085751,-0.078642,0.976320,-0.086368,-0.765938,0.025222,0.636587
19,2,378880,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236084,0.044827,0.888112,0.420695,-0.023058,-0.015063,0.906784
19,2,378880,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.058083,0.051422,0.885720,0.092654,0.686589,-0.082123,0.716426
19,2,378880,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
19,2,378880,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204987,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000046
19,2,378880,56,gripper,0,"","put plastic bottle on cutting board",-0.095787,0.053070,0.945763,0.067080,-0.794045,0.108414,0.594340
19,2,378880,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.076653,-0.049248,0.890853,0.999617,-0.005554,0.025615,-0.008932
19,2,378880,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.142735,-0.063725,0.887026,0.664806,0.219841,0.674798,-0.233132
19,2,378880,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.130806,0.092365,0.872199,0.962665,-0.000000,-0.000001,0.270694
19,2,378880,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.054207,-0.081032,0.870870,0.992586,0.000000,0.000000,-0.121544
19,2,378880,57,gripper,0,"","put plastic bottle on cutting board",-0.137320,-0.064186,0.948529,-0.060387,-0.751951,-0.139525,0.641448
19,2,378880,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115955,-0.074375,0.888112,0.712592,-0.026878,-0.006005,0.701038
19,2,378880,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.202671,0.004711,0.889367,0.430704,-0.569100,0.426051,0.555968
19,2,378880,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,2,378880,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.233978,-0.045967,0.870872,0.999960,-0.000022,-0.000028,-0.008954
19,2,378880,58,gripper,0,"","put plastic bottle on cutting board",-0.105373,-0.068834,0.969854,0.040279,-0.793845,-0.064445,0.603353
19,2,378880,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.037182,-0.064312,0.892100,0.565128,0.815993,-0.109400,-0.053079
19,2,378880,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.216156,0.102966,0.889543,0.630165,-0.327824,0.632056,0.309723
19,2,378880,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235008,-0.075050,0.872199,1.000000,-0.000000,-0.000000,-0.000263
19,2,378880,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.229506,0.074207,0.870870,0.999654,-0.000003,-0.000005,0.026306
19,2,378880,59,gripper,0,"","put plastic bottle on cutting board",-0.201830,0.090824,1.122168,0.163054,-0.702081,0.248884,0.646956
19,2,378880,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.104220,0.049412,0.890818,0.325111,-0.048879,-0.032666,0.943847
19,2,378880,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.254797,0.077980,0.888402,0.344745,-0.627002,-0.580110,-0.389219
19,2,378880,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
19,2,378880,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
19,2,378880,60,gripper,0,"","put hamburger on frying pan",-0.119078,0.040789,0.914336,-0.128501,-0.734260,-0.163675,0.646189
19,2,378880,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.102936,-0.081039,0.888112,0.275580,-0.020449,-0.018450,0.960883
19,2,378880,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.273848,-0.101044,0.887026,0.227396,-0.676670,0.214020,0.666787
19,2,378880,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000008
19,2,378880,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
19,2,378880,61,gripper,0,"","put hamburger on frying pan",-0.090813,-0.093559,0.958631,-0.182474,-0.694927,-0.212786,0.662194
19,2,378880,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121185,0.060963,0.913977,0.909295,0.025882,0.019999,0.414865
19,2,378880,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.220009,0.073895,0.889537,0.547281,-0.456451,0.545997,0.440481
19,2,378880,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,2,378880,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235489,0.045246,0.870870,0.999999,0.000001,0.000000,0.001574
19,2,378880,62,gripper,0,"","put hamburger on frying pan",-0.120346,0.056381,0.962361,0.127194,-0.774195,0.101396,0.611688
19,2,378880,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.187836,0.066570,0.960189,0.908527,0.013679,-0.016692,0.417268
19,2,378880,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.138065,-0.045990,0.886093,0.692530,-0.020965,0.005165,0.721066
19,2,378880,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,2,378880,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.239502,-0.079994,0.870870,0.999651,0.000001,0.000001,0.026417
19,2,378880,63,gripper,0,"","put hamburger on frying pan",-0.182457,0.061119,1.006889,0.125252,-0.730999,0.092112,0.664430
19,3,384000,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.209923,-0.036247,0.884978,-0.557907,0.435833,-0.483512,-0.514787
19,3,384000,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.186218,0.008514,0.897501,0.625849,0.259190,-0.163800,0.717149
19,3,384000,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235275,-0.072533,0.869532,0.999118,-0.000001,-0.000001,0.041997
19,3,384000,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084854,0.075012,0.871288,1.000000,-0.000155,-0.001020,-0.000199
19,3,384000,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.176968,0.013515,0.926100,-0.043778,-0.788844,-0.073372,0.608626
19,3,384000,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.056404,0.055405,0.884977,-0.659425,0.315820,-0.569289,-0.375933
19,3,384000,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.219688,0.085503,0.885930,0.997119,0.062390,-0.025928,-0.034494
19,3,384000,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075005,0.869532,1.000000,0.000000,-0.000001,0.000030
19,3,384000,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.321453,-0.041412,0.871210,0.974831,-0.004730,-0.003153,-0.222874
19,3,384000,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.236731,0.031605,0.917588,0.134884,-0.713073,0.061234,0.685262
19,3,384000,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.202007,0.060570,0.885368,0.712914,-0.182179,0.210322,0.643683
19,3,384000,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205772,-0.075592,0.881638,0.923174,0.010861,-0.037835,0.382362
19,3,384000,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234989,0.044998,0.869532,1.000000,-0.000000,-0.000000,-0.000101
19,3,384000,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
19,3,384000,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.142000,0.052940,1.109969,0.039283,-0.818339,0.070175,0.569082
19,3,384000,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.068501,0.110573,0.888001,0.755642,-0.059247,-0.065014,-0.649052
19,3,384000,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.159693,-0.073334,0.881637,0.993648,-0.008868,-0.049366,-0.100735
19,3,384000,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,-0.000001,-0.000000,0.000004
19,3,384000,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000037
19,3,384000,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.213405,-0.084137,0.914614,-0.127313,-0.728582,-0.107507,0.664381
19,3,384000,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.176505,0.017586,0.879790,0.081599,-0.845641,0.126558,0.512070
19,3,384000,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.073428,-0.021629,0.881638,0.684040,0.029083,-0.033074,0.728114
19,3,384000,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.233848,0.044441,0.869531,0.998141,-0.000002,-0.000001,0.060940
19,3,384000,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.199871,-0.083542,0.871288,0.995941,-0.000245,-0.001001,-0.090003
19,3,384000,4,gripper,0,"","put kitchen shovel on cloth",-0.100297,-0.025692,0.914572,0.014133,-0.768470,-0.036962,0.638661
19,3,384000,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.087734,0.074623,0.885369,-0.748712,0.169801,-0.220437,-0.601669
19,3,384000,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.096287,-0.008553,0.884196,0.792276,0.002466,0.059046,0.607294
19,3,384000,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,0.074989,0.869532,1.000000,0.000002,-0.000002,0.000092
19,3,384000,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.204823,0.045547,0.871288,0.999985,-0.000148,-0.001020,0.005395
19,3,384000,5,gripper,0,"","put kitchen shovel on cloth",-0.109336,-0.039024,0.914561,-0.037599,-0.800532,-0.018940,0.597809
19,3,384000,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.058815,0.075554,0.879213,-0.277359,-0.076205,0.957463,-0.023022
19,3,384000,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.041813,-0.082199,0.881641,0.960813,0.006692,0.039630,-0.274267
19,3,384000,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000022
19,3,384000,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205036,-0.074989,0.871282,0.999999,-0.000451,-0.001264,0.000023
19,3,384000,6,gripper,0,"","put kitchen shovel on cloth",-0.158594,-0.106956,0.961158,-0.078540,-0.740290,-0.127294,0.655438
19,3,384000,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.068539,0.078438,0.885083,0.628879,0.324778,-0.329150,0.625052
19,3,384000,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.193035,0.025490,0.881639,0.985746,-0.012338,0.053975,0.158868
19,3,384000,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085026,0.074982,0.869532,1.000000,-0.000000,-0.000001,-0.000118
19,3,384000,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.092628,-0.068909,0.871289,0.999912,-0.000140,-0.001021,0.013188
19,3,384000,7,gripper,0,"","put kitchen shovel on cloth",-0.221550,-0.081940,0.913745,-0.071635,-0.741498,-0.071743,0.663251
19,3,384000,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.155655,0.167858,0.878982,0.572520,-0.421699,0.496044,0.498328
19,3,384000,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085175,0.075390,0.883309,0.701021,-0.008379,0.042345,0.711832
19,3,384000,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205162,0.075001,0.869531,0.999999,0.000000,-0.000000,0.001302
19,3,384000,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.073761,-0.073788,0.871288,0.998651,-0.000206,-0.001010,-0.051906
19,3,384000,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.131939,-0.048038,0.932228,0.032810,-0.778275,0.025694,0.626540
19,3,384000,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.207188,0.044220,0.010412,-0.276137,0.123200,0.952555,0.034763
19,3,384000,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.184536,-0.078655,0.881638,0.989113,0.001147,-0.039349,0.141795
19,3,384000,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000036
19,3,384000,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.085159,-0.074924,0.870841,0.999988,0.000012,-0.004970,-0.000130
19,3,384000,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.080816,-0.055464,0.918981,0.034504,-0.805751,-0.026342,0.590661
19,3,384000,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.069946,0.103439,0.885085,0.563546,0.356366,-0.295667,0.684105
19,3,384000,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.130341,-0.024521,0.881638,0.696020,0.024965,-0.030434,0.716943
19,3,384000,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.077969,0.072250,0.869532,0.994050,0.000001,-0.000002,0.108927
19,3,384000,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.231392,-0.094021,0.871288,0.992591,-0.000276,-0.000992,-0.121500
19,3,384000,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.206429,0.064180,0.978420,0.134151,-0.715796,0.094956,0.678692
19,3,384000,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.051092,-0.101006,0.879027,0.016871,0.956443,-0.098911,0.274134
19,3,384000,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.134338,0.020584,0.888380,0.654669,0.011596,-0.067714,0.752788
19,3,384000,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.231844,0.074234,0.869532,0.999690,0.000001,-0.000000,-0.024877
19,3,384000,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114975,0.044960,0.871288,0.999999,-0.000153,-0.001019,0.000156
19,3,384000,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.071395,-0.112059,0.925998,-0.122844,-0.814755,-0.055807,0.563887
19,3,384000,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.120010,0.147881,0.880141,-0.924388,-0.028456,0.082009,-0.371444
19,3,384000,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.092167,-0.083237,0.881636,0.422312,0.043686,-0.024621,0.905062
19,3,384000,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
19,3,384000,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000451,-0.001265,-0.000029
19,3,384000,12,gripper,0,"","put ketchup bottle on cloth",-0.106666,-0.067612,0.913695,0.222249,-0.637921,0.200959,0.709421
19,3,384000,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.140587,-0.113979,0.879212,-0.057966,0.940100,0.196857,0.272210
19,3,384000,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.246157,0.066132,0.881638,0.813881,0.019056,-0.034422,0.579698
19,3,384000,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000007
19,3,384000,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
19,3,384000,13,gripper,0,"","put ketchup bottle on cloth",-0.215801,-0.195557,0.915035,0.064200,-0.755195,0.106953,0.643522
19,3,384000,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.108612,-0.024288,0.885370,0.807499,0.055488,-0.068473,0.583248
19,3,384000,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.066162,0.068661,0.881641,0.996218,-0.001353,0.040162,-0.077033
19,3,384000,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114647,-0.045456,0.869532,0.999960,-0.000001,-0.000000,-0.008949
19,3,384000,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074963,0.871288,0.999999,-0.000155,-0.001020,0.000111
19,3,384000,14,gripper,0,"","put ketchup bottle on cloth",-0.094139,-0.051769,0.961526,0.179740,-0.752786,0.188512,0.604542
19,3,384000,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.126278,0.011684,0.879089,0.549592,0.362290,-0.288416,0.695349
19,3,384000,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131092,0.067871,0.888769,0.818623,-0.017512,0.006240,0.574031
19,3,384000,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.202209,0.086872,0.869532,0.999936,-0.000001,-0.000001,0.011348
19,3,384000,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000027
19,3,384000,15,gripper,0,"","put ketchup bottle on cloth",-0.155876,0.079090,1.131075,0.068986,-0.819244,0.187677,0.537455
19,3,384000,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.218910,0.014866,0.885157,0.463521,0.049836,-0.045665,0.883504
19,3,384000,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.160873,-0.079460,0.888400,0.622365,0.216066,-0.187967,0.728454
19,3,384000,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234818,0.074982,0.869489,0.999997,0.000537,0.001411,0.001714
19,3,384000,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204994,-0.074989,0.870448,0.999997,-0.000267,-0.000281,0.002504
19,3,384000,16,gripper,0,"","put 7up can on newspaper",-0.102814,0.037729,0.928927,0.071201,-0.716116,-0.011270,0.694249
19,3,384000,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.182213,-0.052860,0.884163,0.999562,-0.000032,0.014151,0.025996
19,3,384000,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.255661,0.092163,0.885662,0.924160,0.027763,-0.376210,0.060196
19,3,384000,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235027,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000110
19,3,384000,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
19,3,384000,17,gripper,0,"","put 7up can on newspaper",-0.258430,0.072140,0.945132,0.074700,-0.649656,0.028387,0.756017
19,3,384000,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.192314,0.060051,0.885931,0.913762,0.024391,0.014976,0.405240
19,3,384000,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.244301,0.065460,0.889586,-0.522969,0.460909,-0.492981,-0.520611
19,3,384000,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.208447,0.086399,0.869491,0.999598,0.000197,0.000867,-0.028350
19,3,384000,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.045044,0.870447,0.999999,-0.000923,-0.000845,-0.000103
19,3,384000,18,gripper,0,"","put 7up can on newspaper",-0.181128,-0.050446,0.913461,0.054539,-0.701521,0.015746,0.710384
19,3,384000,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.183300,-0.042290,0.885584,0.994341,-0.001447,0.004868,-0.106117
19,3,384000,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.189472,0.086636,0.885956,0.357342,-0.217087,0.904866,0.079988
19,3,384000,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205013,-0.075039,0.869490,1.000000,0.000180,0.000875,-0.000066
19,3,384000,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114964,0.045002,0.870447,0.999999,-0.000916,-0.000839,-0.000108
19,3,384000,19,gripper,0,"","put 7up can on newspaper",-0.221130,0.035919,0.913519,0.089075,-0.705108,0.060671,0.700862
19,3,384000,20,obj,0,"003_bread_1","put 7up can on carpet",-0.227924,0.073067,0.883614,-0.068486,-0.995949,-0.011910,0.057042
19,3,384000,20,obj,1,"005_7up can_1","put 7up can on carpet",0.062830,0.178902,0.016947,0.688778,-0.313495,0.498839,0.422451
19,3,384000,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234920,-0.045071,0.869490,0.999999,0.000180,0.000874,-0.000684
19,3,384000,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000001
19,3,384000,20,gripper,0,"","put 7up can on carpet",-0.032612,-0.040850,0.993778,0.062104,-0.756751,0.058764,0.648088
19,3,384000,21,obj,0,"003_bread_1","put 7up can on carpet",-0.196196,-0.050137,0.886628,0.388656,0.014853,-0.002146,0.921261
19,3,384000,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.261913,0.086971,0.885626,-0.419034,-0.207894,0.105188,-0.877568
19,3,384000,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000007
19,3,384000,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.196985,-0.050449,0.870448,0.998523,-0.000951,-0.000780,-0.054312
19,3,384000,21,gripper,0,"","put 7up can on carpet",-0.136624,0.059465,0.913836,0.113039,-0.653590,0.099240,0.741750
19,3,384000,22,obj,0,"003_bread_1","put 7up can on carpet",-0.147175,-0.095200,0.883986,0.002970,0.371535,-0.899295,-0.230699
19,3,384000,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.110653,-0.020737,0.885856,-0.454771,-0.539837,0.560431,-0.433217
19,3,384000,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
19,3,384000,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.084908,0.077457,0.870461,0.999907,0.000016,-0.000158,-0.013659
19,3,384000,22,gripper,0,"","put 7up can on carpet",-0.099295,-0.015434,0.948176,0.083145,-0.696517,0.050977,0.710882
19,3,384000,23,obj,0,"003_bread_1","put 7up can on carpet",-0.235134,0.074444,0.883544,0.709132,0.010118,-0.007607,0.704962
19,3,384000,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.187878,-0.060661,0.887133,0.671551,0.266329,-0.274470,0.634630
19,3,384000,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.236187,-0.075176,0.869485,0.999986,0.000434,0.001281,0.005123
19,3,384000,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.087929,0.077473,0.870350,0.999833,-0.000120,-0.001456,-0.018229
19,3,384000,23,gripper,0,"","put 7up can on carpet",-0.194660,-0.024870,0.944384,-0.041182,-0.679320,-0.023517,0.732309
19,3,384000,24,obj,0,"003_bread_1","put bread on newspaper",-0.253311,-0.071983,0.883544,0.699783,0.010225,-0.007470,0.714243
19,3,384000,24,obj,1,"005_7up can_1","put bread on newspaper",-0.088272,-0.006750,0.885746,0.586797,0.402393,-0.441274,0.546833
19,3,384000,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.070801,-0.083813,0.869490,0.999200,0.000215,0.000867,-0.039978
19,3,384000,24,recep,1,"003_carpet_1","put bread on newspaper",-0.079094,0.073837,0.870461,0.998899,0.000026,-0.000157,0.046917
19,3,384000,24,gripper,0,"","put bread on newspaper",-0.241978,-0.065331,0.946895,0.014974,-0.716368,0.024503,0.697132
19,3,384000,25,obj,0,"003_bread_1","put bread on newspaper",-0.229443,-0.006241,0.886581,0.835269,0.008253,-0.005273,0.549755
19,3,384000,25,obj,1,"005_7up can_1","put bread on newspaper",-0.200417,0.026320,0.885633,0.778993,0.069521,-0.083259,0.617580
19,3,384000,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
19,3,384000,25,recep,1,"003_carpet_1","put bread on newspaper",-0.234921,-0.045708,0.870466,0.999984,-0.000951,-0.001038,-0.005419
19,3,384000,25,gripper,0,"","put bread on newspaper",-0.141851,0.051601,1.016703,0.059980,-0.683129,-0.001867,0.727828
19,3,384000,26,obj,0,"003_bread_1","put bread on newspaper",-0.204487,-0.075495,0.883544,0.383453,0.012272,-0.003116,0.923473
19,3,384000,26,obj,1,"005_7up can_1","put bread on newspaper",-0.095760,0.037518,0.888719,-0.302533,-0.528556,0.767870,-0.198691
19,3,384000,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235004,0.044996,0.869490,1.000000,0.000180,0.000874,-0.000430
19,3,384000,26,recep,1,"003_carpet_1","put bread on newspaper",-0.119942,0.077995,0.870462,0.999985,0.000034,-0.000159,-0.005445
19,3,384000,26,gripper,0,"","put bread on newspaper",-0.100523,-0.009830,0.946825,-0.070921,-0.760875,-0.102529,0.636811
19,3,384000,27,obj,0,"003_bread_1","put bread on newspaper",-0.205128,-0.075546,0.883544,0.708933,0.010113,-0.007600,0.705163
19,3,384000,27,obj,1,"005_7up can_1","put bread on newspaper",-0.103273,-0.065914,0.888981,0.403903,-0.567963,0.389537,0.602115
19,3,384000,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.234983,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000033
19,3,384000,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074978,0.870447,0.999999,-0.000923,-0.000846,0.000162
19,3,384000,27,gripper,0,"","put bread on newspaper",-0.188100,-0.019027,1.047812,0.060496,-0.780791,0.087972,0.615603
19,3,384000,28,obj,0,"003_bread_1","put bread on carpet",-0.223181,-0.032614,0.886570,0.237329,0.015520,-0.001020,0.971305
19,3,384000,28,obj,1,"005_7up can_1","put bread on carpet",-0.215740,0.032345,0.885609,-0.730294,0.075809,-0.074365,-0.674829
19,3,384000,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084996,0.075001,0.869490,1.000000,0.000179,0.000874,0.000003
19,3,384000,28,recep,1,"003_carpet_1","put bread on carpet",-0.234925,-0.045277,0.870445,0.999997,-0.000729,-0.001045,-0.001992
19,3,384000,28,gripper,0,"","put bread on carpet",-0.041934,0.101081,0.929944,0.210825,-0.760535,0.212242,0.576275
19,3,384000,29,obj,0,"003_bread_1","put bread on carpet",-0.140631,0.029943,0.889457,-0.531315,-0.531892,-0.600908,-0.271485
19,3,384000,29,obj,1,"005_7up can_1","put bread on carpet",-0.074867,0.122047,0.888797,-0.153805,-0.105905,0.978257,-0.090226
19,3,384000,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234489,0.044161,0.869490,1.000000,0.000180,0.000874,-0.000185
19,3,384000,29,recep,1,"003_carpet_1","put bread on carpet",-0.086771,0.076996,0.870342,0.999683,-0.000859,-0.002211,-0.025059
19,3,384000,29,gripper,0,"","put bread on carpet",-0.141953,0.065598,0.941504,0.240773,-0.651238,0.306518,0.651125
19,3,384000,30,obj,0,"003_bread_1","put bread on carpet",-0.243927,0.006079,0.883544,0.616553,0.010988,-0.006291,0.787211
19,3,384000,30,obj,1,"005_7up can_1","put bread on carpet",-0.165951,0.116692,0.887599,0.389763,-0.503162,0.696847,0.330631
19,3,384000,30,recep,0,"004_newspaper_1","put bread on carpet",-0.204079,0.080893,0.869489,0.999798,0.000237,0.000916,-0.020100
19,3,384000,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000087
19,3,384000,30,gripper,0,"","put bread on carpet",-0.184175,0.068017,1.022509,0.141174,-0.818563,0.115482,0.544691
19,3,384000,31,obj,0,"003_bread_1","put bread on carpet",-0.216400,-0.069826,0.886491,0.999909,0.002898,-0.008826,-0.009823
19,3,384000,31,obj,1,"005_7up can_1","put bread on carpet",-0.203453,0.055038,0.885948,-0.275087,-0.653723,0.652841,-0.266029
19,3,384000,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
19,3,384000,31,recep,1,"003_carpet_1","put bread on carpet",-0.234615,-0.074438,0.870447,0.999994,-0.000160,-0.000192,0.003377
19,3,384000,31,gripper,0,"","put bread on carpet",-0.051826,-0.099084,0.953321,-0.124998,-0.719117,-0.159513,0.664681
19,3,384000,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241264,-0.065141,0.887182,0.978924,-0.014855,0.027496,0.201819
19,3,384000,32,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,0.074563,0.878547,0.999910,0.013266,0.002052,0.000417
19,3,384000,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,-0.075006,0.871344,0.999999,-0.000158,0.001163,-0.000025
19,3,384000,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
19,3,384000,32,gripper,0,"","put banana on sheet metal",-0.074394,0.077297,1.026660,-0.052351,-0.727337,-0.025397,0.683809
19,3,384000,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.244766,-0.065862,0.887129,0.997941,-0.011894,0.027340,0.056788
19,3,384000,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
19,3,384000,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
19,3,384000,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
19,3,384000,33,gripper,0,"","put banana on sheet metal",-0.066517,0.057908,1.003329,0.147471,-0.739325,0.098377,0.649594
19,3,384000,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203335,0.075915,0.887529,0.999034,-0.000342,0.043220,0.007857
19,3,384000,34,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,-0.075441,0.878547,0.999909,0.013303,0.002052,0.000284
19,3,384000,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
19,3,384000,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
19,3,384000,34,gripper,0,"","put banana on sheet metal",-0.181583,-0.055982,0.956699,-0.002568,-0.751387,-0.025894,0.659348
19,3,384000,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203398,0.076014,0.887529,0.998967,-0.000609,0.043215,0.014023
19,3,384000,35,obj,1,"013_banana_1","put banana on sheet metal",-0.114992,-0.075438,0.878547,0.999909,0.013304,0.002054,0.000331
19,3,384000,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
19,3,384000,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
19,3,384000,35,gripper,0,"","put banana on sheet metal",-0.056351,0.091783,1.002976,0.113592,-0.730345,0.026604,0.673041
19,3,384000,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236105,-0.067150,0.887529,0.331190,-0.040776,0.014326,0.942574
19,3,384000,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075321,0.878547,0.382234,0.003201,0.013111,0.923967
19,3,384000,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
19,3,384000,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000001,0.000000,0.000004
19,3,384000,36,gripper,0,"","put banana on flat bowl",-0.138459,0.072787,0.999976,-0.170372,-0.770532,-0.117384,0.602888
19,3,384000,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091688,0.036323,0.887567,0.378053,-0.026131,0.013733,0.925313
19,3,384000,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204695,0.075316,0.878547,0.382301,0.003186,0.013061,0.923940
19,3,384000,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000010
19,3,384000,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000000
19,3,384000,37,gripper,0,"","put banana on flat bowl",-0.130220,0.027791,0.997847,-0.235809,-0.724591,-0.071999,0.643567
19,3,384000,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094692,-0.066694,0.887578,0.921077,-0.010339,0.031508,0.387965
19,3,384000,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084682,0.074692,0.878547,0.923633,0.011472,0.006973,0.383043
19,3,384000,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001163,-0.000009
19,3,384000,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
19,3,384000,38,gripper,0,"","put banana on flat bowl",-0.146597,0.061925,1.002058,-0.118809,-0.826324,-0.135908,0.533481
19,3,384000,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.248398,-0.069258,0.887069,0.997434,0.012935,0.020926,-0.067227
19,3,384000,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114998,-0.045441,0.878547,0.999909,0.013291,0.002054,0.000340
19,3,384000,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
19,3,384000,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
19,3,384000,39,gripper,0,"","put banana on flat bowl",-0.080748,-0.017663,1.012566,-0.064933,-0.712469,-0.125798,0.687275
19,3,384000,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236351,0.075235,0.887528,0.996828,-0.003228,0.037650,0.070048
19,3,384000,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.205002,-0.075439,0.878547,0.999910,0.013285,0.002038,-0.000576
19,3,384000,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
19,3,384000,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
19,3,384000,40,gripper,0,"","put carrot on sheet metal",-0.172253,0.089888,1.034539,0.064104,-0.703691,0.080774,0.702983
19,3,384000,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092335,-0.083412,0.887470,0.375221,-0.028929,0.011301,0.926415
19,3,384000,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234715,-0.044697,0.878547,0.383715,0.003208,0.013048,0.923354
19,3,384000,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
19,3,384000,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
19,3,384000,41,gripper,0,"","put carrot on sheet metal",-0.055334,-0.041718,0.972167,0.045700,-0.776381,0.099049,0.620753
19,3,384000,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.201523,0.075834,0.887529,0.997924,-0.002067,0.043173,0.047742
19,3,384000,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075439,0.878546,0.999910,0.013255,0.002040,-0.000897
19,3,384000,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
19,3,384000,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
19,3,384000,42,gripper,0,"","put carrot on sheet metal",-0.190565,0.022384,1.021547,-0.105680,-0.706567,-0.016946,0.699506
19,3,384000,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246183,-0.061480,0.887176,0.998927,-0.008131,0.029986,-0.034339
19,3,384000,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084978,0.074560,0.878547,0.999909,0.013304,0.002045,-0.000159
19,3,384000,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
19,3,384000,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
19,3,384000,43,gripper,0,"","put carrot on sheet metal",-0.180124,-0.056324,0.974765,-0.311218,-0.652570,-0.196086,0.662455
19,3,384000,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.214065,-0.067980,0.887551,0.918336,-0.013271,0.024198,0.394838
19,3,384000,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.084685,0.074690,0.878547,0.923614,0.011475,0.006976,0.383088
19,3,384000,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
19,3,384000,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
19,3,384000,44,gripper,0,"","put carrot on flat bowl",-0.142723,-0.087005,0.994940,-0.104459,-0.711379,-0.164789,0.675183
19,3,384000,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.232412,-0.046804,0.887529,0.922123,-0.016633,0.039896,0.384474
19,3,384000,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084667,0.074692,0.878547,0.924079,0.011518,0.006979,0.381964
19,3,384000,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
19,3,384000,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000259
19,3,384000,45,gripper,0,"","put carrot on flat bowl",-0.173984,0.029535,1.018568,-0.091743,-0.676974,0.052483,0.728378
19,3,384000,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243492,0.067064,0.887277,0.243037,-0.031848,0.001472,0.969493
19,3,384000,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
19,3,384000,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
19,3,384000,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000434
19,3,384000,46,gripper,0,"","put carrot on flat bowl",-0.190504,0.067916,0.988489,-0.143731,-0.738111,-0.117416,0.648650
19,3,384000,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208553,-0.068863,0.887566,0.996953,-0.000008,0.033110,0.070628
19,3,384000,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
19,3,384000,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
19,3,384000,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
19,3,384000,47,gripper,0,"","put carrot on flat bowl",-0.151394,0.023625,1.031302,-0.039484,-0.681696,0.057089,0.728335
19,3,384000,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.171448,0.049496,0.890750,0.179140,0.008285,0.024284,-0.983489
19,3,384000,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.110268,-0.414593,0.020993,-0.082591,0.051719,0.994980,0.022792
19,3,384000,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.070793,-0.193432,0.872199,0.993965,-0.000000,-0.000001,0.109693
19,3,384000,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.183952,0.094360,0.870883,0.999695,0.000715,0.000693,-0.024692
19,3,384000,48,gripper,0,"","put plastic bottle on frying pan",-0.076248,-0.013165,0.966003,-0.034715,-0.811049,-0.151151,0.564045
19,3,384000,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.169800,0.168465,0.891790,-0.225940,-0.889784,0.392784,-0.054371
19,3,384000,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.166290,-0.187595,0.885720,0.107396,0.684755,-0.096254,0.714361
19,3,384000,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234997,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000031
19,3,384000,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000019
19,3,384000,49,gripper,0,"","put plastic bottle on frying pan",-0.141500,-0.106194,0.990021,-0.063909,-0.713360,-0.076380,0.693685
19,3,384000,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.082451,-0.084076,0.891838,0.997708,-0.007753,0.010551,0.066381
19,3,384000,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.058769,0.015785,0.887026,0.646186,-0.297185,0.644489,0.280640
19,3,384000,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000539
19,3,384000,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083485,-0.079758,0.870766,0.999275,-0.000554,0.000497,-0.038058
19,3,384000,50,gripper,0,"","put plastic bottle on frying pan",-0.083818,-0.089334,0.919340,0.022622,-0.746582,-0.077924,0.660327
19,3,384000,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.428535,-0.345806,0.019312,-0.817235,0.027499,0.001546,-0.575646
19,3,384000,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.038578,0.024220,0.886194,0.586286,-0.027203,0.006160,0.809624
19,3,384000,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,3,384000,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084881,-0.075066,0.870870,1.000000,0.000000,-0.000001,0.000217
19,3,384000,51,gripper,0,"","put plastic bottle on frying pan",-0.036575,0.026300,0.914945,-0.130620,-0.755135,-0.135126,0.628053
19,3,384000,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.213820,-0.080093,0.888112,0.996057,-0.022060,0.016487,-0.084336
19,3,384000,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.033762,-0.073811,0.887027,0.700212,0.062377,0.706961,-0.077576
19,3,384000,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
19,3,384000,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
19,3,384000,52,gripper,0,"","put plastic bottle on cutting board",-0.075023,-0.089294,0.914307,0.066510,-0.769197,0.076049,0.630975
19,3,384000,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.030142,-0.020523,0.888355,0.154230,-0.004764,-0.008446,0.987987
19,3,384000,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.105574,-0.044033,0.888340,-0.499549,-0.506368,0.465304,-0.526816
19,3,384000,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205027,-0.075073,0.872199,0.999999,0.000000,-0.000001,0.001371
19,3,384000,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.075050,-0.094398,0.870871,0.999993,0.000000,-0.000004,0.003832
19,3,384000,53,gripper,0,"","put plastic bottle on cutting board",-0.153989,-0.038313,1.058892,0.054348,-0.742668,0.019175,0.667175
19,3,384000,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.283134,-0.762623,0.019312,0.866317,-0.027524,0.000967,0.498734
19,3,384000,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.251007,0.094734,0.890259,-0.330579,0.328522,0.873273,0.142072
19,3,384000,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",0.108963,-0.753143,0.003399,-0.502092,0.000000,-0.000000,0.864814
19,3,384000,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235050,-0.045124,0.870870,0.999999,0.000001,-0.000000,-0.000982
19,3,384000,54,gripper,0,"","put plastic bottle on cutting board",-0.255236,0.104982,0.952393,0.152560,-0.713016,0.101150,0.676833
19,3,384000,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234406,0.075962,0.888112,0.999586,-0.023252,0.014762,-0.008341
19,3,384000,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.182865,0.016953,0.018226,0.668080,-0.240198,0.667825,0.223569
19,3,384000,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
19,3,384000,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
19,3,384000,55,gripper,0,"","put plastic bottle on cutting board",-0.152199,0.045713,1.039230,0.112393,-0.742481,0.100771,0.652637
19,3,384000,56,obj,0,"014_hamburger_1","put hamburger on frying pan",0.735329,0.878071,0.019312,-0.989169,0.025228,-0.011047,-0.144172
19,3,384000,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.191864,0.109978,0.017292,0.993851,-0.008792,0.020645,-0.108432
19,3,384000,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
19,3,384000,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,0.000000,0.000047
19,3,384000,56,gripper,0,"","put hamburger on frying pan",-0.186314,-0.003004,0.954925,-0.043076,-0.723665,-0.006153,0.688778
19,3,384000,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.042725,-0.097260,0.890762,0.958422,-0.025753,0.007590,0.284088
19,3,384000,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.164234,-0.026394,0.889773,0.031598,0.602372,0.797301,-0.021463
19,3,384000,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.130806,0.092365,0.872199,0.962638,-0.000001,-0.000001,0.270791
19,3,384000,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.051548,-0.081451,0.870874,0.991556,0.000615,0.000550,-0.129678
19,3,384000,57,gripper,0,"","put hamburger on frying pan",-0.144621,-0.023987,0.941954,-0.013239,-0.787092,-0.038735,0.615476
19,3,384000,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116070,-0.073227,0.888114,0.710797,-0.026996,-0.005834,0.702855
19,3,384000,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205654,0.006683,0.889351,0.425100,-0.573312,0.420181,0.560404
19,3,384000,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,3,384000,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.237961,-0.045536,0.870868,0.999965,0.000036,0.000016,0.008343
19,3,384000,58,gripper,0,"","put hamburger on frying pan",-0.109470,-0.070347,0.943649,0.011618,-0.745251,0.071173,0.662872
19,3,384000,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.179737,-0.146690,0.892073,-0.547278,0.134842,0.817544,0.118009
19,3,384000,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215199,0.102833,0.889540,0.628571,-0.331005,0.630422,0.312892
19,3,384000,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235096,-0.075012,0.872199,0.999999,-0.000000,-0.000000,-0.001480
19,3,384000,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.229221,0.074203,0.870870,0.999641,-0.000006,-0.000005,0.026796
19,3,384000,59,gripper,0,"","put hamburger on frying pan",-0.194354,-0.156681,0.944717,-0.103453,-0.753414,-0.132792,0.635635
19,3,384000,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065101,-0.030083,0.890527,0.246637,-0.018186,-0.016135,0.968803
19,3,384000,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.254797,0.077980,0.888402,0.344742,-0.627004,-0.580111,-0.389217
19,3,384000,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000000
19,3,384000,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000000
19,3,384000,60,gripper,0,"","put hamburger on cutting board",-0.188539,-0.050480,0.948681,-0.087801,-0.742733,-0.128617,0.651227
19,3,384000,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.121960,-0.042389,0.942955,0.230038,0.000931,-0.045394,0.972122
19,3,384000,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.273832,-0.101044,0.887026,0.227375,-0.676676,0.213998,0.666794
19,3,384000,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
19,3,384000,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
19,3,384000,61,gripper,0,"","put hamburger on cutting board",-0.126881,-0.046770,0.991528,-0.073463,-0.676747,-0.115795,0.723331
19,3,384000,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.124325,0.061821,0.896351,0.921698,-0.028746,0.002349,0.386834
19,3,384000,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.219982,0.073879,0.889540,0.547500,-0.456180,0.546192,0.440247
19,3,384000,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,3,384000,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235485,0.045258,0.870870,0.999999,-0.000008,-0.000008,0.001024
19,3,384000,62,gripper,0,"","put hamburger on cutting board",-0.109589,0.078930,1.149072,0.082751,-0.822228,0.158192,0.540433
19,3,384000,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.282627,-0.020618,0.888616,0.920969,-0.059888,0.003128,0.384993
19,3,384000,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.138069,-0.045963,0.886092,0.692507,-0.021726,0.005640,0.721062
19,3,384000,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
19,3,384000,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.241356,-0.085323,0.870870,0.998428,0.000000,-0.000000,0.056050
19,3,384000,63,gripper,0,"","put hamburger on cutting board",-0.118464,-0.059092,0.956038,-0.059818,-0.765476,-0.069841,0.636860
19,4,389120,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.209373,-0.038200,0.884977,-0.558787,0.435005,-0.484419,-0.513678
19,4,389120,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.094063,0.105263,0.889763,0.705069,0.021169,-0.049712,0.707077
19,4,389120,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234818,-0.074173,0.869532,0.999514,0.000001,-0.000001,0.031157
19,4,389120,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084854,0.075012,0.871288,0.999999,-0.000154,-0.001019,-0.000156
19,4,389120,0,gripper,0,"","put kitchen shovel on cloth",-0.240803,-0.042603,0.922292,-0.010752,-0.707092,0.019309,0.706776
19,4,389120,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.056404,0.055405,0.884977,-0.659443,0.315786,-0.569320,-0.375886
19,4,389120,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205128,0.080177,0.881564,0.996919,-0.000803,-0.045692,0.063751
19,4,389120,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075005,0.869532,1.000000,0.000001,-0.000001,-0.000014
19,4,389120,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.321453,-0.041412,0.871210,0.974834,-0.004730,-0.003153,-0.222861
19,4,389120,1,gripper,0,"","put kitchen shovel on cloth",-0.211668,0.111416,0.931181,0.123614,-0.717368,0.084615,0.680399
19,4,389120,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.169960,0.100327,0.880348,-0.582188,0.331503,0.697241,0.254987
19,4,389120,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205772,-0.075592,0.881638,0.923153,0.010854,-0.037817,0.382414
19,4,389120,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.241806,0.061310,0.869532,0.962731,-0.000001,-0.000001,-0.270461
19,4,389120,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,1.000000,-0.000158,-0.001019,0.000030
19,4,389120,2,gripper,0,"","put kitchen shovel on cloth",-0.158403,-0.033146,0.915083,-0.031133,-0.751368,0.006102,0.659120
19,4,389120,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.068501,0.110580,0.888001,0.755463,-0.059221,-0.064946,-0.649269
19,4,389120,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.133999,-0.083054,0.887148,0.965905,0.080366,-0.018054,-0.245446
19,4,389120,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.081011,-0.074837,0.869946,0.998960,0.003584,-0.006097,0.045036
19,4,389120,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000066
19,4,389120,3,gripper,0,"","put kitchen shovel on cloth",-0.175115,-0.103458,0.915201,-0.155592,-0.774938,-0.072452,0.608287
19,4,389120,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.173605,0.017380,0.879395,0.079637,-0.760080,0.103624,0.636552
19,4,389120,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.179893,0.056099,0.890308,0.634906,-0.230113,0.186732,0.713494
19,4,389120,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.233883,0.044556,0.869532,0.998030,0.000000,-0.000000,0.062742
19,4,389120,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.201843,-0.089531,0.871288,0.990651,-0.000291,-0.000988,-0.136414
19,4,389120,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.169761,0.005230,1.051160,-0.012993,-0.828642,0.044405,0.557864
19,4,389120,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.087729,0.074623,0.885369,-0.748729,0.169792,-0.220438,-0.601650
19,4,389120,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.096596,-0.009827,0.883875,0.791132,0.050602,-0.011694,0.609436
19,4,389120,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,0.074989,0.869532,1.000000,0.000002,-0.000001,0.000092
19,4,389120,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.204824,0.045547,0.871288,0.999985,-0.000148,-0.001020,0.005311
19,4,389120,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.218745,-0.082760,0.915063,0.032789,-0.745564,-0.016309,0.665427
19,4,389120,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.058815,0.075554,0.879213,-0.277360,-0.076207,0.957462,-0.023022
19,4,389120,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.023571,-0.084648,0.881344,0.912035,0.010589,0.052132,-0.406648
19,4,389120,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000053
19,4,389120,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205036,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000034
19,4,389120,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.187183,0.039349,1.000383,0.173610,-0.724019,0.168031,0.646081
19,4,389120,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.068539,0.078423,0.885083,0.628915,0.324742,-0.329145,0.625037
19,4,389120,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.181839,0.019852,0.881638,0.964724,0.005900,-0.038924,0.260303
19,4,389120,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085026,0.074982,0.869532,1.000000,-0.000001,-0.000001,-0.000199
19,4,389120,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.088230,-0.068352,0.871288,0.999945,-0.000164,-0.001018,-0.010442
19,4,389120,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.189491,-0.024265,0.939984,0.051767,-0.773022,0.003182,0.632255
19,4,389120,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.155655,0.167858,0.878982,0.572592,-0.421629,0.496163,0.498186
19,4,389120,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.119987,-0.023762,0.888750,0.670862,-0.079541,0.011471,0.737215
19,4,389120,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205139,0.073303,0.869532,0.999656,-0.000000,-0.000000,-0.026225
19,4,389120,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.073761,-0.073788,0.871288,0.998652,-0.000206,-0.001010,-0.051899
19,4,389120,8,gripper,0,"","put ketchup bottle on cloth",-0.173233,-0.037289,0.914050,-0.121468,-0.751163,-0.142172,0.633077
19,4,389120,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.207188,0.044220,0.010412,-0.276135,0.123255,0.952548,0.034779
19,4,389120,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.146614,-0.075218,0.882038,0.997206,-0.006894,-0.070258,-0.024422
19,4,389120,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000020
19,4,389120,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084980,-0.074982,0.871288,0.999999,-0.000153,-0.001019,0.000062
19,4,389120,9,gripper,0,"","put ketchup bottle on cloth",-0.203444,-0.128660,0.918812,-0.065963,-0.771895,0.066517,0.628810
19,4,389120,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.069946,0.103401,0.885085,0.563852,0.356251,-0.295839,0.683839
19,4,389120,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.130341,-0.024525,0.881638,0.696028,0.024947,-0.030419,0.716936
19,4,389120,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.077969,0.072254,0.869532,0.994046,0.000001,-0.000001,0.108958
19,4,389120,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.231392,-0.094021,0.871288,0.992594,-0.000276,-0.000993,-0.121475
19,4,389120,10,gripper,0,"","put ketchup bottle on cloth",-0.093927,0.085419,1.024009,0.062951,-0.701709,-0.040305,0.708532
19,4,389120,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.384960,-0.072937,0.010182,0.754326,0.079622,0.646214,-0.084026
19,4,389120,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.134342,0.020584,0.888380,0.654667,0.011610,-0.067726,0.752788
19,4,389120,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.231844,0.074234,0.869532,0.999690,0.000001,0.000000,-0.024888
19,4,389120,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114973,0.044960,0.871288,0.999999,-0.000153,-0.001019,0.000169
19,4,389120,11,gripper,0,"","put ketchup bottle on cloth",-0.142000,0.029676,1.084763,0.082024,-0.798718,0.100676,0.587525
19,4,389120,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.120010,0.147881,0.880141,-0.924388,-0.028457,0.082010,-0.371444
19,4,389120,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.073665,-0.091209,0.889127,0.355933,0.551124,-0.432814,0.618260
19,4,389120,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
19,4,389120,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205094,0.074966,0.871288,0.999999,-0.000153,-0.001019,-0.000337
19,4,389120,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.141778,-0.107721,0.915116,-0.109654,-0.749959,-0.008012,0.652283
19,4,389120,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.140589,-0.113979,0.879212,-0.057973,0.940095,0.196876,0.272213
19,4,389120,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201839,-0.022198,0.883253,0.673787,0.093698,-0.100354,0.726058
19,4,389120,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.233343,-0.088665,0.869531,0.999201,-0.000123,0.000003,-0.039956
19,4,389120,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
19,4,389120,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.193269,-0.002577,0.921766,-0.113916,-0.728470,-0.107445,0.666941
19,4,389120,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.108219,-0.028053,0.885371,0.809348,0.055301,-0.068696,0.580671
19,4,389120,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.066158,0.068661,0.881641,0.996222,-0.001357,0.040140,-0.076992
19,4,389120,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114243,-0.049278,0.869532,0.999909,0.000000,-0.000001,-0.013487
19,4,389120,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.074947,0.871288,0.999999,-0.000155,-0.001020,0.000140
19,4,389120,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.149443,0.028997,0.914260,-0.004120,-0.782258,-0.006027,0.622912
19,4,389120,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.119648,-0.024132,0.879764,0.615688,0.375953,-0.425280,0.546557
19,4,389120,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.116333,0.061565,0.888391,0.806501,0.016895,-0.038016,0.589768
19,4,389120,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.202209,0.086872,0.869532,0.999936,-0.000000,-0.000001,0.011356
19,4,389120,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.070446,0.075199,0.871282,0.989432,-0.000263,-0.001317,0.144995
19,4,389120,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.116909,-0.029703,0.914683,0.008532,-0.793342,-0.008798,0.608653
19,4,389120,16,obj,0,"003_bread_1","put 7up can on carpet",-0.213448,0.017433,0.884994,0.317706,0.039489,-0.049329,0.946082
19,4,389120,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.142883,-0.195271,0.885746,-0.532534,-0.442260,0.401287,-0.599818
19,4,389120,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.233902,0.076927,0.869490,0.999857,0.000525,0.001434,0.016831
19,4,389120,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.203041,-0.075722,0.870447,0.999999,-0.000547,-0.000517,0.001099
19,4,389120,16,gripper,0,"","put 7up can on carpet",-0.032333,-0.090166,0.914320,-0.092224,-0.759501,-0.073537,0.639722
19,4,389120,17,obj,0,"003_bread_1","put 7up can on carpet",-0.182213,-0.052860,0.884163,0.999567,-0.000029,0.014153,0.025795
19,4,389120,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.123219,0.100243,0.889004,-0.880707,-0.121760,0.322060,-0.325279
19,4,389120,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235027,-0.074997,0.869490,1.000000,0.000180,0.000875,0.000093
19,4,389120,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.082962,0.071911,0.870449,0.999992,-0.000933,-0.000875,0.003847
19,4,389120,17,gripper,0,"","put 7up can on carpet",-0.149645,0.062874,0.913788,0.039764,-0.713177,-0.004688,0.699840
19,4,389120,18,obj,0,"003_bread_1","put 7up can on carpet",-0.192043,0.060165,0.885719,0.913162,0.014741,0.003180,0.407317
19,4,389120,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.244045,0.066010,0.889562,-0.511700,0.470763,-0.502628,-0.513722
19,4,389120,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.208248,0.086399,0.869489,0.999587,0.000208,0.000870,-0.028709
19,4,389120,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.082512,0.047512,0.870448,0.999999,-0.000819,-0.000758,-0.000049
19,4,389120,18,gripper,0,"","put 7up can on carpet",-0.155102,-0.003138,1.101279,0.020235,-0.771175,0.075285,0.631833
19,4,389120,19,obj,0,"003_bread_1","put 7up can on carpet",-0.180586,-0.057884,0.885638,0.988063,0.001679,0.006011,-0.153926
19,4,389120,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.189873,0.101414,0.885877,0.647983,-0.247016,0.679869,0.238494
19,4,389120,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205814,-0.087776,0.869490,0.998654,0.000225,0.000864,-0.051859
19,4,389120,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.113924,0.045181,0.870448,0.999988,-0.000898,-0.000820,-0.004678
19,4,389120,19,gripper,0,"","put 7up can on carpet",-0.167478,-0.055710,0.995135,-0.010942,-0.705373,0.023693,0.708355
19,4,389120,20,obj,0,"003_bread_1","put bread on newspaper",-0.207491,0.023766,0.883986,-0.183978,-0.938042,0.258545,0.139229
19,4,389120,20,obj,1,"005_7up can_1","put bread on newspaper",0.062830,0.178902,0.016947,0.688778,-0.313495,0.498839,0.422451
19,4,389120,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.234920,-0.045071,0.869490,0.999999,0.000180,0.000874,-0.000684
19,4,389120,20,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000001
19,4,389120,20,gripper,0,"","put bread on newspaper",-0.201015,0.018126,0.992035,0.024712,-0.741659,-0.006042,0.670295
19,4,389120,21,obj,0,"003_bread_1","put bread on newspaper",-0.196196,-0.050137,0.886628,0.389132,0.014865,-0.002162,0.921060
19,4,389120,21,obj,1,"005_7up can_1","put bread on newspaper",-0.262564,0.085827,0.885663,-0.429485,-0.192875,0.098645,-0.876705
19,4,389120,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000008
19,4,389120,21,recep,1,"003_carpet_1","put bread on newspaper",-0.196985,-0.050449,0.870448,0.998523,-0.000958,-0.000786,-0.054321
19,4,389120,21,gripper,0,"","put bread on newspaper",-0.242369,0.091290,0.943727,-0.001670,-0.721372,-0.013987,0.692405
19,4,389120,22,obj,0,"003_bread_1","put bread on newspaper",-0.147175,-0.095200,0.883986,0.002514,0.369749,-0.900030,-0.230706
19,4,389120,22,obj,1,"005_7up can_1","put bread on newspaper",-0.208344,0.062561,0.887612,0.537339,-0.443129,0.450357,0.558643
19,4,389120,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.235104,0.074974,0.869489,0.999999,0.000546,0.001420,-0.000345
19,4,389120,22,recep,1,"003_carpet_1","put bread on newspaper",-0.084908,0.077473,0.870448,0.999906,-0.000928,-0.000826,-0.013670
19,4,389120,22,gripper,0,"","put bread on newspaper",-0.163412,-0.107805,0.946955,-0.003612,-0.753739,-0.018407,0.656906
19,4,389120,23,obj,0,"003_bread_1","put bread on newspaper",-0.188553,0.069435,0.883544,-0.350282,-0.012366,0.002690,-0.936559
19,4,389120,23,obj,1,"005_7up can_1","put bread on newspaper",-0.187748,-0.061657,0.886692,0.670301,0.297194,-0.287388,0.616263
19,4,389120,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.236633,-0.075027,0.869490,0.999979,0.000544,0.001431,0.006258
19,4,389120,23,recep,1,"003_carpet_1","put bread on newspaper",-0.084568,0.080654,0.870448,0.999830,-0.000600,-0.000548,-0.018423
19,4,389120,23,gripper,0,"","put bread on newspaper",-0.114681,-0.042528,1.076214,-0.011951,-0.756634,-0.007680,0.653684
19,4,389120,24,obj,0,"003_bread_1","put bread on carpet",-0.166611,0.038961,0.883792,0.015757,-0.905664,-0.420935,-0.048350
19,4,389120,24,obj,1,"005_7up can_1","put bread on carpet",-0.085403,0.014248,0.885690,0.735067,-0.043910,0.045821,0.675017
19,4,389120,24,recep,0,"004_newspaper_1","put bread on carpet",-0.070808,-0.083834,0.869490,0.999216,0.000214,0.000867,-0.039590
19,4,389120,24,recep,1,"003_carpet_1","put bread on carpet",-0.079094,0.073830,0.870461,0.998898,0.000026,-0.000157,0.046939
19,4,389120,24,gripper,0,"","put bread on carpet",-0.074165,-0.049089,0.961852,0.026441,-0.745652,0.012200,0.665699
19,4,389120,25,obj,0,"003_bread_1","put bread on carpet",-0.229439,-0.006182,0.886581,0.833723,0.008238,-0.005240,0.552096
19,4,389120,25,obj,1,"005_7up can_1","put bread on carpet",-0.200417,0.026398,0.885633,0.778584,0.069578,-0.083215,0.618095
19,4,389120,25,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
19,4,389120,25,recep,1,"003_carpet_1","put bread on carpet",-0.234921,-0.045687,0.870466,0.999984,-0.000951,-0.001040,-0.005518
19,4,389120,25,gripper,0,"","put bread on carpet",-0.061306,0.102879,0.913390,0.025693,-0.733216,0.025385,0.679035
19,4,389120,26,obj,0,"003_bread_1","put bread on carpet",-0.190628,0.061621,0.884525,0.506328,0.029718,0.015002,0.861698
19,4,389120,26,obj,1,"005_7up can_1","put bread on carpet",-0.095680,0.037508,0.888755,-0.301961,-0.528654,0.767780,-0.199646
19,4,389120,26,recep,0,"004_newspaper_1","put bread on carpet",-0.235023,0.045031,0.869490,1.000000,0.000179,0.000874,0.000329
19,4,389120,26,recep,1,"003_carpet_1","put bread on carpet",-0.119942,0.078012,0.870463,0.999985,0.000035,-0.000159,-0.005438
19,4,389120,26,gripper,0,"","put bread on carpet",-0.154955,0.004963,1.050158,0.063227,-0.769778,0.065507,0.631786
19,4,389120,27,obj,0,"003_bread_1","put bread on carpet",-0.205128,-0.075546,0.883544,0.708845,0.010117,-0.007604,0.705251
19,4,389120,27,obj,1,"005_7up can_1","put bread on carpet",-0.103245,-0.065897,0.888981,0.403899,-0.567970,0.389553,0.602099
19,4,389120,27,recep,0,"004_newspaper_1","put bread on carpet",-0.234976,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000048
19,4,389120,27,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074978,0.870447,0.999999,-0.000922,-0.000845,0.000264
19,4,389120,27,gripper,0,"","put bread on carpet",-0.142457,-0.004320,1.061250,0.072062,-0.725598,0.075374,0.680171
19,4,389120,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.223181,-0.032614,0.886570,0.237329,0.015521,-0.001021,0.971305
19,4,389120,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.215739,0.032301,0.885609,-0.730963,0.075713,-0.074421,-0.674109
19,4,389120,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000003
19,4,389120,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234925,-0.045277,0.870445,0.999997,-0.000728,-0.001045,-0.001992
19,4,389120,28,gripper,0,"","put 7up can on newspaper",-0.167072,-0.031789,1.010357,-0.057034,-0.717088,-0.084208,0.689523
19,4,389120,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.217224,0.078415,0.885993,0.023187,-0.894872,-0.444641,-0.031014
19,4,389120,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.075096,0.122204,0.888730,-0.153764,-0.088434,0.980253,-0.087402
19,4,389120,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234493,0.044161,0.869490,1.000000,0.000180,0.000874,-0.000204
19,4,389120,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.088274,0.077316,0.870477,0.999312,-0.003214,-0.002911,-0.036825
19,4,389120,29,gripper,0,"","put 7up can on newspaper",-0.147891,0.019940,1.088684,0.000640,-0.706409,0.007360,0.707766
19,4,389120,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.237534,0.052765,0.887140,0.408274,0.024269,0.000379,0.912537
19,4,389120,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.164967,0.109772,0.887417,0.563722,-0.395031,0.570605,0.447859
19,4,389120,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.203529,0.082037,0.869489,0.999778,0.000214,0.000889,-0.021049
19,4,389120,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083683,0.074438,0.870448,0.999992,-0.000930,-0.000849,-0.003888
19,4,389120,30,gripper,0,"","put 7up can on newspaper",-0.225414,0.053280,0.992088,-0.287345,-0.758349,-0.178361,0.557249
19,4,389120,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.216179,-0.071049,0.886735,0.999472,0.002742,-0.005620,-0.031897
19,4,389120,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.162476,-0.036985,0.886050,-0.070418,0.916679,-0.348603,-0.182257
19,4,389120,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
19,4,389120,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234337,-0.074732,0.870804,0.999995,0.000092,0.002946,0.000808
19,4,389120,31,gripper,0,"","put 7up can on newspaper",-0.165806,-0.068274,0.947314,-0.088984,-0.720303,-0.026409,0.687421
19,4,389120,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.241264,-0.065141,0.887182,0.978924,-0.014855,0.027494,0.201819
19,4,389120,32,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,0.074562,0.878547,0.999909,0.013294,0.002054,0.000419
19,4,389120,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
19,4,389120,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
19,4,389120,32,gripper,0,"","put banana on flat bowl",-0.065323,0.074108,0.999936,0.115031,-0.731865,0.149557,0.654808
19,4,389120,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244766,-0.065862,0.887129,0.997941,-0.011894,0.027341,0.056788
19,4,389120,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
19,4,389120,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
19,4,389120,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
19,4,389120,33,gripper,0,"","put banana on flat bowl",-0.051981,0.073440,0.984510,0.050685,-0.744535,0.044482,0.664168
19,4,389120,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203335,0.075915,0.887529,0.999035,-0.000342,0.043220,0.007857
19,4,389120,34,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013271,0.002049,0.000284
19,4,389120,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
19,4,389120,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
19,4,389120,34,gripper,0,"","put banana on flat bowl",-0.134933,-0.053036,1.006923,-0.179374,-0.659617,-0.154230,0.713403
19,4,389120,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203398,0.076014,0.887529,0.998967,-0.000608,0.043215,0.014022
19,4,389120,35,obj,1,"013_banana_1","put banana on flat bowl",-0.114992,-0.075437,0.878547,0.999910,0.013282,0.002053,0.000331
19,4,389120,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
19,4,389120,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
19,4,389120,35,gripper,0,"","put banana on flat bowl",-0.060180,-0.020343,0.986335,-0.077959,-0.706545,-0.016928,0.703157
19,4,389120,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236105,-0.067150,0.887529,0.331189,-0.040778,0.014326,0.942574
19,4,389120,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,0.075320,0.878547,0.382235,0.003190,0.013074,0.923967
19,4,389120,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
19,4,389120,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000004
19,4,389120,36,gripper,0,"","put carrot on sheet metal",-0.216019,-0.065433,0.961275,-0.070588,-0.700695,-0.076649,0.705810
19,4,389120,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094229,0.032926,0.887482,0.391113,-0.037596,0.017361,0.919410
19,4,389120,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204695,0.075317,0.878547,0.382300,0.003195,0.013090,0.923940
19,4,389120,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000010
19,4,389120,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000000
19,4,389120,37,gripper,0,"","put carrot on sheet metal",-0.102696,-0.077862,1.023501,0.261432,-0.694519,0.329500,0.583718
19,4,389120,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.098537,-0.064481,0.887327,0.927301,-0.006898,0.029959,0.373051
19,4,389120,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
19,4,389120,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
19,4,389120,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
19,4,389120,38,gripper,0,"","put carrot on sheet metal",-0.134487,-0.030681,0.969620,-0.024512,-0.757871,-0.002011,0.651940
19,4,389120,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.220913,-0.097583,0.928088,0.997017,-0.034809,-0.011349,0.067945
19,4,389120,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114998,-0.045441,0.878547,0.999910,0.013270,0.002052,0.000340
19,4,389120,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
19,4,389120,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
19,4,389120,39,gripper,0,"","put carrot on sheet metal",-0.212933,-0.093108,0.975302,-0.089380,-0.713179,-0.043206,0.693916
19,4,389120,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237556,0.074530,0.887524,0.997166,-0.000035,0.026922,0.070246
19,4,389120,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.205002,-0.075441,0.878547,0.999909,0.013309,0.002036,-0.000840
19,4,389120,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000037
19,4,389120,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
19,4,389120,40,gripper,0,"","put carrot on flat bowl",-0.201267,0.061034,0.987689,-0.113688,-0.684459,-0.170351,0.699694
19,4,389120,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093563,-0.086187,0.887492,0.388395,-0.020802,0.010254,0.921201
19,4,389120,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044693,0.878547,0.384199,0.003214,0.013045,0.923153
19,4,389120,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
19,4,389120,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
19,4,389120,41,gripper,0,"","put carrot on flat bowl",-0.053934,-0.027887,0.982232,0.165657,-0.760854,0.334404,0.530879
19,4,389120,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.201527,0.075871,0.887529,0.998050,-0.001948,0.043178,0.045031
19,4,389120,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,-0.075441,0.878546,0.999909,0.013254,0.002035,-0.001255
19,4,389120,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
19,4,389120,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
19,4,389120,42,gripper,0,"","put carrot on flat bowl",-0.099472,0.075588,0.986074,0.026838,-0.703076,-0.070328,0.707119
19,4,389120,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.246197,-0.061495,0.887176,0.998960,-0.008159,0.029978,-0.033366
19,4,389120,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084976,0.074558,0.878547,0.999909,0.013314,0.002044,-0.000314
19,4,389120,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
19,4,389120,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
19,4,389120,43,gripper,0,"","put carrot on flat bowl",-0.178802,-0.036861,0.996233,-0.093157,-0.711895,-0.054354,0.693954
19,4,389120,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.217710,-0.065619,0.887457,0.925974,-0.009762,0.024382,0.376672
19,4,389120,44,obj,1,"013_banana_1","put banana on sheet metal",-0.084685,0.074690,0.878547,0.923613,0.011503,0.006990,0.383088
19,4,389120,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000031
19,4,389120,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000001
19,4,389120,44,gripper,0,"","put banana on sheet metal",-0.043041,0.075939,0.991031,-0.125544,-0.754635,-0.098393,0.636462
19,4,389120,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232349,-0.046869,0.887529,0.919503,-0.016903,0.039782,0.390699
19,4,389120,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084665,0.074692,0.878547,0.924213,0.011528,0.006979,0.381640
19,4,389120,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
19,4,389120,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000359
19,4,389120,45,gripper,0,"","put banana on sheet metal",-0.072371,0.071479,1.031198,0.091647,-0.846393,0.240241,0.466373
19,4,389120,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242847,0.066183,0.887477,0.240975,-0.027612,0.006663,0.970115
19,4,389120,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
19,4,389120,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
19,4,389120,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000580
19,4,389120,46,gripper,0,"","put banana on sheet metal",-0.017956,-0.076111,0.977751,-0.193769,-0.773214,-0.202541,0.568833
19,4,389120,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209335,-0.068571,0.887466,0.997296,-0.002307,0.022202,0.070015
19,4,389120,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
19,4,389120,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
19,4,389120,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
19,4,389120,47,gripper,0,"","put banana on sheet metal",-0.170240,0.105309,1.022944,0.006427,-0.689001,0.059603,0.722277
19,4,389120,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.171448,0.049488,0.890751,0.179483,0.008293,0.024265,-0.983427
19,4,389120,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.110268,-0.414593,0.020993,-0.082592,0.051599,0.994986,0.022782
19,4,389120,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.070793,-0.193432,0.872199,0.993971,-0.000001,-0.000001,0.109648
19,4,389120,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.183952,0.094360,0.870883,0.999698,0.000709,0.000686,-0.024564
19,4,389120,48,gripper,0,"","put plastic bottle on cutting board",-0.168953,-0.121464,0.914315,0.107568,-0.740655,0.172889,0.640288
19,4,389120,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.169800,0.168465,0.891791,-0.225959,-0.889785,0.392775,-0.054346
19,4,389120,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.168720,-0.187340,0.886511,0.069491,0.553431,-0.043127,0.828870
19,4,389120,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234997,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000025
19,4,389120,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000029
19,4,389120,49,gripper,0,"","put plastic bottle on cutting board",-0.165821,-0.157839,0.948502,-0.176517,-0.725230,-0.130326,0.652609
19,4,389120,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.081963,-0.082329,0.890781,0.998551,-0.024244,0.014546,0.045779
19,4,389120,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.058769,0.015785,0.887026,0.646176,-0.297207,0.644479,0.280662
19,4,389120,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000734
19,4,389120,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083515,-0.079708,0.870870,0.999280,-0.000000,0.000000,-0.037929
19,4,389120,50,gripper,0,"","put plastic bottle on cutting board",-0.137077,-0.018005,1.084183,0.037736,-0.762482,0.049264,0.644026
19,4,389120,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.428528,-0.345802,0.019312,-0.820596,0.027506,0.001386,-0.570845
19,4,389120,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.090759,-0.041477,0.888686,0.644584,-0.021639,0.007519,0.764190
19,4,389120,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
19,4,389120,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084356,-0.074699,0.870870,0.999999,-0.000000,-0.000002,-0.001371
19,4,389120,51,gripper,0,"","put plastic bottle on cutting board",-0.115665,-0.070343,1.091582,-0.051205,-0.766564,-0.122353,0.628321
19,4,389120,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.209780,0.088524,0.974537,0.987040,-0.043467,0.075651,-0.134684
19,4,389120,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.033680,-0.073814,0.887026,0.700257,0.061956,0.706999,-0.077159
19,4,389120,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000000
19,4,389120,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
19,4,389120,52,gripper,0,"","put hamburger on frying pan",-0.187491,0.086626,1.017710,0.035744,-0.713744,0.065123,0.696456
19,4,389120,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.029613,-0.020672,0.888112,0.143422,-0.017771,-0.021039,0.989278
19,4,389120,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.120882,-0.086842,0.913641,-0.613907,-0.083980,0.070203,-0.781753
19,4,389120,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.212528,-0.085163,0.872199,0.964290,0.000000,-0.000001,-0.264847
19,4,389120,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.061449,-0.123070,0.870870,0.997281,0.000000,-0.000001,0.073697
19,4,389120,53,gripper,0,"","put hamburger on frying pan",-0.091632,-0.076664,0.941156,-0.119007,-0.803266,-0.074672,0.578813
19,4,389120,54,obj,0,"014_hamburger_1","put hamburger on frying pan",0.283154,-0.762619,0.019312,0.872174,-0.027511,0.001293,0.488420
19,4,389120,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.268673,0.110321,0.890644,0.192141,0.340994,0.918364,-0.058414
19,4,389120,54,recep,0,"011_frying pan_1","put hamburger on frying pan",0.108963,-0.753143,0.003399,-0.502090,-0.000000,-0.000000,0.864815
19,4,389120,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235050,-0.045124,0.870870,0.999999,-0.000001,-0.000002,-0.000997
19,4,389120,54,gripper,0,"","put hamburger on frying pan",-0.042097,-0.020134,0.990192,0.084566,-0.762241,0.055016,0.639383
19,4,389120,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.255787,0.061954,0.918530,0.974625,-0.054993,0.037301,0.213755
19,4,389120,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.182865,0.016953,0.018226,0.668071,-0.240225,0.667816,0.223595
19,4,389120,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
19,4,389120,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
19,4,389120,55,gripper,0,"","put hamburger on frying pan",-0.239645,0.060740,0.947333,-0.031758,-0.679312,-0.099424,0.726389
19,4,389120,56,obj,0,"014_hamburger_1","put hamburger on cutting board",0.735321,0.878075,0.019312,-0.988518,0.025277,-0.010935,-0.148574
19,4,389120,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.191864,0.109978,0.017292,0.993857,-0.008793,0.020645,-0.108375
19,4,389120,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.081787,-0.074291,0.872199,0.999884,-0.000001,-0.000001,0.015214
19,4,389120,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204987,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
19,4,389120,56,gripper,0,"","put hamburger on cutting board",-0.143433,-0.120770,0.972107,-0.047265,-0.797376,-0.140681,0.584950
19,4,389120,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.042755,-0.097294,0.890761,0.957254,-0.025770,0.007486,0.288002
19,4,389120,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.133556,-0.020958,0.887319,0.539127,0.456926,0.484202,-0.515858
19,4,389120,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.130806,0.092365,0.872199,0.962611,-0.000001,-0.000001,0.270887
19,4,389120,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.051571,-0.081455,0.870874,0.991567,0.000615,0.000551,-0.129590
19,4,389120,57,gripper,0,"","put hamburger on cutting board",-0.148930,-0.017534,0.935957,-0.049500,-0.742675,0.024968,0.667353
19,4,389120,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.116074,-0.073238,0.888112,0.711121,-0.026866,-0.006059,0.702530
19,4,389120,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.203171,0.007278,0.889330,0.423579,-0.574472,0.418669,0.561497
19,4,389120,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
19,4,389120,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.238285,-0.045662,0.870870,0.999945,0.000001,-0.000000,0.010498
19,4,389120,58,gripper,0,"","put hamburger on cutting board",-0.163832,0.058582,0.992342,-0.051795,-0.676862,-0.028815,0.733719
19,4,389120,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.184753,-0.142498,0.891736,-0.573135,0.143949,0.805044,0.051946
19,4,389120,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.214388,0.102955,0.889537,0.627802,-0.332545,0.629592,0.314471
19,4,389120,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235096,-0.075012,0.872199,0.999999,-0.000000,-0.000000,-0.001388
19,4,389120,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.228834,0.074200,0.870870,0.999627,-0.000001,-0.000003,0.027302
19,4,389120,59,gripper,0,"","put hamburger on cutting board",-0.183283,-0.042879,0.953381,0.074827,-0.714385,0.017917,0.695509
19,4,389120,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.065101,-0.030083,0.890527,0.246542,-0.018189,-0.016129,0.968827
19,4,389120,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.190841,-0.011410,0.886018,0.490079,-0.504432,-0.489287,-0.515723
19,4,389120,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204648,-0.089924,0.873204,0.999371,-0.017774,-0.006276,-0.030028
19,4,389120,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000000
19,4,389120,60,gripper,0,"","put plastic bottle on frying pan",-0.202692,-0.008656,0.918742,-0.002389,-0.762017,0.012652,0.647429
19,4,389120,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.124851,-0.040859,0.888113,0.214731,-0.019252,-0.019698,0.976285
19,4,389120,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.272411,-0.102463,0.887026,0.255802,-0.666861,0.242861,0.656414
19,4,389120,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
19,4,389120,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
19,4,389120,61,gripper,0,"","put plastic bottle on frying pan",-0.186913,-0.046440,1.001634,-0.052105,-0.730179,0.074600,0.677170
19,4,389120,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.122097,0.064220,0.896209,0.920790,-0.061253,0.067792,0.379207
19,4,389120,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.226662,0.084576,0.889555,0.506226,-0.500131,0.493987,0.499581
19,4,389120,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000074
19,4,389120,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234257,0.050285,0.870869,0.999949,0.000044,0.000029,0.010094
19,4,389120,62,gripper,0,"","put plastic bottle on frying pan",-0.219433,0.084538,0.935338,0.062476,-0.774663,0.041240,0.627928
19,4,389120,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.282627,-0.020618,0.888616,0.920968,-0.059857,0.003129,0.385001
19,4,389120,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.151291,0.023674,0.888556,0.395057,0.558446,-0.656176,0.318593
19,4,389120,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084789,0.074802,0.872199,0.999999,-0.000000,0.000000,0.001230
19,4,389120,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.241356,-0.085323,0.870870,0.998422,0.000001,-0.000000,0.056155
19,4,389120,63,gripper,0,"","put plastic bottle on frying pan",-0.155722,0.022781,0.931752,0.091289,-0.746695,-0.005186,0.658852
20,1,394240,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.083275,0.111183,0.885369,-0.738961,0.173316,-0.217684,-0.613605
20,1,394240,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085724,-0.075592,0.881638,0.923160,0.010854,-0.037813,0.382396
20,1,394240,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,0.074989,0.869532,1.000000,-0.000000,-0.000001,0.000250
20,1,394240,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235023,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000022
20,1,394240,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.255714,0.057030,0.942009,0.154487,-0.730039,0.118518,0.655080
20,1,394240,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094753,0.075012,0.879089,0.886309,-0.001324,-0.463092,0.000564
20,1,394240,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.086304,-0.074738,0.881638,0.999223,-0.004346,-0.039093,0.002548
20,1,394240,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
20,1,394240,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001019,-0.002154
20,1,394240,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.055666,0.085556,0.929780,0.067611,-0.740893,0.043335,0.666805
20,1,394240,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.112087,-0.068115,0.885122,0.490027,0.490014,-0.598386,0.402111
20,1,394240,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235764,-0.045555,0.881638,0.923155,0.010853,-0.037815,0.382409
20,1,394240,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.112598,-0.073196,0.869532,0.999997,0.000000,-0.000001,-0.002450
20,1,394240,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
20,1,394240,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.226469,-0.061714,0.930930,0.064881,-0.764072,0.052538,0.639706
20,1,394240,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094748,0.045029,0.879089,0.886319,-0.001266,-0.463072,0.000681
20,1,394240,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.173008,-0.052063,0.884333,0.821787,0.035250,0.017935,0.568420
20,1,394240,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.208160,0.077179,0.869532,0.998600,0.000000,-0.000000,-0.052886
20,1,394240,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.272936,-0.043587,0.871314,0.977861,0.001262,0.000443,0.209253
20,1,394240,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.205472,-0.002987,0.916374,0.230301,-0.653328,0.087893,0.715820
20,1,394240,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.177179,0.056900,0.886429,0.710429,0.206383,-0.461752,0.489369
20,1,394240,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085953,-0.074883,0.881638,0.999225,-0.004453,-0.039114,-0.000194
20,1,394240,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
20,1,394240,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
20,1,394240,4,gripper,0,"","put ketchup bottle on cloth",-0.228619,0.074982,0.914779,0.087743,-0.773295,0.058417,0.625223
20,1,394240,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.099375,0.187172,0.879089,0.584267,0.347135,-0.306471,0.666486
20,1,394240,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234411,-0.045738,0.881638,0.382403,0.034405,-0.019062,0.923158
20,1,394240,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
20,1,394240,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.072710,0.066513,0.871289,0.999997,-0.000156,-0.001019,-0.002334
20,1,394240,5,gripper,0,"","put ketchup bottle on cloth",-0.132977,0.186031,0.915764,-0.036066,-0.770334,0.006245,0.636589
20,1,394240,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.218266,0.085175,0.887972,0.663984,0.308052,-0.337792,0.591713
20,1,394240,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085114,-0.075981,0.881638,0.706743,0.024495,-0.030795,0.706375
20,1,394240,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
20,1,394240,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000110
20,1,394240,6,gripper,0,"","put ketchup bottle on cloth",-0.154510,0.071934,1.131487,0.094239,-0.748176,0.102597,0.648710
20,1,394240,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.074524,-0.050888,0.878982,0.262942,-0.608112,0.232672,0.711986
20,1,394240,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234383,0.074265,0.881638,0.382462,0.034428,-0.019074,0.923133
20,1,394240,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
20,1,394240,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205006,-0.045006,0.871288,0.999999,-0.000155,-0.001021,0.000007
20,1,394240,7,gripper,0,"","put ketchup bottle on cloth",-0.218973,-0.023510,0.964467,0.139823,-0.759531,0.063905,0.632043
20,1,394240,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.009613,-0.007687,0.879897,0.016643,-0.950944,0.049765,0.304880
20,1,394240,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235977,-0.074890,0.881638,0.999224,-0.004464,-0.039117,-0.000511
20,1,394240,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.063515,-0.124290,0.869532,0.972015,0.000001,-0.000001,-0.234918
20,1,394240,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000110
20,1,394240,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.048157,-0.060488,0.917996,-0.104604,-0.815018,-0.081976,0.563990
20,1,394240,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214752,-0.044983,0.879088,0.886324,-0.001326,-0.463062,0.000567
20,1,394240,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089203,0.078442,0.881638,0.998967,-0.003556,-0.039209,0.022690
20,1,394240,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
20,1,394240,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
20,1,394240,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.086596,0.038414,0.947786,-0.003392,-0.760943,-0.057965,0.646215
20,1,394240,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244717,0.045013,0.879088,0.886332,-0.001302,-0.463049,0.000612
20,1,394240,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204872,-0.086456,0.881638,0.998145,-0.002622,-0.039275,0.046441
20,1,394240,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000029
20,1,394240,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
20,1,394240,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.254288,-0.144608,0.917320,-0.098495,-0.710933,0.025015,0.695878
20,1,394240,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214716,-0.074982,0.879089,0.886320,-0.001323,-0.463072,0.000571
20,1,394240,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085951,0.075108,0.881638,0.999226,-0.004450,-0.039092,-0.000140
20,1,394240,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235003,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000018
20,1,394240,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.085194,-0.075001,0.871288,0.999999,-0.000154,-0.001019,0.000040
20,1,394240,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.073818,-0.027571,0.949486,-0.018219,-0.735257,-0.132218,0.664518
20,1,394240,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108128,-0.081821,0.879088,0.338715,0.427295,-0.178463,0.819049
20,1,394240,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234856,0.071033,0.888690,0.818038,-0.006326,-0.070092,0.570843
20,1,394240,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
20,1,394240,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.202720,0.071220,0.871288,0.999218,-0.000114,-0.001024,0.039534
20,1,394240,12,gripper,0,"","put kitchen shovel on cloth",-0.237574,0.037853,0.980076,0.146264,-0.709124,0.070114,0.686173
20,1,394240,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078070,-0.081879,0.879088,0.338426,0.427357,-0.178312,0.819169
20,1,394240,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.100367,0.078827,0.889198,0.786481,0.018511,-0.086136,0.611298
20,1,394240,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000052
20,1,394240,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000155,-0.001019,0.000005
20,1,394240,13,gripper,0,"","put kitchen shovel on cloth",-0.257718,-0.027458,0.914878,0.104465,-0.720886,0.054635,0.682953
20,1,394240,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211868,-0.051884,0.879087,0.819309,0.175231,-0.427918,0.338987
20,1,394240,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.122543,0.037235,0.892958,0.553728,0.397199,-0.561510,0.469387
20,1,394240,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
20,1,394240,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.243942,0.073101,0.871288,0.999995,-0.000150,-0.001019,0.002997
20,1,394240,14,gripper,0,"","put kitchen shovel on cloth",-0.223833,0.042559,0.984173,0.038187,-0.666729,-0.087601,0.739148
20,1,394240,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.235023,-0.084805,0.879088,0.627135,0.326076,-0.328802,0.626311
20,1,394240,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.135189,0.064487,0.887493,0.647213,0.014212,-0.062449,0.759614
20,1,394240,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000000
20,1,394240,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000024
20,1,394240,15,gripper,0,"","put kitchen shovel on cloth",-0.178034,0.054873,0.936684,-0.061754,-0.727285,-0.094019,0.677055
20,1,394240,16,obj,0,"003_bread_1","put bread on newspaper",-0.251556,-0.029789,0.886841,0.364631,0.027525,0.001863,0.930743
20,1,394240,16,obj,1,"005_7up can_1","put bread on newspaper",-0.202606,0.072357,0.885633,0.379509,0.101276,-0.038850,0.918807
20,1,394240,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,-0.045002,0.869490,1.000000,0.000179,0.000874,-0.000283
20,1,394240,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074989,0.870448,0.999999,-0.000923,-0.000844,-0.000023
20,1,394240,16,gripper,0,"","put bread on newspaper",-0.153866,0.030142,0.964122,0.123649,-0.736112,0.098776,0.658098
20,1,394240,17,obj,0,"003_bread_1","put bread on newspaper",-0.205471,0.082279,0.883544,0.991756,0.000207,-0.012656,-0.127510
20,1,394240,17,obj,1,"005_7up can_1","put bread on newspaper",-0.094337,0.045174,0.885636,0.958611,-0.005374,-0.284670,0.000151
20,1,394240,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
20,1,394240,17,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000037
20,1,394240,17,gripper,0,"","put bread on newspaper",-0.220076,0.069849,0.943620,-0.015596,-0.730235,-0.075690,0.678812
20,1,394240,18,obj,0,"003_bread_1","put bread on newspaper",-0.235535,0.075123,0.883544,0.999916,0.001781,-0.012532,-0.002812
20,1,394240,18,obj,1,"005_7up can_1","put bread on newspaper",-0.148575,-0.078484,0.889307,-0.162823,-0.080258,0.983259,-0.015813
20,1,394240,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
20,1,394240,18,recep,1,"003_carpet_1","put bread on newspaper",-0.110214,-0.046310,0.870409,0.999799,-0.000327,-0.001074,0.019995
20,1,394240,18,gripper,0,"","put bread on newspaper",-0.186184,-0.117161,0.930758,0.041883,-0.780533,0.001466,0.623709
20,1,394240,19,obj,0,"003_bread_1","put bread on newspaper",-0.184561,0.095520,0.885628,0.720452,0.022253,0.005001,0.693130
20,1,394240,19,obj,1,"005_7up can_1","put bread on newspaper",-0.222683,0.065613,0.971172,0.589462,0.492586,-0.440543,0.464559
20,1,394240,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.204971,0.075012,0.869490,1.000000,0.000180,0.000874,0.000057
20,1,394240,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
20,1,394240,19,gripper,0,"","put bread on newspaper",-0.227239,0.060638,1.000888,0.103592,-0.689739,-0.023347,0.716229
20,1,394240,20,obj,0,"003_bread_1","put bread on carpet",-0.235259,-0.045341,0.883544,0.924438,0.006459,-0.010901,0.381121
20,1,394240,20,obj,1,"005_7up can_1","put bread on carpet",-0.090505,0.069744,0.885626,0.898152,0.084382,-0.217191,0.372867
20,1,394240,20,recep,0,"004_newspaper_1","put bread on carpet",-0.114997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
20,1,394240,20,recep,1,"003_carpet_1","put bread on carpet",-0.204996,0.074993,0.870452,0.999998,0.001568,0.001265,0.000001
20,1,394240,20,gripper,0,"","put bread on carpet",-0.074089,-0.057117,0.960684,0.106577,-0.735294,0.151127,0.652032
20,1,394240,21,obj,0,"003_bread_1","put bread on carpet",-0.218470,-0.036507,0.886524,0.254130,0.017119,-0.001901,0.967017
20,1,394240,21,obj,1,"005_7up can_1","put bread on carpet",-0.231487,0.040894,0.885896,0.405674,-0.590330,0.448520,0.534573
20,1,394240,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
20,1,394240,21,recep,1,"003_carpet_1","put bread on carpet",-0.234825,-0.044781,0.870448,0.999994,-0.000135,-0.000168,-0.003339
20,1,394240,21,gripper,0,"","put bread on carpet",-0.207953,0.010139,0.986422,-0.120683,-0.761725,-0.089725,0.630206
20,1,394240,22,obj,0,"003_bread_1","put bread on carpet",-0.095661,-0.031357,0.886712,0.339594,0.028681,0.003359,0.940129
20,1,394240,22,obj,1,"005_7up can_1","put bread on carpet",-0.228527,0.068287,0.885636,0.366018,0.261035,-0.113702,0.885982
20,1,394240,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085037,-0.075016,0.869490,1.000000,0.000179,0.000874,0.000335
20,1,394240,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,-0.075813,0.870367,0.999979,0.000176,-0.001151,-0.006406
20,1,394240,22,gripper,0,"","put bread on carpet",-0.077753,-0.061577,0.967922,-0.048901,-0.732529,-0.001427,0.678976
20,1,394240,23,obj,0,"003_bread_1","put bread on carpet",-0.203468,0.053566,0.886483,0.285160,0.018953,-0.003364,0.958286
20,1,394240,23,obj,1,"005_7up can_1","put bread on carpet",-0.047401,-0.142029,0.885667,-0.370568,0.213849,-0.090860,-0.899273
20,1,394240,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
20,1,394240,23,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074989,0.870452,0.999998,0.001568,0.001265,0.000088
20,1,394240,23,gripper,0,"","put bread on carpet",-0.089449,-0.082119,0.915159,-0.040834,-0.773856,-0.021801,0.631668
20,1,394240,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085121,0.074471,0.883544,0.709105,0.010119,-0.007599,0.704989
20,1,394240,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.119614,0.036795,0.904754,0.730098,-0.033759,0.084248,0.677288
20,1,394240,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114990,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000002
20,1,394240,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,-0.044996,0.870446,0.999999,-0.000727,-0.001047,0.000009
20,1,394240,24,gripper,0,"","put 7up can on newspaper",-0.120750,0.032553,0.935255,0.085650,-0.765338,-0.008552,0.637847
20,1,394240,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.193218,0.095625,0.884522,0.833442,0.028033,0.023454,0.551397
20,1,394240,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.235165,-0.082613,0.885627,0.686635,0.161176,-0.168246,0.688657
20,1,394240,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235115,0.075060,0.869490,0.999999,0.000179,0.000874,0.001154
20,1,394240,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
20,1,394240,25,gripper,0,"","put 7up can on newspaper",-0.200890,-0.074889,0.923839,0.019738,-0.736956,0.048746,0.673891
20,1,394240,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.192810,-0.050444,0.885915,0.281508,0.029435,0.003264,0.959102
20,1,394240,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.232449,0.042576,0.885633,0.381016,0.101241,-0.039030,0.918179
20,1,394240,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205124,-0.075081,0.869490,0.999999,0.000179,0.000875,0.000783
20,1,394240,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.087704,-0.073933,0.871771,0.999862,-0.002635,-0.015285,-0.006024
20,1,394240,26,gripper,0,"","put 7up can on newspaper",-0.144163,-0.019765,0.917181,0.033881,-0.749309,-0.018315,0.661100
20,1,394240,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.074118,-0.066011,0.889153,0.977751,0.011755,-0.001786,0.209433
20,1,394240,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090504,0.069761,0.885627,0.898057,0.084439,-0.217170,0.373096
20,1,394240,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234989,-0.075001,0.869489,1.000000,0.000180,0.000875,0.000016
20,1,394240,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
20,1,394240,27,gripper,0,"","put 7up can on newspaper",-0.081247,-0.064146,0.925750,-0.149862,-0.790060,-0.111064,0.583962
20,1,394240,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085522,-0.074886,0.883544,0.999916,0.001792,-0.012534,-0.002887
20,1,394240,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.148275,-0.008575,0.886385,-0.725975,0.257727,0.564522,0.296398
20,1,394240,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204405,-0.075249,0.869490,0.999988,0.000184,0.000873,-0.004858
20,1,394240,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,0.075005,0.870448,0.999999,-0.000923,-0.000845,0.000005
20,1,394240,28,gripper,0,"","put 7up can on carpet",-0.184361,0.023030,0.915734,0.096430,-0.774034,0.033299,0.624871
20,1,394240,29,obj,0,"003_bread_1","put 7up can on carpet",-0.127970,-0.050379,0.885978,0.790293,0.027167,-0.058634,-0.609312
20,1,394240,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092604,0.075182,0.885627,0.972473,-0.005086,-0.232956,0.001070
20,1,394240,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.078499,-0.072836,0.869490,0.999430,0.000209,0.000868,-0.033752
20,1,394240,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
20,1,394240,29,gripper,0,"","put 7up can on carpet",-0.171859,-0.088560,0.914962,0.020311,-0.780665,0.004532,0.624604
20,1,394240,30,obj,0,"003_bread_1","put 7up can on carpet",-0.115128,0.074461,0.883544,0.709095,0.010129,-0.007598,0.704999
20,1,394240,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.108879,-0.058081,0.888954,0.472673,0.466779,-0.329623,0.670855
20,1,394240,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235004,0.045000,0.869490,1.000000,0.000180,0.000874,-0.000152
20,1,394240,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085987,-0.045317,0.870373,0.999996,-0.000653,-0.001739,-0.002260
20,1,394240,30,gripper,0,"","put 7up can on carpet",-0.124563,-0.075249,0.965706,-0.191939,-0.714464,-0.157416,0.654157
20,1,394240,31,obj,0,"003_bread_1","put 7up can on carpet",-0.234505,-0.045517,0.883544,0.383443,0.012263,-0.003123,0.923478
20,1,394240,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.176247,-0.031038,0.885980,-0.573479,-0.425032,0.521894,-0.467007
20,1,394240,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.105984,-0.113588,0.869490,0.999135,0.000143,0.000880,0.041575
20,1,394240,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.084595,0.070148,0.870418,0.999772,-0.000729,-0.001389,0.021291
20,1,394240,31,gripper,0,"","put 7up can on carpet",-0.159458,-0.040970,0.936402,-0.134171,-0.717909,-0.218094,0.647332
20,1,394240,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208290,-0.036658,0.887467,0.991292,-0.003541,0.028075,0.128602
20,1,394240,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013317,0.002051,-0.000100
20,1,394240,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
20,1,394240,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
20,1,394240,32,gripper,0,"","put carrot on sheet metal",-0.162342,-0.005093,1.003925,-0.174474,-0.708980,-0.051680,0.681348
20,1,394240,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117432,-0.045735,0.887274,0.741276,-0.016204,0.027682,0.670433
20,1,394240,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007934,0.010839,0.707296
20,1,394240,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
20,1,394240,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
20,1,394240,33,gripper,0,"","put carrot on sheet metal",-0.100557,-0.016403,0.987142,0.009799,-0.782167,0.040417,0.621680
20,1,394240,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118126,-0.077237,0.887203,0.354670,-0.031703,0.002959,0.934449
20,1,394240,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
20,1,394240,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
20,1,394240,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
20,1,394240,34,gripper,0,"","put carrot on sheet metal",-0.091295,-0.057579,0.966434,0.109418,-0.851443,0.158679,0.487744
20,1,394240,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.116085,0.073890,0.887484,0.737616,-0.017796,0.018214,0.674739
20,1,394240,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007930,0.010833,0.707290
20,1,394240,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
20,1,394240,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
20,1,394240,35,gripper,0,"","put carrot on sheet metal",-0.047056,-0.067986,1.000633,0.159878,-0.730191,0.149547,0.647222
20,1,394240,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.213502,-0.100415,0.932292,0.987720,-0.029737,0.090089,0.124135
20,1,394240,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204991,0.074503,0.878547,0.999909,0.013295,0.002056,0.000622
20,1,394240,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
20,1,394240,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
20,1,394240,36,gripper,0,"","put carrot on flat bowl",-0.187309,-0.094399,0.982424,-0.039031,-0.752868,-0.052445,0.654917
20,1,394240,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087118,-0.072385,0.887360,0.996749,0.001353,0.028849,0.075217
20,1,394240,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234999,0.074571,0.878547,0.999910,0.013281,0.002046,0.000057
20,1,394240,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044995,0.871344,0.999999,-0.000157,0.001164,-0.000011
20,1,394240,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000001,-0.000001,-0.000000
20,1,394240,37,gripper,0,"","put carrot on flat bowl",-0.041637,-0.037368,0.961006,-0.065256,-0.734660,-0.036242,0.674317
20,1,394240,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237045,0.078299,0.887429,0.910493,-0.018606,0.034746,0.411642
20,1,394240,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011523,0.007001,0.383097
20,1,394240,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
20,1,394240,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
20,1,394240,38,gripper,0,"","put carrot on flat bowl",-0.181282,0.056423,1.040830,0.015938,-0.680253,-0.023623,0.732424
20,1,394240,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.116699,0.077763,0.887210,0.910479,-0.005039,0.031651,0.412312
20,1,394240,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.044693,0.878547,0.923634,0.011493,0.006984,0.383040
20,1,394240,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
20,1,394240,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
20,1,394240,39,gripper,0,"","put carrot on flat bowl",-0.131250,-0.039089,0.997576,-0.147888,-0.729804,-0.058969,0.664859
20,1,394240,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207855,-0.077404,0.887559,0.356834,-0.025403,0.012362,0.933741
20,1,394240,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234673,0.045322,0.878547,0.382879,0.003193,0.013054,0.923701
20,1,394240,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
20,1,394240,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000071
20,1,394240,40,gripper,0,"","put banana on sheet metal",-0.164082,0.004070,0.967452,0.135349,-0.660168,0.158803,0.721554
20,1,394240,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207222,-0.072397,0.887316,0.911456,-0.004210,0.017051,0.411021
20,1,394240,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084675,-0.045311,0.878547,0.923881,0.011473,0.006964,0.382444
20,1,394240,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
20,1,394240,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000156
20,1,394240,41,gripper,0,"","put banana on sheet metal",-0.043531,-0.017412,0.975097,0.124825,-0.814491,0.162658,0.542739
20,1,394240,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088528,-0.076784,0.887409,0.349863,-0.037180,0.010327,0.936006
20,1,394240,42,obj,1,"013_banana_1","put banana on sheet metal",-0.114708,0.045322,0.878547,0.382741,0.003196,0.013070,0.923758
20,1,394240,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
20,1,394240,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
20,1,394240,42,gripper,0,"","put banana on sheet metal",-0.075634,0.037397,0.996101,0.451342,-0.583154,0.511005,0.441696
20,1,394240,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209829,-0.065947,0.887495,0.993374,-0.003047,0.030820,0.110671
20,1,394240,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234987,0.044561,0.878547,0.999909,0.013330,0.002057,0.000047
20,1,394240,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
20,1,394240,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000150
20,1,394240,43,gripper,0,"","put banana on sheet metal",-0.085806,0.041623,1.011119,0.045341,-0.766692,-0.048841,0.638547
20,1,394240,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205657,0.076988,0.887528,0.707162,-0.030534,0.030593,0.705729
20,1,394240,44,obj,1,"013_banana_1","put banana on flat bowl",-0.204560,-0.074995,0.878547,0.706791,0.007962,0.010865,0.707294
20,1,394240,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
20,1,394240,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
20,1,394240,44,gripper,0,"","put banana on flat bowl",-0.160336,-0.015071,0.987772,-0.094925,-0.688808,0.018107,0.718474
20,1,394240,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
20,1,394240,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234987,0.044561,0.878547,0.999909,0.013330,0.002057,0.000047
20,1,394240,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
20,1,394240,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000017
20,1,394240,45,gripper,0,"","put banana on flat bowl",-0.193920,0.063381,1.032500,-0.126042,-0.709527,0.003868,0.693304
20,1,394240,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
20,1,394240,46,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,-0.044983,0.878547,0.707020,0.007953,0.010851,0.707065
20,1,394240,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
20,1,394240,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
20,1,394240,46,gripper,0,"","put banana on flat bowl",-0.110649,-0.026257,1.014827,-0.059917,-0.722740,-0.027489,0.687969
20,1,394240,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205608,-0.075764,0.887539,0.742821,-0.022500,0.022453,0.668735
20,1,394240,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,0.075006,0.878547,0.707170,0.007948,0.010841,0.706916
20,1,394240,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
20,1,394240,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
20,1,394240,47,gripper,0,"","put banana on flat bowl",-0.077105,0.092759,0.969356,0.242924,-0.773686,0.187618,0.554253
20,1,394240,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078888,0.020466,0.888112,0.714700,-0.026896,-0.005925,0.698889
20,1,394240,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085884,-0.045654,0.887026,0.497074,-0.513984,0.489394,0.499231
20,1,394240,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
20,1,394240,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.044991,0.870870,1.000000,-0.000002,-0.000002,0.000020
20,1,394240,48,gripper,0,"","put hamburger on frying pan",-0.089123,0.004677,0.957677,0.028684,-0.797088,-0.027191,0.602568
20,1,394240,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083355,-0.050552,0.888112,0.739822,-0.027095,-0.004935,0.672238
20,1,394240,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085789,0.104359,0.887026,0.497316,-0.513747,0.489643,0.498989
20,1,394240,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
20,1,394240,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
20,1,394240,49,gripper,0,"","put hamburger on frying pan",-0.008900,-0.069746,0.914268,-0.002552,-0.795873,-0.003804,0.605446
20,1,394240,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.073414,-0.079010,0.888707,0.301155,0.028836,-0.005596,0.953123
20,1,394240,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.161873,-0.078598,0.886795,0.443756,0.442530,-0.269444,0.731197
20,1,394240,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
20,1,394240,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
20,1,394240,50,gripper,0,"","put hamburger on frying pan",-0.148775,-0.058483,0.931706,-0.171686,-0.743739,-0.130518,0.632725
20,1,394240,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.119804,0.037045,0.890440,0.713806,0.039831,0.049360,0.697465
20,1,394240,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.082935,-0.020325,0.885720,-0.428531,-0.560577,0.404855,-0.581556
20,1,394240,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.206274,-0.042610,0.872199,0.999401,0.000000,-0.000001,-0.034592
20,1,394240,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
20,1,394240,51,gripper,0,"","put hamburger on frying pan",-0.120342,0.029167,0.917554,0.119043,-0.699100,-0.043871,0.703679
20,1,394240,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.175567,-0.126625,0.888892,0.656672,0.041690,0.009808,0.752959
20,1,394240,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.137067,-0.078278,0.888154,0.485788,-0.509496,0.481444,0.522145
20,1,394240,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
20,1,394240,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.023298,-0.090908,0.870869,0.999402,0.000045,0.000060,-0.034564
20,1,394240,52,gripper,0,"","put hamburger on cutting board",-0.200475,-0.082813,0.915722,-0.026975,-0.728192,-0.076459,0.680561
20,1,394240,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235962,-0.044395,0.888112,0.713392,-0.026887,-0.005973,0.700224
20,1,394240,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085831,0.104355,0.887027,0.497369,-0.513694,0.489699,0.498936
20,1,394240,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
20,1,394240,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
20,1,394240,53,gripper,0,"","put hamburger on cutting board",0.022249,-0.024687,0.960864,-0.159334,-0.739084,-0.128730,0.641714
20,1,394240,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
20,1,394240,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055931,-0.034721,0.887033,0.469066,-0.539968,0.460901,0.525339
20,1,394240,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
20,1,394240,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,0.044987,0.870870,1.000000,-0.000004,-0.000004,0.000021
20,1,394240,54,gripper,0,"","put hamburger on cutting board",-0.058331,-0.036991,0.918890,-0.128054,-0.788125,-0.101834,0.593372
20,1,394240,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.289200,-0.108181,0.022371,0.459625,0.526208,0.625267,-0.347693
20,1,394240,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.236229,0.104515,0.889774,0.025190,-0.717232,0.695787,0.028725
20,1,394240,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
20,1,394240,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
20,1,394240,55,gripper,0,"","put hamburger on cutting board",-0.196978,-0.110479,0.913829,-0.068059,-0.744830,-0.074933,0.659531
20,1,394240,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205307,0.046108,0.888112,0.927363,-0.027107,0.004814,0.373149
20,1,394240,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.211052,-0.135078,0.887913,0.418117,0.592548,-0.498468,0.474969
20,1,394240,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.246071,-0.077049,0.872848,0.997461,0.008060,0.000911,0.070746
20,1,394240,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075008,0.870870,1.000000,0.000000,-0.000000,-0.000041
20,1,394240,56,gripper,0,"","put plastic bottle on frying pan",-0.181080,-0.152655,0.947356,-0.168759,-0.737037,-0.048366,0.652654
20,1,394240,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
20,1,394240,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.102474,-0.081181,0.887027,0.430052,-0.571669,0.420571,0.558005
20,1,394240,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.044998,0.872199,1.000000,0.000000,-0.000000,-0.000017
20,1,394240,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
20,1,394240,57,gripper,0,"","put plastic bottle on frying pan",-0.101904,-0.066027,0.961498,-0.142236,-0.704246,-0.072307,0.691794
20,1,394240,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206081,-0.075222,0.888112,0.387346,-0.022489,-0.015900,0.921523
20,1,394240,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.079124,0.070663,0.887026,-0.377489,-0.590584,-0.393570,0.594824
20,1,394240,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.064445,-0.082581,0.872199,0.965015,-0.000000,-0.000000,-0.262194
20,1,394240,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.217350,0.026802,0.870870,0.976783,0.000001,-0.000001,-0.214233
20,1,394240,58,gripper,0,"","put plastic bottle on frying pan",-0.007010,-0.006132,0.931205,-0.158083,-0.851773,-0.042320,0.497696
20,1,394240,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.026695,-0.111626,0.888742,0.969262,-0.032524,-0.071508,-0.233152
20,1,394240,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.061493,-0.090614,0.886949,-0.640894,0.209191,0.711751,0.197245
20,1,394240,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
20,1,394240,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.211779,0.022709,0.870867,0.997488,0.000030,0.000001,0.070842
20,1,394240,59,gripper,0,"","put plastic bottle on frying pan",-0.102431,-0.086285,0.977265,-0.006887,-0.733842,-0.004530,0.679270
20,1,394240,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085953,-0.074364,0.888112,0.711836,-0.026874,-0.006031,0.701806
20,1,394240,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.212853,0.084858,0.889591,0.537324,-0.468361,0.535673,0.452743
20,1,394240,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
20,1,394240,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235574,0.074398,0.870871,0.999998,0.000030,0.000033,0.002051
20,1,394240,60,gripper,0,"","put plastic bottle on cutting board",-0.173690,0.027569,1.114555,0.051016,-0.675502,0.083168,0.730874
20,1,394240,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236092,0.074776,0.888112,0.388288,-0.022503,-0.015875,0.921127
20,1,394240,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.069630,-0.145809,0.887026,-0.602917,0.380595,-0.599028,-0.364423
20,1,394240,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
20,1,394240,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
20,1,394240,61,gripper,0,"","put plastic bottle on cutting board",-0.079252,-0.030582,0.967564,0.023847,-0.805946,-0.056065,0.588845
20,1,394240,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205254,-0.043892,0.888112,0.925346,-0.027149,0.004648,0.378123
20,1,394240,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.210751,0.088131,0.887038,0.644552,-0.305172,0.636964,0.292744
20,1,394240,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
20,1,394240,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
20,1,394240,62,gripper,0,"","put plastic bottle on cutting board",-0.163809,0.045727,0.949456,-0.062149,-0.786099,-0.039072,0.613726
20,1,394240,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.153374,-0.041927,0.888178,0.417496,-0.016568,-0.017961,0.908350
20,1,394240,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.421787,0.652817,0.016920,-0.171194,-0.673324,0.157432,-0.701814
20,1,394240,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
20,1,394240,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235043,-0.074966,0.870864,1.000000,0.000055,-0.000001,0.000497
20,1,394240,63,gripper,0,"","put plastic bottle on cutting board",-0.098175,-0.012627,1.033707,-0.035427,-0.754422,0.000894,0.655432
20,2,399360,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.103462,0.135681,0.885368,-0.572706,0.219909,-0.170460,-0.771097
20,2,399360,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.026024,-0.022430,0.881638,0.989756,0.000965,-0.039320,0.137245
20,2,399360,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114426,0.089508,0.869532,0.968876,0.000000,-0.000001,0.247546
20,2,399360,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235023,0.045021,0.871288,0.999999,-0.000154,-0.001019,0.000053
20,2,399360,0,gripper,0,"","put ketchup bottle on cloth",-0.023956,-0.034702,0.977156,0.082226,-0.779094,0.108216,0.611997
20,2,399360,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.094753,0.075012,0.879089,0.886322,-0.001317,-0.463068,0.000584
20,2,399360,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.027473,-0.073273,0.881513,0.943919,-0.013582,-0.012907,-0.329645
20,2,399360,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000027
20,2,399360,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001018,-0.002126
20,2,399360,1,gripper,0,"","put ketchup bottle on cloth",-0.073416,-0.074142,0.919614,0.120127,-0.828428,0.118778,0.534011
20,2,399360,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.112095,-0.068039,0.885122,0.491215,0.488273,-0.599755,0.400737
20,2,399360,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.226574,-0.050652,0.881636,0.687900,0.033270,-0.036935,0.724101
20,2,399360,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.112598,-0.073196,0.869532,0.999997,0.000001,-0.000000,-0.002451
20,2,399360,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
20,2,399360,2,gripper,0,"","put ketchup bottle on cloth",-0.227375,-0.054821,0.912867,-0.097731,-0.693491,-0.096564,0.707245
20,2,399360,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.070711,0.045944,0.879373,0.960015,0.014651,0.277859,-0.030823
20,2,399360,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.174387,-0.050735,0.884306,0.821486,0.007584,0.058519,0.567167
20,2,399360,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.208160,0.077179,0.869532,0.998601,0.000001,-0.000000,-0.052876
20,2,399360,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.274382,-0.043121,0.871281,0.975784,-0.000164,-0.001334,0.218734
20,2,399360,3,gripper,0,"","put ketchup bottle on cloth",-0.109042,0.045338,0.915813,-0.024496,-0.771718,-0.125454,0.622987
20,2,399360,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.188607,-0.041733,0.885083,0.597718,0.340420,-0.312974,0.654901
20,2,399360,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.088158,-0.072655,0.881673,0.999719,-0.004209,-0.012551,0.019638
20,2,399360,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204993,-0.075012,0.869532,1.000000,-0.000000,-0.000001,-0.000187
20,2,399360,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
20,2,399360,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.117226,-0.063889,0.914192,-0.053771,-0.765006,-0.073918,0.637504
20,2,399360,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.099375,0.187172,0.879089,0.584249,0.347145,-0.306463,0.666501
20,2,399360,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.078495,-0.088058,0.886943,0.567023,-0.055081,0.011388,0.821779
20,2,399360,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.045551,-0.095230,0.869533,0.997585,-0.000006,-0.000000,-0.069455
20,2,399360,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.072710,0.066513,0.871289,0.999997,-0.000160,-0.001019,-0.002302
20,2,399360,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.129400,-0.110649,0.915952,-0.155988,-0.737062,-0.074540,0.653338
20,2,399360,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.218266,0.085197,0.887971,0.663252,0.308482,-0.337360,0.592557
20,2,399360,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.189732,-0.062988,0.886220,0.712803,-0.023521,0.029226,0.700360
20,2,399360,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234993,-0.074989,0.869532,1.000000,0.000000,-0.000001,-0.000022
20,2,399360,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,1.000000,-0.000154,-0.001019,0.000110
20,2,399360,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.240068,-0.060860,0.942544,-0.003760,-0.689130,-0.002760,0.724622
20,2,399360,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.064999,0.138039,0.880466,-0.569353,-0.354506,0.326573,-0.665967
20,2,399360,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234383,0.074265,0.881638,0.382387,0.034437,-0.019074,0.923163
20,2,399360,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084026,0.075256,0.875192,0.995362,-0.085236,-0.042992,0.011876
20,2,399360,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205006,-0.045006,0.871288,0.999999,-0.000155,-0.001021,0.000021
20,2,399360,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.117058,0.122471,0.917998,0.028199,-0.722394,-0.026830,0.690385
20,2,399360,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.001488,-0.008747,0.878982,0.036629,-0.649933,0.039004,0.758106
20,2,399360,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.213036,-0.069962,0.881641,0.990272,-0.009735,0.039001,0.133215
20,2,399360,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.063515,-0.124290,0.869532,0.972012,0.000001,-0.000001,-0.234932
20,2,399360,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000105
20,2,399360,8,gripper,0,"","put kitchen shovel on cloth",-0.243416,-0.090237,0.913731,-0.025114,-0.747824,-0.027441,0.662854
20,2,399360,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214752,-0.044983,0.879088,0.886322,-0.001325,-0.463068,0.000568
20,2,399360,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.127743,0.101685,0.881638,0.811323,0.019207,-0.034333,0.583273
20,2,399360,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235519,0.074539,0.869532,0.999968,0.000000,-0.000000,0.008007
20,2,399360,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.083916,-0.076492,0.871289,0.999756,-0.000176,-0.001015,-0.022051
20,2,399360,9,gripper,0,"","put kitchen shovel on cloth",-0.085512,0.002283,1.036891,-0.128803,-0.714622,-0.127696,0.675588
20,2,399360,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.239536,0.042446,0.879375,0.992796,0.012043,-0.087376,0.081100
20,2,399360,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.190773,-0.100922,0.881811,0.995905,0.004624,0.058491,-0.068782
20,2,399360,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000023
20,2,399360,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
20,2,399360,10,gripper,0,"","put kitchen shovel on cloth",-0.202015,-0.106895,0.920179,-0.226858,-0.687259,-0.157233,0.671929
20,2,399360,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214716,-0.074982,0.879089,0.886321,-0.001326,-0.463068,0.000568
20,2,399360,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.103029,-0.059921,0.889423,0.840722,0.012626,-0.077527,0.535739
20,2,399360,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235003,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000035
20,2,399360,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.085196,-0.075001,0.871288,0.999999,-0.000154,-0.001019,0.000056
20,2,399360,11,gripper,0,"","put kitchen shovel on cloth",-0.174686,-0.025909,1.003818,0.152346,-0.698679,0.241678,0.655919
20,2,399360,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078449,0.061752,0.885085,0.638806,0.319713,-0.334637,0.614597
20,2,399360,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.232007,0.070698,0.888612,0.764533,0.000083,-0.069916,0.640782
20,2,399360,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.081307,0.044800,0.869532,0.999955,0.000001,0.000001,0.009506
20,2,399360,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.193007,0.065517,0.871288,0.998903,-0.000108,-0.001026,0.046811
20,2,399360,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.256491,0.074907,0.915701,0.100268,-0.734073,0.010337,0.671548
20,2,399360,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.208128,0.026798,0.885085,0.646461,0.315600,-0.338847,0.606356
20,2,399360,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.100368,0.078819,0.889198,0.786604,0.018527,-0.086168,0.611135
20,2,399360,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204821,0.045067,0.869532,0.999998,0.000000,-0.000001,0.001982
20,2,399360,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,1.000000,-0.000154,-0.001019,0.000013
20,2,399360,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.251210,-0.028036,0.918450,0.033621,-0.799534,-0.035662,0.598617
20,2,399360,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078533,-0.044865,0.885085,0.669807,0.302007,-0.350931,0.580516
20,2,399360,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.098328,0.011127,0.873650,0.059327,0.631553,-0.769605,-0.073004
20,2,399360,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085007,-0.075020,0.869532,1.000000,-0.000001,-0.000000,-0.000086
20,2,399360,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.243942,0.073090,0.871288,0.999995,-0.000151,-0.001020,0.003009
20,2,399360,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.111143,0.004368,0.999729,0.085594,-0.723755,0.016365,0.684532
20,2,399360,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.107067,0.013222,0.878982,0.532769,-0.458377,0.462443,0.540550
20,2,399360,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.135464,0.065704,0.887438,0.641245,0.014826,-0.062015,0.764682
20,2,399360,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.107498,-0.052246,0.875106,0.990259,0.034145,-0.088413,-0.102005
20,2,399360,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.085297,0.076748,0.871289,0.999874,-0.000174,-0.001017,-0.015823
20,2,399360,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.169226,-0.055725,0.914975,-0.065313,-0.722687,-0.100621,0.680686
20,2,399360,16,obj,0,"003_bread_1","put bread on carpet",-0.241409,-0.022915,0.886854,0.405302,0.027886,0.000333,0.913757
20,2,399360,16,obj,1,"005_7up can_1","put bread on carpet",-0.166489,-0.022739,0.886166,0.701852,-0.186203,0.219268,0.651654
20,2,399360,16,recep,0,"004_newspaper_1","put bread on carpet",-0.226608,-0.039459,0.869485,0.999009,0.000457,0.001230,-0.044484
20,2,399360,16,recep,1,"003_carpet_1","put bread on carpet",-0.084625,-0.074402,0.870418,0.999998,-0.000216,-0.000848,-0.001662
20,2,399360,16,gripper,0,"","put bread on carpet",-0.188477,-0.026030,0.916908,0.022490,-0.774889,-0.023394,0.631264
20,2,399360,17,obj,0,"003_bread_1","put bread on carpet",-0.134174,0.013382,0.903325,0.997638,0.015017,-0.061454,-0.026781
20,2,399360,17,obj,1,"005_7up can_1","put bread on carpet",-0.094345,0.045174,0.885636,0.958618,-0.005569,-0.284642,-0.000504
20,2,399360,17,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000001
20,2,399360,17,recep,1,"003_carpet_1","put bread on carpet",-0.115005,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000077
20,2,399360,17,gripper,0,"","put bread on carpet",-0.141113,0.011864,0.933990,0.055799,-0.804335,0.025337,0.591007
20,2,399360,18,obj,0,"003_bread_1","put bread on carpet",-0.149685,-0.008606,0.886255,0.998919,-0.023106,-0.003403,0.040179
20,2,399360,18,obj,1,"005_7up can_1","put bread on carpet",-0.146721,-0.077244,0.889301,-0.139977,-0.060582,0.988168,-0.016122
20,2,399360,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
20,2,399360,18,recep,1,"003_carpet_1","put bread on carpet",-0.105225,-0.049263,0.870478,0.999962,-0.003127,-0.003003,-0.007610
20,2,399360,18,gripper,0,"","put bread on carpet",-0.152224,-0.006998,0.937727,0.022624,-0.770358,0.022768,0.636803
20,2,399360,19,obj,0,"003_bread_1","put bread on carpet",-0.182442,0.095360,0.885692,0.685572,0.020787,0.003541,0.727700
20,2,399360,19,obj,1,"005_7up can_1","put bread on carpet",-0.147854,-0.037582,0.981885,0.492098,-0.408220,0.395757,0.659221
20,2,399360,19,recep,0,"004_newspaper_1","put bread on carpet",-0.203558,0.074490,0.869490,0.999988,0.000176,0.000875,0.004818
20,2,399360,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000071
20,2,399360,19,gripper,0,"","put bread on carpet",-0.162909,-0.041931,1.014287,-0.052934,-0.736995,-0.088865,0.667937
20,2,399360,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.173358,-0.080055,0.888762,0.838428,0.055123,-0.078090,0.536565
20,2,399360,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090504,0.069744,0.885626,0.898155,0.084378,-0.217182,0.372868
20,2,399360,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
20,2,399360,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204996,0.074993,0.870452,0.999998,0.001568,0.001265,0.000001
20,2,399360,20,gripper,0,"","put 7up can on newspaper",-0.196889,-0.086557,0.916879,0.024221,-0.769359,-0.083960,0.632811
20,2,399360,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.218559,-0.036400,0.886557,0.253347,0.013895,0.000360,0.967276
20,2,399360,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.223263,0.017208,0.885626,0.541090,-0.135181,0.082706,0.825898
20,2,399360,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
20,2,399360,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234829,-0.044777,0.870447,0.999986,-0.003122,-0.002723,-0.003320
20,2,399360,21,gripper,0,"","put 7up can on newspaper",-0.098558,-0.076340,0.981007,-0.065719,-0.731691,0.004364,0.678447
20,2,399360,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.077118,-0.078438,0.886621,0.999484,0.007943,0.003863,0.030879
20,2,399360,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.109512,-0.026619,0.885660,-0.246781,0.166967,-0.039476,-0.953762
20,2,399360,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.069660,-0.086605,0.869490,0.994087,0.000274,0.000848,-0.108587
20,2,399360,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205009,-0.076462,0.870447,0.999956,-0.000548,-0.000508,-0.009386
20,2,399360,22,gripper,0,"","put 7up can on newspaper",-0.138245,0.020235,0.966255,0.022262,-0.750036,-0.068510,0.657462
20,2,399360,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.203468,0.053574,0.886484,0.285102,0.018953,-0.003361,0.958304
20,2,399360,23,obj,1,"005_7up can_1","put 7up can on newspaper",0.108101,-0.020214,0.017158,0.209926,-0.782680,0.485942,0.327419
20,2,399360,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000001
20,2,399360,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001266,0.000168
20,2,399360,23,gripper,0,"","put 7up can on newspaper",-0.054640,-0.101555,0.946326,-0.256908,-0.764255,-0.271039,0.525785
20,2,399360,24,obj,0,"003_bread_1","put 7up can on carpet",-0.077042,0.084106,0.883544,0.678762,0.010435,-0.007165,0.734249
20,2,399360,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.097626,-0.002810,0.885637,0.747775,0.101844,-0.113620,0.646182
20,2,399360,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114990,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000002
20,2,399360,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,-0.044996,0.870446,0.999999,-0.000727,-0.001047,0.000020
20,2,399360,24,gripper,0,"","put 7up can on carpet",-0.069729,-0.028238,0.943084,0.117575,-0.758973,0.124955,0.628110
20,2,399360,25,obj,0,"003_bread_1","put 7up can on carpet",-0.193218,0.095625,0.884522,0.833558,0.028027,0.023483,0.551221
20,2,399360,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.081963,-0.068605,0.885664,0.474081,0.251541,-0.149162,0.830497
20,2,399360,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235115,0.075062,0.869490,0.999999,0.000179,0.000873,0.001326
20,2,399360,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
20,2,399360,25,gripper,0,"","put 7up can on carpet",-0.094755,-0.075054,0.937150,-0.180733,-0.727276,-0.192059,0.633655
20,2,399360,26,obj,0,"003_bread_1","put 7up can on carpet",-0.192890,-0.050482,0.885915,0.281154,0.029445,0.003250,0.959205
20,2,399360,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.165432,-0.013453,0.895328,0.611756,0.141448,0.164544,0.760705
20,2,399360,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205181,-0.075113,0.869490,0.999999,0.000179,0.000875,0.000978
20,2,399360,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.084343,-0.074030,0.870418,0.999935,-0.000779,-0.001362,-0.011300
20,2,399360,26,gripper,0,"","put 7up can on carpet",-0.180590,-0.026777,0.992290,0.000862,-0.686988,0.039263,0.725607
20,2,399360,27,obj,0,"003_bread_1","put 7up can on carpet",-0.178940,-0.061577,0.883544,0.991629,0.000198,-0.012657,-0.128495
20,2,399360,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.090506,0.069763,0.885627,0.898115,0.084411,-0.217206,0.372943
20,2,399360,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235580,-0.075384,0.869490,0.999992,0.000182,0.000873,-0.003804
20,2,399360,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000041
20,2,399360,27,gripper,0,"","put 7up can on carpet",-0.185883,-0.072818,0.940605,-0.021808,-0.787077,-0.043285,0.614948
20,2,399360,28,obj,0,"003_bread_1","put bread on newspaper",-0.209499,-0.038654,0.886588,0.995603,0.005721,0.003632,0.093424
20,2,399360,28,obj,1,"005_7up can_1","put bread on newspaper",-0.142119,-0.101519,0.885995,0.062224,-0.908517,-0.391866,-0.131019
20,2,399360,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204388,-0.075239,0.869490,0.999987,0.000184,0.000874,-0.005005
20,2,399360,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000005
20,2,399360,28,gripper,0,"","put bread on newspaper",-0.110959,0.004756,1.035355,0.047181,-0.721556,0.032497,0.689982
20,2,399360,29,obj,0,"003_bread_1","put bread on newspaper",-0.128113,-0.050003,0.885785,0.780724,0.031741,-0.063866,-0.620792
20,2,399360,29,obj,1,"005_7up can_1","put bread on newspaper",-0.004314,0.258595,0.017186,-0.068747,0.899396,-0.408862,-0.138533
20,2,399360,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.078499,-0.072834,0.869490,0.999433,0.000209,0.000868,-0.033671
20,2,399360,29,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075026,0.870447,0.999991,-0.003114,-0.002734,-0.000041
20,2,399360,29,gripper,0,"","put bread on newspaper",-0.037317,0.049084,0.935757,0.010595,-0.786608,-0.056311,0.614788
20,2,399360,30,obj,0,"003_bread_1","put bread on newspaper",-0.205112,0.012526,0.885191,0.687438,0.024623,0.006861,0.725793
20,2,399360,30,obj,1,"005_7up can_1","put bread on newspaper",-0.107327,-0.020691,0.888804,0.503980,0.470304,-0.397438,0.605691
20,2,399360,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235004,0.044994,0.869489,0.999999,0.000553,0.001430,-0.000583
20,2,399360,30,recep,1,"003_carpet_1","put bread on newspaper",-0.089520,-0.044622,0.870363,0.999834,-0.000787,-0.001937,-0.018116
20,2,399360,30,gripper,0,"","put bread on newspaper",-0.155207,-0.023050,1.021513,-0.060990,-0.741443,-0.010839,0.668151
20,2,399360,31,obj,0,"003_bread_1","put bread on newspaper",-0.234505,-0.045517,0.883544,0.383274,0.012265,-0.003122,0.923548
20,2,399360,31,obj,1,"005_7up can_1","put bread on newspaper",-0.129257,-0.182722,0.885965,0.350875,-0.585650,0.659536,0.314505
20,2,399360,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.105148,-0.112181,0.869490,0.999171,0.000144,0.000881,0.040692
20,2,399360,31,recep,1,"003_carpet_1","put bread on newspaper",-0.081188,0.068432,0.870350,0.999926,-0.000079,-0.001457,0.012073
20,2,399360,31,gripper,0,"","put bread on newspaper",-0.160192,-0.171530,0.919762,-0.105130,-0.769305,-0.044791,0.628579
20,2,399360,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208992,-0.035976,0.887364,0.990192,-0.004799,0.019443,0.138273
20,2,399360,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234970,0.074573,0.878547,0.999909,0.013322,0.002051,-0.000100
20,2,399360,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
20,2,399360,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
20,2,399360,32,gripper,0,"","put carrot on flat bowl",-0.148548,-0.019969,1.021703,-0.254593,-0.680549,-0.174922,0.664408
20,2,399360,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.121666,-0.046827,0.887486,0.750790,-0.016484,0.019982,0.660033
20,2,399360,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007929,0.010833,0.707296
20,2,399360,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
20,2,399360,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
20,2,399360,33,gripper,0,"","put carrot on flat bowl",-0.085911,-0.030363,1.012423,-0.078973,-0.751780,-0.068613,0.651063
20,2,399360,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118938,-0.080174,0.887516,0.366808,-0.015495,0.002395,0.930164
20,2,399360,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
20,2,399360,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001163,0.000000
20,2,399360,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
20,2,399360,34,gripper,0,"","put carrot on flat bowl",-0.100111,-0.022766,1.009654,-0.028986,-0.756018,-0.051685,0.651863
20,2,399360,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.119675,0.073298,0.887487,0.745914,-0.021231,0.023714,0.665281
20,2,399360,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007951,0.010856,0.707290
20,2,399360,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
20,2,399360,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
20,2,399360,35,gripper,0,"","put carrot on flat bowl",-0.104383,0.063804,1.002188,0.094812,-0.738705,0.069775,0.663669
20,2,399360,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.219624,-0.098251,0.887305,0.991825,-0.008983,0.029185,0.123899
20,2,399360,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204991,0.074503,0.878547,0.999909,0.013328,0.002058,0.000622
20,2,399360,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
20,2,399360,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
20,2,399360,36,gripper,0,"","put banana on sheet metal",-0.098566,0.045514,1.043607,-0.061614,-0.734968,0.013698,0.675158
20,2,399360,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087774,-0.070773,0.887201,0.996878,0.006436,0.031158,0.072269
20,2,399360,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234999,0.074570,0.878547,0.999909,0.013308,0.002048,0.000057
20,2,399360,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044995,0.871344,0.999999,-0.000158,0.001164,-0.000010
20,2,399360,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
20,2,399360,37,gripper,0,"","put banana on sheet metal",-0.163464,0.032285,1.026454,0.032367,-0.766582,-0.033727,0.640443
20,2,399360,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.240875,0.080061,0.887556,0.915043,-0.013553,0.025545,0.402318
20,2,399360,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011494,0.006986,0.383097
20,2,399360,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
20,2,399360,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
20,2,399360,38,gripper,0,"","put banana on sheet metal",-0.189686,-0.079987,0.994820,0.018890,-0.684577,0.103287,0.721339
20,2,399360,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120174,0.080223,0.887492,0.917508,-0.014886,0.033466,0.396027
20,2,399360,39,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.044693,0.878546,0.923634,0.011474,0.006975,0.383040
20,2,399360,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
20,2,399360,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
20,2,399360,39,gripper,0,"","put banana on sheet metal",-0.190134,0.039199,0.953323,-0.151630,-0.766060,-0.032621,0.623776
20,2,399360,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208992,-0.079872,0.887432,0.368815,-0.032116,0.015012,0.928827
20,2,399360,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,0.045326,0.878547,0.383288,0.003201,0.013061,0.923531
20,2,399360,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
20,2,399360,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000132
20,2,399360,40,gripper,0,"","put banana on flat bowl",-0.175762,0.050359,0.981246,-0.225798,-0.714836,-0.198906,0.631238
20,2,399360,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210526,-0.070427,0.887445,0.915909,-0.011216,0.024253,0.400496
20,2,399360,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084667,-0.045311,0.878547,0.924115,0.011508,0.006973,0.381876
20,2,399360,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
20,2,399360,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000305
20,2,399360,41,gripper,0,"","put banana on flat bowl",-0.068968,-0.023688,1.012821,-0.059783,-0.730109,-0.076392,0.676410
20,2,399360,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090385,-0.080416,0.887388,0.363401,-0.022161,0.010863,0.931306
20,2,399360,42,obj,1,"013_banana_1","put banana on flat bowl",-0.114712,0.045328,0.878547,0.383184,0.003197,0.013053,0.923575
20,2,399360,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
20,2,399360,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
20,2,399360,42,gripper,0,"","put banana on flat bowl",-0.075281,0.095327,1.033333,0.154907,-0.661890,0.088877,0.728016
20,2,399360,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210682,-0.062819,0.887439,0.993998,-0.005390,0.034351,0.103724
20,2,399360,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234985,0.044559,0.878547,0.999909,0.013301,0.002050,-0.000267
20,2,399360,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
20,2,399360,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000301
20,2,399360,43,gripper,0,"","put banana on flat bowl",-0.174166,0.065800,0.967197,0.043018,-0.688099,0.074341,0.720515
20,2,399360,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205657,0.076988,0.887528,0.707161,-0.030535,0.030593,0.705730
20,2,399360,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.204560,-0.074995,0.878547,0.706791,0.007949,0.010850,0.707294
20,2,399360,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
20,2,399360,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
20,2,399360,44,gripper,0,"","put carrot on sheet metal",-0.153085,0.060113,1.011965,0.164335,-0.697040,0.152372,0.681111
20,2,399360,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
20,2,399360,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.044559,0.878547,0.999909,0.013301,0.002050,-0.000267
20,2,399360,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
20,2,399360,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000018
20,2,399360,45,gripper,0,"","put carrot on sheet metal",-0.091978,0.061008,1.008814,0.065535,-0.776063,0.010362,0.627156
20,2,399360,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205143,0.076708,0.887529,0.706080,-0.030582,0.030548,0.706812
20,2,399360,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.114552,-0.044981,0.878547,0.707325,0.007964,0.010855,0.706760
20,2,399360,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
20,2,399360,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
20,2,399360,46,gripper,0,"","put carrot on sheet metal",-0.179066,0.065586,1.007221,0.115506,-0.715286,0.130548,0.676744
20,2,399360,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.216751,-0.072145,0.887397,0.813992,-0.013031,0.021392,0.580336
20,2,399360,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114555,0.075010,0.878547,0.707497,0.007956,0.010841,0.706588
20,2,399360,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
20,2,399360,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
20,2,399360,47,gripper,0,"","put carrot on sheet metal",-0.213518,-0.052791,0.977517,0.020985,-0.723355,0.088420,0.684470
20,2,399360,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.077522,0.029789,0.888112,0.692353,-0.026699,-0.006759,0.721033
20,2,399360,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.189095,0.076244,0.889531,0.512489,-0.495964,0.510086,0.480820
20,2,399360,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
20,2,399360,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204376,0.045002,0.870871,0.999999,-0.000015,-0.000014,-0.001109
20,2,399360,48,gripper,0,"","put hamburger on cutting board",-0.113731,-0.068584,0.960311,-0.058768,-0.787192,-0.099745,0.605744
20,2,399360,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.215553,0.009727,0.891266,-0.237530,0.825848,-0.511312,0.010660
20,2,399360,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085812,0.104511,0.887026,0.497954,-0.513120,0.490299,0.498353
20,2,399360,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000830
20,2,399360,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205040,0.074936,0.870870,1.000000,0.000000,-0.000002,0.000125
20,2,399360,49,gripper,0,"","put hamburger on cutting board",-0.184669,-0.024239,0.981995,-0.018565,-0.733605,-0.034844,0.678428
20,2,399360,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.067181,-0.078552,0.888112,0.303130,-0.020971,-0.017855,0.952551
20,2,399360,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.207119,0.110031,0.888143,0.568337,0.434533,-0.535189,0.449162
20,2,399360,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000004
20,2,399360,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235283,0.075169,0.870870,0.999999,-0.000013,-0.000011,0.001076
20,2,399360,50,gripper,0,"","put hamburger on cutting board",-0.096312,-0.085243,0.988429,0.098620,-0.759466,0.109804,0.633584
20,2,399360,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.106544,0.066490,0.888112,0.126634,-0.017413,-0.021337,0.991567
20,2,399360,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.155870,0.065338,1.001797,-0.665832,-0.033435,0.032644,-0.744637
20,2,399360,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.206274,-0.042610,0.872199,0.999413,-0.000000,-0.000000,-0.034249
20,2,399360,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
20,2,399360,51,gripper,0,"","put hamburger on cutting board",-0.121897,0.064764,1.030791,0.035841,-0.732205,-0.116249,0.670132
20,2,399360,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.182554,-0.128883,0.888112,0.518758,-0.024582,-0.012417,0.854477
20,2,399360,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.354956,-0.152489,0.016920,0.625889,-0.339527,-0.602390,-0.360708
20,2,399360,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
20,2,399360,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.021489,-0.088497,0.870856,0.997492,0.000490,0.000675,-0.070773
20,2,399360,52,gripper,0,"","put plastic bottle on frying pan",-0.176876,-0.113623,0.976907,-0.057782,-0.751335,-0.029885,0.656707
20,2,399360,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235962,-0.044392,0.888112,0.713917,-0.026892,-0.005952,0.699688
20,2,399360,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.162378,0.094082,0.895311,0.517123,-0.481065,0.528942,0.470511
20,2,399360,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205008,0.074501,0.872199,0.999814,-0.000000,-0.000001,0.019273
20,2,399360,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
20,2,399360,53,gripper,0,"","put plastic bottle on frying pan",-0.159245,0.041832,0.990301,0.072096,-0.760675,0.077871,0.640399
20,2,399360,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075966,0.888112,0.999591,-0.023258,0.014749,-0.007678
20,2,399360,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.245544,0.059895,0.888789,-0.594958,0.016759,0.000959,-0.803582
20,2,399360,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235146,-0.075012,0.872199,1.000000,-0.000000,-0.000001,-0.000366
20,2,399360,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204937,0.044991,0.870870,1.000000,-0.000001,0.000004,0.000025
20,2,399360,54,gripper,0,"","put plastic bottle on frying pan",-0.194735,-0.043177,0.960661,-0.011686,-0.795618,-0.035528,0.604643
20,2,399360,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.289200,-0.108177,0.022371,0.460573,0.524499,0.626701,-0.346438
20,2,399360,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.110920,0.063286,0.982625,0.057366,-0.883098,0.456922,-0.089836
20,2,399360,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
20,2,399360,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
20,2,399360,55,gripper,0,"","put plastic bottle on frying pan",-0.082806,0.085152,1.013918,-0.222819,-0.744339,-0.196433,0.598101
20,2,399360,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.182037,-0.009869,0.888113,0.920655,-0.027153,0.004265,0.389410
20,2,399360,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209625,-0.150085,0.889220,0.278592,0.724911,-0.521194,0.353904
20,2,399360,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.250542,-0.099972,0.872199,0.999855,-0.000000,-0.000001,-0.017023
20,2,399360,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075008,0.870870,1.000000,0.000000,-0.000000,-0.000053
20,2,399360,56,gripper,0,"","put plastic bottle on cutting board",-0.221394,-0.006811,0.913049,0.011884,-0.704122,0.053395,0.707969
20,2,399360,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086124,0.074833,0.888112,0.388121,-0.022500,-0.015881,0.921197
20,2,399360,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.199898,-0.018661,0.891910,0.110457,-0.706426,0.685946,0.135057
20,2,399360,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.044994,0.872199,1.000000,-0.000000,-0.000001,-0.000004
20,2,399360,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.233505,-0.078407,0.870870,0.999701,0.000006,0.000005,-0.024433
20,2,399360,57,gripper,0,"","put plastic bottle on cutting board",-0.191572,-0.026251,0.940101,-0.037623,-0.758168,0.007318,0.650931
20,2,399360,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206081,-0.075222,0.888112,0.386146,-0.022468,-0.015930,0.922026
20,2,399360,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.100517,0.087769,0.889591,-0.310825,-0.629690,-0.377813,0.603437
20,2,399360,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.064445,-0.082581,0.872199,0.964971,-0.000000,-0.000000,-0.262359
20,2,399360,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.217350,0.026802,0.870870,0.976782,0.000001,-0.000001,-0.214234
20,2,399360,58,gripper,0,"","put plastic bottle on cutting board",-0.084164,0.073013,0.914487,0.229001,-0.671004,0.171576,0.684013
20,2,399360,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.017252,-0.116821,0.888112,0.956248,-0.018112,0.020746,-0.291259
20,2,399360,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.050114,-0.090771,0.885720,-0.667273,0.258791,0.641233,0.276755
20,2,399360,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
20,2,399360,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.211790,0.022709,0.870867,0.997489,0.000030,0.000002,0.070821
20,2,399360,59,gripper,0,"","put plastic bottle on cutting board",-0.069052,-0.081310,0.990238,-0.235517,-0.742888,-0.184623,0.598802
20,2,399360,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.099079,0.043564,0.937116,0.946841,0.000727,0.038716,0.319364
20,2,399360,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.212853,0.084858,0.889591,0.537332,-0.468341,0.535675,0.452752
20,2,399360,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
20,2,399360,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235574,0.074398,0.870871,0.999998,0.000037,0.000040,0.002050
20,2,399360,60,gripper,0,"","put hamburger on frying pan",-0.102490,0.043467,0.982851,-0.042262,-0.740473,-0.033939,0.669897
20,2,399360,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.248592,0.010620,0.888686,0.303166,0.018862,0.005875,0.952733
20,2,399360,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.069630,-0.145809,0.887026,-0.602916,0.380596,-0.599028,-0.364424
20,2,399360,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000329
20,2,399360,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
20,2,399360,61,gripper,0,"","put hamburger on frying pan",-0.263103,0.012657,0.915384,0.110836,-0.641193,0.055962,0.757268
20,2,399360,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.174774,0.010483,0.907045,0.423897,-0.847134,-0.139365,-0.288536
20,2,399360,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.210949,0.089481,0.887026,0.639846,-0.311311,0.637787,0.294807
20,2,399360,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
20,2,399360,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085064,-0.075058,0.870870,1.000000,-0.000000,-0.000001,0.000655
20,2,399360,62,gripper,0,"","put hamburger on frying pan",-0.185270,0.006329,0.937598,0.086141,-0.703107,-0.017844,0.705622
20,2,399360,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.095078,-0.002254,0.944313,0.370414,0.027423,-0.074802,0.925444
20,2,399360,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.421787,0.652817,0.016920,-0.171193,-0.673324,0.157433,-0.701814
20,2,399360,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
20,2,399360,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235241,-0.074806,0.870870,0.999997,0.000000,-0.000001,0.002353
20,2,399360,63,gripper,0,"","put hamburger on frying pan",-0.090315,-0.005337,0.992164,-0.006968,-0.730181,-0.054416,0.681048
20,3,404480,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.103462,0.135704,0.885368,-0.572489,0.219939,-0.170384,-0.771267
20,3,404480,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.026024,-0.022430,0.881638,0.989756,0.000966,-0.039326,0.137244
20,3,404480,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114426,0.089508,0.869532,0.968856,-0.000001,-0.000001,0.247627
20,3,404480,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234245,0.044487,0.871282,0.999976,-0.000459,-0.001262,-0.006794
20,3,404480,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.117680,-0.105164,0.914761,0.001022,-0.749665,-0.025640,0.661320
20,3,404480,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214935,-0.053154,0.885122,0.422105,0.576482,-0.515665,0.472848
20,3,404480,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.027470,-0.073273,0.881513,0.943921,-0.013582,-0.012904,-0.329641
20,3,404480,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234375,-0.074707,0.869532,0.999911,0.000000,-0.000001,-0.013340
20,3,404480,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001018,-0.002107
20,3,404480,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.101961,-0.016602,0.967255,0.074249,-0.764309,0.009116,0.640497
20,3,404480,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078274,-0.075317,0.885541,0.372060,0.632909,-0.455637,0.503381
20,3,404480,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.183220,-0.100739,0.882013,0.655734,-0.022001,0.025879,0.754227
20,3,404480,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.076088,-0.079758,0.869904,0.966632,0.001328,0.006153,0.256092
20,3,404480,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
20,3,404480,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.176016,-0.102524,0.914524,-0.052451,-0.752509,-0.035178,0.655547
20,3,404480,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.070711,0.045944,0.879373,0.960016,0.014652,0.277856,-0.030827
20,3,404480,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.149185,-0.041794,0.893733,0.634662,0.029061,0.034497,0.771472
20,3,404480,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.208160,0.077179,0.869532,0.998602,0.000000,-0.000000,-0.052864
20,3,404480,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.274202,-0.043182,0.871282,0.976188,-0.000166,-0.001332,0.216920
20,3,404480,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.180375,-0.049011,0.927044,-0.034313,-0.798897,-0.073537,0.595968
20,3,404480,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.025160,0.201630,0.879089,0.759982,0.236882,-0.397893,0.456065
20,3,404480,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.086859,-0.072639,0.881642,0.998995,-0.005240,0.039829,0.019884
20,3,404480,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.211612,-0.083107,0.869532,0.999224,-0.000000,-0.000001,-0.039383
20,3,404480,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000155,-0.001019,-0.000005
20,3,404480,4,gripper,0,"","put kitchen shovel on cloth",-0.097788,-0.047768,0.951253,0.052122,-0.829488,0.129516,0.540794
20,3,404480,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.099375,0.187180,0.879089,0.584239,0.347147,-0.306454,0.666514
20,3,404480,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.059814,0.079781,0.889901,0.662929,0.023607,-0.033500,0.747560
20,3,404480,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.045549,-0.095261,0.869532,0.997598,0.000000,-0.000000,-0.069262
20,3,404480,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.072710,0.066513,0.871288,0.999997,-0.000156,-0.001019,-0.002293
20,3,404480,5,gripper,0,"","put kitchen shovel on cloth",-0.175845,0.018848,0.920053,-0.063491,-0.753805,-0.020108,0.653714
20,3,404480,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.218262,0.085228,0.887970,0.662439,0.308964,-0.336891,0.593482
20,3,404480,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214458,-0.074028,0.885710,0.672054,-0.045386,0.052722,0.737227
20,3,404480,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.273075,-0.070923,0.869532,0.992971,-0.000001,-0.000002,-0.118358
20,3,404480,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000155,-0.001019,0.000110
20,3,404480,6,gripper,0,"","put kitchen shovel on cloth",-0.211000,-0.121918,0.912893,-0.019982,-0.715277,-0.019873,0.698273
20,3,404480,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.066254,0.153564,0.879372,-0.632092,0.205700,-0.187388,-0.723210
20,3,404480,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.233997,0.057571,0.881725,0.304195,-0.081104,0.021972,0.948896
20,3,404480,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083664,0.074753,0.869532,0.999920,0.000000,-0.000001,0.012684
20,3,404480,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205006,-0.045006,0.871288,0.999999,-0.000156,-0.001021,0.000021
20,3,404480,7,gripper,0,"","put kitchen shovel on cloth",-0.266981,0.059353,0.933148,-0.020134,-0.724885,-0.061118,0.685858
20,3,404480,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.001488,-0.008747,0.878982,0.036643,-0.649928,0.039015,0.758108
20,3,404480,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.216866,-0.074570,0.881639,0.988931,0.003562,-0.052643,0.138675
20,3,404480,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.063515,-0.124290,0.869532,0.972013,0.000001,-0.000001,-0.234928
20,3,404480,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003908,-0.004128,0.000105
20,3,404480,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.232071,-0.062836,0.933030,0.053827,-0.730804,0.055124,0.678225
20,3,404480,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.131603,-0.083538,0.879324,0.019837,-0.076775,0.996797,-0.010351
20,3,404480,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.127747,0.101677,0.881638,0.811424,0.019201,-0.034336,0.583132
20,3,404480,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235519,0.074539,0.869533,0.999968,0.000001,-0.000000,0.007987
20,3,404480,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.073925,-0.081139,0.871288,0.998550,-0.000099,-0.001026,0.053828
20,3,404480,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.170256,-0.071209,0.917796,-0.130123,-0.813909,-0.041495,0.564710
20,3,404480,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.182152,0.048576,0.879797,0.371110,-0.097309,0.922705,0.037737
20,3,404480,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.189568,-0.100578,0.881641,0.994374,0.000227,0.045642,-0.095593
20,3,404480,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.044998,0.869532,1.000000,-0.000001,0.000000,0.000036
20,3,404480,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
20,3,404480,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.204891,-0.007500,0.914239,0.051006,-0.795462,0.073074,0.599415
20,3,404480,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.153149,-0.067528,0.884847,0.983795,0.155979,-0.071811,0.051577
20,3,404480,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.105686,-0.060677,0.890361,0.906502,0.006765,-0.145878,0.396142
20,3,404480,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235003,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000024
20,3,404480,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084522,-0.074539,0.871488,0.999953,-0.004330,-0.007153,-0.004922
20,3,404480,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.165704,-0.068056,0.946823,0.023497,-0.760553,-0.006926,0.648814
20,3,404480,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078370,0.061756,0.885085,0.638491,0.319893,-0.334494,0.614908
20,3,404480,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.231950,0.070587,0.888614,0.764318,0.000140,-0.069970,0.641032
20,3,404480,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.081211,0.044800,0.869532,0.999950,-0.000000,-0.000002,0.009995
20,3,404480,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.192938,0.065392,0.871288,0.998874,-0.000106,-0.001025,0.047440
20,3,404480,12,gripper,0,"","put ketchup bottle on cloth",-0.146790,0.045031,1.139259,0.055960,-0.790839,0.090567,0.602694
20,3,404480,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.208128,0.026798,0.885085,0.646432,0.315634,-0.338872,0.606354
20,3,404480,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.100370,0.078812,0.889198,0.786745,0.018537,-0.086196,0.610949
20,3,404480,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204821,0.045067,0.869532,0.999998,0.000000,-0.000000,0.001986
20,3,404480,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000155,-0.001019,0.000023
20,3,404480,13,gripper,0,"","put ketchup bottle on cloth",-0.114782,-0.005268,1.100837,0.094280,-0.830469,0.099754,0.539891
20,3,404480,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.242844,0.048508,0.886993,0.689020,0.303120,-0.422733,0.504644
20,3,404480,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.098331,0.011127,0.873650,0.059325,0.631529,-0.769624,-0.073005
20,3,404480,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085098,-0.075462,0.869532,0.999990,0.000000,-0.000000,0.004422
20,3,404480,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.244007,0.073029,0.871282,0.999995,-0.000448,-0.001267,0.003028
20,3,404480,14,gripper,0,"","put ketchup bottle on cloth",-0.194962,0.039711,1.059576,0.103829,-0.678521,0.160083,0.709368
20,3,404480,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.107067,0.013222,0.878982,0.532787,-0.458361,0.462461,0.540531
20,3,404480,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131104,0.075787,0.887753,0.678157,-0.054826,-0.003239,0.732862
20,3,404480,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.106522,-0.052303,0.869531,0.994231,-0.000000,-0.000001,-0.107258
20,3,404480,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082649,0.077911,0.871288,0.999825,-0.000172,-0.001016,-0.018686
20,3,404480,15,gripper,0,"","put ketchup bottle on cloth",-0.302233,-0.001036,0.918916,0.057506,-0.648047,0.103422,0.752351
20,3,404480,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.241386,-0.022923,0.886838,0.406388,0.027451,0.000439,0.913288
20,3,404480,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.166412,-0.022736,0.886166,0.701405,-0.186408,0.219222,0.652093
20,3,404480,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.226601,-0.039474,0.869490,0.999005,0.000216,0.000865,-0.044594
20,3,404480,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084618,-0.071003,0.870352,0.999968,0.000118,-0.001237,0.007836
20,3,404480,16,gripper,0,"","put 7up can on newspaper",-0.103584,-0.014011,1.125267,0.063762,-0.788400,0.114054,0.601125
20,3,404480,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.218277,-0.025467,0.885773,0.958578,0.010649,0.006557,0.284554
20,3,404480,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.046875,0.049995,0.885946,0.478223,0.031317,0.877569,-0.013951
20,3,404480,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235023,-0.045010,0.869490,1.000000,0.000180,0.000874,-0.000015
20,3,404480,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.102932,-0.078747,0.870447,0.996595,-0.003328,-0.002468,-0.082346
20,3,404480,17,gripper,0,"","put 7up can on newspaper",-0.147577,0.031870,1.004911,0.006335,-0.732077,0.000766,0.681192
20,3,404480,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.111732,-0.017551,0.885209,0.987132,-0.042608,-0.020687,0.152729
20,3,404480,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.178669,-0.172215,0.885904,0.447470,0.292205,-0.829160,0.163952
20,3,404480,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
20,3,404480,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085888,-0.067753,0.870447,0.984559,-0.002588,-0.003236,0.175006
20,3,404480,18,gripper,0,"","put 7up can on newspaper",-0.064024,-0.088436,0.954009,-0.341004,-0.636226,-0.361957,0.589847
20,3,404480,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.172920,0.093578,0.885341,0.754758,0.019888,0.011957,0.655593
20,3,404480,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.220455,0.072220,0.889333,0.209853,-0.592183,0.755021,0.187682
20,3,404480,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.202158,0.074596,0.869490,0.999999,0.000180,0.000875,0.001122
20,3,404480,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084963,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000109
20,3,404480,19,gripper,0,"","put 7up can on newspaper",-0.164369,0.028248,1.116001,0.164016,-0.704068,0.130052,0.678582
20,3,404480,20,obj,0,"003_bread_1","put 7up can on carpet",-0.172237,-0.073910,0.884050,0.845064,0.006896,-0.031438,0.533695
20,3,404480,20,obj,1,"005_7up can_1","put 7up can on carpet",0.081521,0.110325,0.016815,0.830777,0.079407,0.133090,-0.534595
20,3,404480,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
20,3,404480,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.204996,0.074993,0.870452,0.999998,0.001567,0.001265,0.000001
20,3,404480,20,gripper,0,"","put 7up can on carpet",-0.132388,-0.096102,0.938867,-0.073236,-0.698634,-0.060582,0.709138
20,3,404480,21,obj,0,"003_bread_1","put 7up can on carpet",-0.218559,-0.036400,0.886556,0.253488,0.013899,0.000359,0.967239
20,3,404480,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.222939,0.017128,0.885633,0.542828,-0.136846,0.084532,0.824297
20,3,404480,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
20,3,404480,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.234829,-0.044777,0.870447,0.999986,-0.003124,-0.002723,-0.003341
20,3,404480,21,gripper,0,"","put 7up can on carpet",-0.162352,-0.008205,1.047201,0.005021,-0.681739,0.052747,0.729674
20,3,404480,22,obj,0,"003_bread_1","put 7up can on carpet",-0.060970,-0.088024,0.886548,0.998606,0.009261,0.003270,-0.051867
20,3,404480,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.138641,-0.014790,0.885963,0.065894,0.917965,-0.162337,0.355873
20,3,404480,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.055557,-0.096558,0.869490,0.982295,0.000341,0.000826,-0.187337
20,3,404480,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205017,-0.076622,0.870420,0.999948,-0.000206,-0.000800,-0.010196
20,3,404480,22,gripper,0,"","put 7up can on carpet",-0.153503,-0.044334,0.977669,-0.103417,-0.714670,-0.019887,0.691488
20,3,404480,23,obj,0,"003_bread_1","put 7up can on carpet",-0.203468,0.053574,0.886484,0.284924,0.018952,-0.003358,0.958357
20,3,404480,23,obj,1,"005_7up can_1","put 7up can on carpet",0.108353,-0.020729,0.017136,0.218363,-0.776872,0.482131,0.341084
20,3,404480,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000179,0.000874,0.000001
20,3,404480,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001266,0.000274
20,3,404480,23,gripper,0,"","put 7up can on carpet",-0.231876,0.003937,0.968249,-0.027784,-0.715696,0.030030,0.697213
20,3,404480,24,obj,0,"003_bread_1","put bread on newspaper",-0.193199,-0.029942,0.886409,0.695516,0.011241,-0.001895,0.718420
20,3,404480,24,obj,1,"005_7up can_1","put bread on newspaper",-0.097626,-0.002810,0.885637,0.747781,0.101834,-0.113610,0.646178
20,3,404480,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000002
20,3,404480,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.044996,0.870448,0.999998,-0.001337,-0.001205,0.000016
20,3,404480,24,gripper,0,"","put bread on newspaper",-0.136448,0.027089,0.988682,0.058855,-0.717958,0.049194,0.691847
20,3,404480,25,obj,0,"003_bread_1","put bread on newspaper",-0.190941,0.095547,0.884513,0.825899,0.027545,0.023461,0.562656
20,3,404480,25,obj,1,"005_7up can_1","put bread on newspaper",-0.231411,0.044456,0.888535,0.486142,0.522672,-0.550160,0.433364
20,3,404480,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.232376,0.074038,0.869479,0.999927,0.000381,0.001249,0.012047
20,3,404480,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
20,3,404480,25,gripper,0,"","put bread on newspaper",-0.235432,0.073739,0.949768,0.047421,-0.712552,0.015416,0.699845
20,3,404480,26,obj,0,"003_bread_1","put bread on newspaper",-0.192947,-0.050489,0.885916,0.277212,0.029462,0.003244,0.960351
20,3,404480,26,obj,1,"005_7up can_1","put bread on newspaper",-0.127464,0.160498,0.885847,-0.517950,0.446892,-0.637081,-0.355165
20,3,404480,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.205208,-0.075111,0.869490,0.999999,0.000179,0.000875,0.000795
20,3,404480,26,recep,1,"003_carpet_1","put bread on newspaper",-0.080933,-0.074039,0.870350,0.999871,-0.000123,-0.001452,-0.015972
20,3,404480,26,gripper,0,"","put bread on newspaper",-0.110605,-0.050236,1.073419,-0.009624,-0.750568,0.031774,0.659958
20,3,404480,27,obj,0,"003_bread_1","put bread on newspaper",-0.178940,-0.061569,0.883544,0.991618,0.000197,-0.012655,-0.128587
20,3,404480,27,obj,1,"005_7up can_1","put bread on newspaper",-0.213182,0.095053,0.963656,-0.333122,-0.705089,0.604558,-0.162446
20,3,404480,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.235579,-0.075384,0.869490,0.999992,0.000183,0.000873,-0.003811
20,3,404480,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
20,3,404480,27,gripper,0,"","put bread on newspaper",-0.199373,0.093780,0.993404,0.010657,-0.671835,-0.023401,0.740254
20,3,404480,28,obj,0,"003_bread_1","put bread on carpet",-0.222552,-0.022341,0.886573,0.972125,0.008216,0.005673,0.234250
20,3,404480,28,obj,1,"005_7up can_1","put bread on carpet",0.073297,-0.069317,0.016815,0.050250,-0.154958,0.002643,0.986639
20,3,404480,28,recep,0,"004_newspaper_1","put bread on carpet",-0.214923,-0.060663,0.869489,0.999871,0.000166,0.000877,0.016050
20,3,404480,28,recep,1,"003_carpet_1","put bread on carpet",-0.085002,0.075005,0.870448,0.999999,-0.000922,-0.000845,0.000005
20,3,404480,28,gripper,0,"","put bread on carpet",-0.206696,-0.067478,0.941160,0.036624,-0.751644,0.015851,0.658361
20,3,404480,29,obj,0,"003_bread_1","put bread on carpet",-0.128113,-0.050001,0.885785,0.780796,0.031647,-0.063938,-0.620700
20,3,404480,29,obj,1,"005_7up can_1","put bread on carpet",-0.004341,0.258566,0.017186,-0.068704,0.899523,-0.408583,-0.138555
20,3,404480,29,recep,0,"004_newspaper_1","put bread on carpet",-0.078499,-0.072834,0.869490,0.999435,0.000209,0.000867,-0.033602
20,3,404480,29,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
20,3,404480,29,gripper,0,"","put bread on carpet",-0.142338,-0.057146,0.969506,0.054351,-0.722945,0.010326,0.688687
20,3,404480,30,obj,0,"003_bread_1","put bread on carpet",-0.149567,-0.022949,0.885240,0.692010,-0.033106,-0.034109,0.720321
20,3,404480,30,obj,1,"005_7up can_1","put bread on carpet",-0.093502,-0.006401,0.888884,0.532755,0.444564,-0.399715,0.598968
20,3,404480,30,recep,0,"004_newspaper_1","put bread on carpet",-0.234962,0.045107,0.869493,0.999936,-0.006572,-0.009182,-0.000652
20,3,404480,30,recep,1,"003_carpet_1","put bread on carpet",-0.084370,-0.043760,0.870448,0.998957,-0.000961,-0.000803,-0.045649
20,3,404480,30,gripper,0,"","put bread on carpet",-0.139402,0.001644,0.993549,0.090813,-0.730415,0.033147,0.676128
20,3,404480,31,obj,0,"003_bread_1","put bread on carpet",-0.177113,-0.072052,0.983236,0.219439,0.095087,0.112714,0.964417
20,3,404480,31,obj,1,"005_7up can_1","put bread on carpet",-0.129265,-0.182945,0.885946,0.355667,-0.583078,0.656594,0.320007
20,3,404480,31,recep,0,"004_newspaper_1","put bread on carpet",-0.105141,-0.112152,0.869490,0.999179,0.000144,0.000881,0.040507
20,3,404480,31,recep,1,"003_carpet_1","put bread on carpet",-0.077782,0.066713,0.870448,0.999995,-0.000588,-0.000562,0.002944
20,3,404480,31,gripper,0,"","put bread on carpet",-0.176996,-0.067376,1.018047,-0.185033,-0.682527,-0.091765,0.701070
20,3,404480,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210083,-0.033436,0.887448,0.989384,-0.005577,0.031017,0.141869
20,3,404480,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013300,0.002050,-0.000100
20,3,404480,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000025
20,3,404480,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
20,3,404480,32,gripper,0,"","put banana on sheet metal",-0.065464,0.105897,0.999288,0.004786,-0.667805,-0.021201,0.744019
20,3,404480,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.124702,-0.047260,0.887382,0.755211,-0.026041,0.024489,0.654507
20,3,404480,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075005,0.878547,0.706790,0.007943,0.010849,0.707296
20,3,404480,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
20,3,404480,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
20,3,404480,33,gripper,0,"","put banana on sheet metal",-0.091726,-0.005338,0.973386,0.061946,-0.758481,0.128122,0.635967
20,3,404480,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122231,-0.083975,0.887232,0.382643,-0.026370,0.019432,0.923315
20,3,404480,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003189,0.013068,0.923940
20,3,404480,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
20,3,404480,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
20,3,404480,34,gripper,0,"","put banana on sheet metal",-0.051994,0.080113,1.015984,0.122715,-0.740390,0.072456,0.656897
20,3,404480,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122684,0.072562,0.887272,0.753560,-0.026973,0.020588,0.656502
20,3,404480,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007935,0.010838,0.707290
20,3,404480,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
20,3,404480,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
20,3,404480,35,gripper,0,"","put banana on sheet metal",-0.044849,-0.015531,0.974770,0.109080,-0.763739,0.136418,0.621445
20,3,404480,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.221836,-0.095909,0.887293,0.992758,0.002289,0.031956,0.115777
20,3,404480,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204991,0.074503,0.878547,0.999909,0.013319,0.002058,0.000622
20,3,404480,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000016
20,3,404480,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
20,3,404480,36,gripper,0,"","put banana on flat bowl",-0.052200,0.067312,1.007984,-0.020799,-0.749045,-0.106650,0.653548
20,3,404480,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088009,-0.070357,0.887381,0.996781,0.001316,0.037628,0.070778
20,3,404480,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234999,0.074571,0.878547,0.999910,0.013282,0.002046,0.000057
20,3,404480,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044995,0.871344,0.999999,-0.000158,0.001164,-0.000010
20,3,404480,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
20,3,404480,37,gripper,0,"","put banana on flat bowl",-0.189717,0.086334,0.961457,-0.050687,-0.714026,-0.009642,0.698215
20,3,404480,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244061,0.081814,0.887482,0.920242,-0.009836,0.019978,0.390715
20,3,404480,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204685,-0.075308,0.878547,0.923610,0.011486,0.006981,0.383097
20,3,404480,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
20,3,404480,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
20,3,404480,38,gripper,0,"","put banana on flat bowl",-0.157637,-0.037634,0.962146,0.013216,-0.740775,-0.014910,0.671458
20,3,404480,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.123211,0.081502,0.887530,0.922968,-0.011789,0.022218,0.384054
20,3,404480,39,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.044693,0.878547,0.923634,0.011478,0.006977,0.383040
20,3,404480,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
20,3,404480,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
20,3,404480,39,gripper,0,"","put banana on flat bowl",-0.188154,0.044384,0.975727,-0.159488,-0.773889,-0.110970,0.602781
20,3,404480,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210999,-0.082973,0.887374,0.382133,-0.035958,0.010493,0.923348
20,3,404480,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,0.045332,0.878547,0.383719,0.003207,0.013057,0.923352
20,3,404480,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
20,3,404480,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,-0.000000,0.000196
20,3,404480,40,gripper,0,"","put carrot on sheet metal",-0.219780,-0.047415,0.968395,-0.180655,-0.669967,-0.131275,0.708007
20,3,404480,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.124088,-0.026512,0.979674,0.975250,0.039961,0.053212,0.210851
20,3,404480,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.067768,-0.024511,0.878547,0.902040,0.011099,0.007581,0.431444
20,3,404480,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
20,3,404480,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000456
20,3,404480,41,gripper,0,"","put carrot on sheet metal",-0.147089,-0.040612,1.009785,-0.107073,-0.748912,-0.203827,0.621386
20,3,404480,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092335,-0.083412,0.887470,0.375221,-0.028929,0.011301,0.926415
20,3,404480,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.114712,0.045332,0.878547,0.383646,0.003203,0.013050,0.923382
20,3,404480,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
20,3,404480,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
20,3,404480,42,gripper,0,"","put carrot on sheet metal",-0.057909,-0.045598,0.972118,0.113244,-0.796405,0.195763,0.560884
20,3,404480,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.213026,-0.060898,0.887318,0.995022,-0.008770,0.034390,0.093123
20,3,404480,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234983,0.044558,0.878547,0.999909,0.013337,0.002049,-0.000567
20,3,404480,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
20,3,404480,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000452
20,3,404480,43,gripper,0,"","put carrot on sheet metal",-0.097465,0.030325,1.015429,0.002758,-0.765529,-0.042705,0.641977
20,3,404480,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205657,0.076988,0.887528,0.707161,-0.030536,0.030596,0.705730
20,3,404480,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.204560,-0.074995,0.878547,0.706791,0.007945,0.010846,0.707294
20,3,404480,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
20,3,404480,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
20,3,404480,44,gripper,0,"","put carrot on flat bowl",-0.168388,0.067599,0.981793,-0.100022,-0.704968,-0.067967,0.698853
20,3,404480,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
20,3,404480,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234983,0.044558,0.878547,0.999909,0.013337,0.002049,-0.000567
20,3,404480,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
20,3,404480,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000017
20,3,404480,45,gripper,0,"","put carrot on flat bowl",-0.080053,0.083599,0.994423,0.031500,-0.741093,0.011460,0.670565
20,3,404480,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205143,0.076704,0.887529,0.706060,-0.030583,0.030547,0.706832
20,3,404480,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.114548,-0.044977,0.878547,0.707629,0.007962,0.010845,0.706456
20,3,404480,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
20,3,404480,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
20,3,404480,46,gripper,0,"","put carrot on flat bowl",-0.159815,0.097022,0.965947,0.179691,-0.691590,0.145693,0.684242
20,3,404480,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.218971,-0.076349,0.887367,0.875116,-0.010617,0.015566,0.483546
20,3,404480,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114552,0.075014,0.878547,0.707832,0.007952,0.010826,0.706253
20,3,404480,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
20,3,404480,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
20,3,404480,47,gripper,0,"","put carrot on flat bowl",-0.184807,-0.039464,1.027162,-0.258045,-0.711467,-0.155386,0.634888
20,3,404480,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.077515,0.029793,0.888112,0.698147,-0.026753,-0.006550,0.715425
20,3,404480,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.229858,-0.036755,0.895558,0.412096,-0.588277,0.450561,0.530190
20,3,404480,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235008,-0.075005,0.872199,0.999999,-0.000000,-0.000001,0.001016
20,3,404480,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204636,0.045918,0.870870,0.999885,-0.000001,-0.000001,0.015163
20,3,404480,48,gripper,0,"","put plastic bottle on frying pan",-0.073914,0.010023,0.979523,0.014891,-0.726723,-0.017055,0.686557
20,3,404480,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.210415,0.012718,0.891616,-0.148935,0.873309,-0.455585,-0.087131
20,3,404480,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.282017,-0.168312,0.885720,-0.630480,-0.343292,0.600256,-0.352615
20,3,404480,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234505,-0.074841,0.872199,0.999985,-0.000000,-0.000001,-0.005450
20,3,404480,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205467,0.075790,0.870859,0.999990,0.000473,0.000719,-0.004473
20,3,404480,49,gripper,0,"","put plastic bottle on frying pan",-0.247280,-0.105501,0.968989,0.083443,-0.684571,0.166046,0.704861
20,3,404480,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.067303,-0.078548,0.888113,0.303433,-0.020979,-0.017847,0.952455
20,3,404480,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.167053,0.073792,0.892043,0.539045,0.411184,-0.506448,0.532793
20,3,404480,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.109833,0.040539,0.872199,0.999921,-0.000001,-0.000002,0.012590
20,3,404480,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.223946,0.072117,0.870883,0.999355,0.000713,0.000674,-0.035897
20,3,404480,50,gripper,0,"","put plastic bottle on frying pan",-0.155037,0.027712,1.032674,0.030386,-0.700089,-0.063366,0.710589
20,3,404480,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.110495,0.033665,0.888112,0.566620,-0.025250,-0.010997,0.823519
20,3,404480,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.137121,0.074650,0.904301,-0.538554,0.628430,-0.357577,-0.432636
20,3,404480,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.206289,-0.042606,0.872199,0.999422,0.000000,-0.000000,-0.033983
20,3,404480,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.261198,0.070923,0.870870,0.942219,-0.000003,-0.000000,-0.334997
20,3,404480,51,gripper,0,"","put plastic bottle on frying pan",-0.099512,0.081305,0.946418,-0.035700,-0.786964,-0.073783,0.611530
20,3,404480,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.182554,-0.128883,0.888112,0.518758,-0.024582,-0.012418,0.854477
20,3,404480,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.354956,-0.152489,0.016920,0.625889,-0.339528,-0.602390,-0.360708
20,3,404480,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
20,3,404480,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.021489,-0.088497,0.870856,0.997492,0.000490,0.000674,-0.070773
20,3,404480,52,gripper,0,"","put plastic bottle on cutting board",-0.150504,-0.117298,0.990470,-0.143059,-0.730694,-0.042101,0.666219
20,3,404480,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235962,-0.044392,0.888112,0.714454,-0.026895,-0.005931,0.699140
20,3,404480,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.099838,-0.011402,0.887027,0.501197,-0.509907,0.493638,0.495093
20,3,404480,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.196589,0.073154,0.872199,0.992413,0.000000,-0.000000,-0.122950
20,3,404480,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085537,-0.080143,0.870870,0.999922,0.000000,-0.000001,-0.012475
20,3,404480,53,gripper,0,"","put plastic bottle on cutting board",-0.127588,-0.010656,0.942899,0.115523,-0.773444,0.037986,0.622090
20,3,404480,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075966,0.888112,0.999591,-0.023256,0.014751,-0.007765
20,3,404480,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.245571,0.060188,0.888768,-0.598416,0.022197,-0.002892,-0.800873
20,3,404480,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235146,-0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000042
20,3,404480,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204906,0.045078,0.870870,1.000000,0.000005,0.000005,-0.000104
20,3,404480,54,gripper,0,"","put plastic bottle on cutting board",-0.123318,0.056948,1.151683,0.111407,-0.756826,0.132467,0.630283
20,3,404480,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.289196,-0.108177,0.022371,0.461535,0.522754,0.628158,-0.345154
20,3,404480,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.059978,0.004070,0.890659,0.112881,-0.729518,0.659681,0.141009
20,3,404480,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.072788,0.068523,0.872199,0.999043,0.000000,-0.000001,-0.043749
20,3,404480,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085018,-0.075050,0.870870,1.000000,0.000000,-0.000000,0.000348
20,3,404480,55,gripper,0,"","put plastic bottle on cutting board",-0.052906,0.008240,0.961692,-0.074350,-0.795342,-0.061446,0.598437
20,3,404480,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205994,-0.046135,0.888213,0.935187,0.001787,0.043080,0.351519
20,3,404480,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.209633,-0.150082,0.889176,0.279756,0.724466,-0.519532,0.356331
20,3,404480,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.250542,-0.099972,0.872199,0.999846,-0.000000,-0.000000,-0.017522
20,3,404480,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075008,0.870870,1.000000,0.000000,-0.000000,-0.000066
20,3,404480,56,gripper,0,"","put hamburger on frying pan",-0.179363,-0.034330,1.047327,-0.005292,-0.674827,-0.081685,0.733422
20,3,404480,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086124,0.074833,0.888112,0.387001,-0.022481,-0.015909,0.921668
20,3,404480,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.202885,-0.002708,0.889773,0.023457,-0.756873,0.652445,0.030155
20,3,404480,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.209206,0.061367,0.872199,0.999997,-0.000000,0.000000,-0.002418
20,3,404480,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233505,-0.078434,0.870870,0.999710,0.000001,0.000000,-0.024066
20,3,404480,57,gripper,0,"","put hamburger on frying pan",-0.201378,-0.044983,0.965399,-0.118308,-0.724138,-0.111241,0.670263
20,3,404480,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.190399,-0.068920,0.888863,0.251803,0.013041,-0.047831,0.966508
20,3,404480,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.100571,0.089287,0.887026,-0.336946,-0.615535,-0.353275,0.618693
20,3,404480,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.064445,-0.082581,0.872199,0.964920,0.000000,-0.000000,-0.262545
20,3,404480,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.216068,0.031715,0.870883,0.982770,0.000808,0.000564,-0.184829
20,3,404480,58,gripper,0,"","put hamburger on frying pan",-0.203657,-0.062342,0.915166,0.077695,-0.654473,0.108210,0.744257
20,3,404480,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.017252,-0.116825,0.888112,0.955662,-0.018069,0.020784,-0.293177
20,3,404480,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.050117,-0.090771,0.885720,-0.667262,0.258817,0.641224,0.276781
20,3,404480,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
20,3,404480,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.214809,0.024841,0.870870,0.998270,0.000000,-0.000001,0.058798
20,3,404480,59,gripper,0,"","put hamburger on frying pan",-0.128940,-0.123459,0.966329,-0.055350,-0.760307,-0.103866,0.638812
20,3,404480,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.193896,0.094101,0.924701,0.968888,-0.065257,0.087449,0.222151
20,3,404480,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.212802,0.084038,0.889626,0.547557,-0.454598,0.525750,0.465950
20,3,404480,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114029,0.035416,0.872200,0.995785,0.000000,-0.000001,-0.091720
20,3,404480,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235574,0.074394,0.870885,0.999997,0.000707,0.000733,0.002052
20,3,404480,60,gripper,0,"","put hamburger on cutting board",-0.190838,0.086159,0.970928,-0.019414,-0.768173,-0.024591,0.639475
20,3,404480,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.170067,0.034351,0.892226,0.170047,0.061876,0.867136,0.464037
20,3,404480,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.069630,-0.145809,0.887026,-0.602917,0.380595,-0.599027,-0.364425
20,3,404480,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234711,-0.077774,0.872199,0.999948,-0.000000,-0.000001,-0.010170
20,3,404480,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
20,3,404480,61,gripper,0,"","put hamburger on cutting board",-0.210635,0.014101,0.914662,-0.073035,-0.769841,-0.044716,0.632464
20,3,404480,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084492,0.020588,0.890528,-0.080157,-0.475363,-0.874514,0.053201
20,3,404480,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.227123,0.038948,0.888264,0.516865,-0.332651,0.198236,0.763476
20,3,404480,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.060917,0.088379,0.872200,0.983649,-0.000000,-0.000000,0.180096
20,3,404480,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084831,-0.077728,0.870870,0.999966,0.000000,-0.000000,-0.008261
20,3,404480,62,gripper,0,"","put hamburger on cutting board",-0.090553,0.001688,0.993951,-0.006827,-0.810233,0.005898,0.586038
20,3,404480,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.083733,0.003227,0.890802,0.236224,-0.068584,-0.088960,0.965184
20,3,404480,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.421787,0.652817,0.016920,-0.171178,-0.673327,0.157418,-0.701818
20,3,404480,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.067997,0.088215,0.872199,0.995936,-0.000000,-0.000001,-0.090058
20,3,404480,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235241,-0.074806,0.870870,0.999997,0.000000,-0.000000,0.002365
20,3,404480,63,gripper,0,"","put hamburger on cutting board",-0.093676,0.003531,0.916521,0.090168,-0.763876,0.045453,0.637415
20,4,409600,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.103462,0.135719,0.885369,-0.572394,0.219917,-0.170316,-0.771359
20,4,409600,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.031113,-0.020660,0.882250,0.978688,-0.012303,0.078687,0.189277
20,4,409600,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114426,0.089508,0.869532,0.968825,0.000000,-0.000001,0.247746
20,4,409600,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234245,0.044487,0.871282,0.999976,-0.000459,-0.001262,-0.006819
20,4,409600,0,gripper,0,"","put kitchen shovel on cloth",0.004421,-0.030270,0.913545,0.056881,-0.794506,0.185474,0.575433
20,4,409600,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.219990,-0.110359,0.885463,-0.740639,0.164448,-0.204360,-0.618585
20,4,409600,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.027470,-0.073273,0.881513,0.943925,-0.013586,-0.012917,-0.329628
20,4,409600,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.233669,-0.084320,0.869532,0.994515,-0.000000,-0.000002,-0.104592
20,4,409600,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205299,0.045128,0.871288,0.999997,-0.000156,-0.001019,-0.002092
20,4,409600,1,gripper,0,"","put kitchen shovel on cloth",-0.258154,-0.063133,0.939713,-0.056039,-0.782962,0.088622,0.613169
20,4,409600,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078281,-0.073685,0.885122,0.378247,0.620165,-0.462077,0.508732
20,4,409600,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.199593,-0.137558,0.881844,0.313015,-0.065890,0.017287,0.947302
20,4,409600,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.076023,-0.078354,0.869532,0.969028,-0.000000,0.000000,0.246952
20,4,409600,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
20,4,409600,2,gripper,0,"","put kitchen shovel on cloth",-0.204479,-0.135414,0.923503,-0.067412,-0.738715,0.057476,0.668171
20,4,409600,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.070711,0.045944,0.879372,0.960017,0.014652,0.277855,-0.030825
20,4,409600,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.237349,-0.089417,0.951554,0.690545,0.083995,0.060244,0.715866
20,4,409600,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.208160,0.077179,0.869532,0.998602,0.000001,-0.000001,-0.052853
20,4,409600,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.274200,-0.043182,0.871282,0.976188,-0.000164,-0.001329,0.216921
20,4,409600,3,gripper,0,"","put kitchen shovel on cloth",-0.254290,-0.091309,0.990630,0.002994,-0.734013,-0.021233,0.678797
20,4,409600,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.025160,0.201630,0.879089,0.759982,0.236883,-0.397894,0.456064
20,4,409600,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.086499,-0.087242,0.873396,-0.028827,-0.057041,-0.993083,-0.098498
20,4,409600,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.211612,-0.083107,0.869532,0.999224,0.000000,-0.000001,-0.039383
20,4,409600,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001020,-0.000005
20,4,409600,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.104387,-0.106800,0.914564,-0.139749,-0.727570,-0.123633,0.660172
20,4,409600,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.099375,0.187180,0.879089,0.584238,0.347148,-0.306455,0.666512
20,4,409600,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.053711,-0.042992,0.886354,0.570727,-0.115876,0.075370,0.809421
20,4,409600,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.044903,-0.095566,0.869532,0.997192,-0.000004,0.000001,-0.074891
20,4,409600,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.072702,0.066521,0.871288,0.999997,-0.000157,-0.001019,-0.002326
20,4,409600,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.094178,-0.055084,0.925366,-0.177285,-0.804694,-0.050843,0.564317
20,4,409600,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.198235,0.211014,0.879088,0.666364,0.304105,-0.349220,0.584400
20,4,409600,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.252422,0.022659,0.888929,0.145820,-0.035275,-0.006722,0.988659
20,4,409600,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.263695,-0.046967,0.869531,0.985177,0.000001,-0.000001,-0.171539
20,4,409600,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000122
20,4,409600,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.238060,-0.178127,0.915323,0.083174,-0.809985,0.070441,0.576233
20,4,409600,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.066254,0.153564,0.879372,-0.632092,0.205699,-0.187386,-0.723211
20,4,409600,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.276215,0.089684,0.873650,-0.088826,-0.941606,0.323310,0.030974
20,4,409600,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.083664,0.074753,0.869532,0.999919,0.000000,-0.000001,0.012700
20,4,409600,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.190643,-0.040771,0.871254,0.996831,-0.002003,-0.002245,-0.079486
20,4,409600,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.086407,0.097969,0.972169,0.049702,-0.746261,0.018076,0.663549
20,4,409600,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.082458,0.022392,0.010316,-0.040293,-0.906453,-0.410561,0.090327
20,4,409600,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.216881,-0.074581,0.881638,0.989425,0.001058,-0.039324,0.139607
20,4,409600,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.063515,-0.124290,0.869532,0.972014,0.000001,-0.000001,-0.234924
20,4,409600,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003908,-0.004128,0.000105
20,4,409600,8,gripper,0,"","put ketchup bottle on cloth",-0.165333,0.078659,1.041297,0.170577,-0.709516,0.186505,0.657804
20,4,409600,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.107864,-0.025288,0.879742,0.814159,0.147614,0.509825,-0.235444
20,4,409600,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.127747,0.101673,0.881638,0.811524,0.019211,-0.034360,0.582991
20,4,409600,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235519,0.074539,0.869533,0.999968,-0.000000,0.000000,0.007985
20,4,409600,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.062557,-0.075611,0.871288,0.999999,-0.000153,-0.001019,0.000846
20,4,409600,9,gripper,0,"","put ketchup bottle on cloth",-0.139105,-0.053064,0.914759,-0.138277,-0.787464,-0.172827,0.575249
20,4,409600,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.166695,0.045193,0.879125,0.633259,0.034384,-0.772639,0.028819
20,4,409600,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.189541,-0.100517,0.881641,0.994483,-0.000552,0.040193,-0.096891
20,4,409600,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000020
20,4,409600,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082024,0.076275,0.871288,0.997539,-0.000083,-0.001028,0.070108
20,4,409600,10,gripper,0,"","put ketchup bottle on cloth",-0.158758,0.056763,0.935099,-0.085514,-0.806049,-0.048735,0.583607
20,4,409600,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.106813,-0.051239,0.884073,0.450774,0.447935,-0.669715,0.384239
20,4,409600,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.071865,-0.043121,0.889840,0.944446,0.007182,-0.077962,0.319207
20,4,409600,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235003,0.075001,0.869532,1.000000,-0.000001,-0.000000,0.000013
20,4,409600,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.050230,-0.055355,0.871288,0.999376,-0.000117,-0.001024,0.035299
20,4,409600,11,gripper,0,"","put ketchup bottle on cloth",-0.151826,-0.028238,0.934822,-0.011535,-0.806839,0.067351,0.586807
20,4,409600,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.067848,0.062057,0.885085,0.652238,0.312208,-0.341564,0.600372
20,4,409600,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.217416,-0.005741,0.881686,0.745805,0.034827,-0.045017,0.663728
20,4,409600,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.071427,0.045258,0.869532,0.999918,-0.000000,-0.000002,-0.012810
20,4,409600,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.183787,0.065952,0.871288,0.997998,-0.000089,-0.001027,0.063240
20,4,409600,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.221634,-0.030352,0.931053,-0.015743,-0.692658,0.024891,0.720665
20,4,409600,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.208128,0.026802,0.885085,0.646449,0.315608,-0.338842,0.606367
20,4,409600,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.100370,0.078812,0.889198,0.786735,0.018558,-0.086229,0.610957
20,4,409600,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204821,0.045067,0.869532,0.999998,-0.000000,-0.000000,0.001989
20,4,409600,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000160,-0.001020,0.000030
20,4,409600,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.139157,0.064796,1.148252,0.083848,-0.772657,0.099740,0.621307
20,4,409600,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.160801,-0.073986,0.879811,0.760792,-0.073866,0.081984,0.639546
20,4,409600,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.069717,-0.022205,0.891318,0.163370,-0.079914,-0.001503,0.983322
20,4,409600,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.077778,-0.078667,0.873910,0.993086,-0.007867,-0.067171,0.095949
20,4,409600,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.244057,0.073181,0.871210,0.999979,-0.003896,-0.004140,0.003031
20,4,409600,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.126852,-0.073195,0.916544,-0.174218,-0.732187,-0.148534,0.641473
20,4,409600,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.107079,0.013039,0.879026,0.539293,-0.451307,0.454065,0.547092
20,4,409600,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.131363,-0.058308,0.887654,0.425004,0.011796,-0.048632,0.903807
20,4,409600,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.095749,-0.059006,0.869544,0.999773,-0.000167,-0.000553,0.021321
20,4,409600,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.082649,0.077911,0.871288,0.999825,-0.000172,-0.001016,-0.018675
20,4,409600,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.200205,-0.101116,0.915033,-0.069802,-0.757060,-0.012149,0.649492
20,4,409600,16,obj,0,"003_bread_1","put 7up can on carpet",-0.241386,-0.022923,0.886838,0.406473,0.027443,0.000441,0.913251
20,4,409600,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.166412,-0.022720,0.886167,0.701033,-0.186524,0.219111,0.652497
20,4,409600,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.226601,-0.039474,0.869490,0.998999,0.000221,0.000866,-0.044727
20,4,409600,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.084618,-0.069164,0.870448,0.999914,-0.000695,-0.000667,0.013046
20,4,409600,16,gripper,0,"","put 7up can on carpet",-0.134575,0.001814,0.997137,0.031604,-0.753627,0.040247,0.655307
20,4,409600,17,obj,0,"003_bread_1","put 7up can on carpet",-0.218262,-0.025467,0.885773,0.958651,0.010641,0.006551,0.284311
20,4,409600,17,obj,1,"005_7up can_1","put 7up can on carpet",0.006855,-0.008160,0.886028,0.233443,-0.594707,0.746108,0.187485
20,4,409600,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235012,-0.045010,0.869490,1.000000,0.000180,0.000874,-0.000038
20,4,409600,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.098923,-0.104301,0.870351,0.986705,-0.000991,-0.001871,-0.162510
20,4,409600,17,gripper,0,"","put 7up can on carpet",-0.054966,-0.056681,0.916313,0.348214,-0.705226,0.189592,0.587756
20,4,409600,18,obj,0,"003_bread_1","put 7up can on carpet",-0.099480,-0.058887,0.886444,0.959941,-0.019146,-0.003894,0.279521
20,4,409600,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.190189,-0.148865,0.896117,0.171313,0.622710,-0.755293,0.111428
20,4,409600,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
20,4,409600,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.074051,-0.090416,0.870348,0.975173,0.000074,-0.001712,0.221438
20,4,409600,18,gripper,0,"","put 7up can on carpet",-0.166462,-0.151194,0.922114,-0.009757,-0.696654,0.017815,0.717120
20,4,409600,19,obj,0,"003_bread_1","put 7up can on carpet",-0.172895,0.093578,0.885342,0.754738,0.019884,0.011934,0.655616
20,4,409600,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.220407,0.072220,0.889332,0.209894,-0.590879,0.756176,0.187095
20,4,409600,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.202106,0.074600,0.869489,0.999999,0.000180,0.000874,0.001228
20,4,409600,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.083549,0.077812,0.870448,0.999991,-0.000818,-0.000763,0.004022
20,4,409600,19,gripper,0,"","put 7up can on carpet",-0.135349,0.010180,1.117253,0.111595,-0.763182,0.100339,0.628516
20,4,409600,20,obj,0,"003_bread_1","put bread on newspaper",-0.159800,-0.081406,0.885442,0.860005,-0.016126,-0.071756,0.504958
20,4,409600,20,obj,1,"005_7up can_1","put bread on newspaper",0.081521,0.110329,0.016815,0.830794,0.079403,0.133093,-0.534568
20,4,409600,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.106699,-0.077137,0.869490,0.999787,0.000162,0.000879,0.020630
20,4,409600,20,recep,1,"003_carpet_1","put bread on newspaper",-0.204996,0.074993,0.870452,0.999998,0.001568,0.001265,0.000001
20,4,409600,20,gripper,0,"","put bread on newspaper",-0.201512,-0.071699,0.935253,0.072443,-0.773550,0.089345,0.623209
20,4,409600,21,obj,0,"003_bread_1","put bread on newspaper",-0.218555,-0.036400,0.886556,0.253571,0.013899,0.000355,0.967217
20,4,409600,21,obj,1,"005_7up can_1","put bread on newspaper",-0.222773,0.017086,0.885637,0.543475,-0.137812,0.085506,0.823609
20,4,409600,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
20,4,409600,21,recep,1,"003_carpet_1","put bread on newspaper",-0.234825,-0.044777,0.870447,0.999986,-0.003123,-0.002723,-0.003364
20,4,409600,21,gripper,0,"","put bread on newspaper",-0.161121,-0.091948,0.984702,0.063758,-0.707976,0.040479,0.702187
20,4,409600,22,obj,0,"003_bread_1","put bread on newspaper",-0.049610,-0.085541,0.886569,0.992050,0.007179,0.001842,-0.125624
20,4,409600,22,obj,1,"005_7up can_1","put bread on newspaper",-0.076488,-0.031521,0.885848,-0.290429,0.693776,-0.352522,-0.556825
20,4,409600,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.045460,-0.094803,0.869490,0.965822,0.000400,0.000798,-0.259207
20,4,409600,22,recep,1,"003_carpet_1","put bread on newspaper",-0.207211,-0.075066,0.870447,0.999993,-0.000538,-0.000506,-0.003556
20,4,409600,22,gripper,0,"","put bread on newspaper",-0.117762,-0.030621,0.980488,0.099189,-0.706655,0.083333,0.695597
20,4,409600,23,obj,0,"003_bread_1","put bread on newspaper",-0.203468,0.053574,0.886483,0.284991,0.018955,-0.003360,0.958337
20,4,409600,23,obj,1,"005_7up can_1","put bread on newspaper",0.108353,-0.020729,0.017136,0.218212,-0.777085,0.481785,0.341183
20,4,409600,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
20,4,409600,23,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074997,0.870452,0.999998,0.001568,0.001265,0.000332
20,4,409600,23,gripper,0,"","put bread on newspaper",-0.099558,-0.095188,0.968995,0.014649,-0.787265,0.048834,0.614503
20,4,409600,24,obj,0,"003_bread_1","put bread on carpet",-0.193199,-0.029938,0.886409,0.695186,0.011253,-0.001898,0.718739
20,4,409600,24,obj,1,"005_7up can_1","put bread on carpet",-0.097626,-0.002808,0.885637,0.747787,0.101824,-0.113599,0.646175
20,4,409600,24,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,-0.074999,0.869490,1.000000,0.000180,0.000874,-0.000002
20,4,409600,24,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.044996,0.870448,0.999998,-0.001338,-0.001205,0.000115
20,4,409600,24,gripper,0,"","put bread on carpet",-0.075520,-0.022288,0.990790,0.109625,-0.745360,0.058529,0.654977
20,4,409600,25,obj,0,"003_bread_1","put bread on carpet",-0.172962,0.106688,0.884436,0.643555,0.026344,0.015553,0.764788
20,4,409600,25,obj,1,"005_7up can_1","put bread on carpet",-0.206470,0.065807,0.888267,0.649238,0.255157,-0.216052,0.683159
20,4,409600,25,recep,0,"004_newspaper_1","put bread on carpet",-0.215122,0.074974,0.869489,0.995802,0.000397,0.001442,0.091521
20,4,409600,25,recep,1,"003_carpet_1","put bread on carpet",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
20,4,409600,25,gripper,0,"","put bread on carpet",-0.217230,0.038338,0.979328,0.074516,-0.723130,-0.070992,0.683002
20,4,409600,26,obj,0,"003_bread_1","put bread on carpet",-0.192982,-0.050459,0.885972,0.276526,0.028686,0.001861,0.960576
20,4,409600,26,obj,1,"005_7up can_1","put bread on carpet",-0.080929,-0.092531,0.888662,-0.643254,-0.121054,0.096052,-0.749896
20,4,409600,26,recep,0,"004_newspaper_1","put bread on carpet",-0.205208,-0.075060,0.869489,1.000000,0.000180,0.000875,0.000408
20,4,409600,26,recep,1,"003_carpet_1","put bread on carpet",-0.078293,-0.073811,0.870461,0.999798,0.000015,-0.000158,-0.020100
20,4,409600,26,gripper,0,"","put bread on carpet",-0.134912,-0.034056,1.065550,0.057117,-0.731737,0.036150,0.678227
20,4,409600,27,obj,0,"003_bread_1","put bread on carpet",-0.190075,-0.116219,0.971260,0.984835,-0.023873,0.015051,-0.171184
20,4,409600,27,obj,1,"005_7up can_1","put bread on carpet",-0.211464,0.110451,0.888796,-0.465381,-0.526993,0.570760,-0.424184
20,4,409600,27,recep,0,"004_newspaper_1","put bread on carpet",-0.235579,-0.075384,0.869490,0.999992,0.000183,0.000873,-0.003821
20,4,409600,27,recep,1,"003_carpet_1","put bread on carpet",-0.229494,0.077162,0.870476,0.999873,-0.003151,-0.002965,-0.015328
20,4,409600,27,gripper,0,"","put bread on carpet",-0.194690,-0.115124,1.005780,-0.138701,-0.744942,-0.111943,0.642878
20,4,409600,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.222551,-0.022341,0.886573,0.972125,0.008215,0.005691,0.234250
20,4,409600,28,obj,1,"005_7up can_1","put 7up can on newspaper",0.073297,-0.069317,0.016815,0.050251,-0.154958,0.002643,0.986639
20,4,409600,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.214922,-0.060663,0.869489,0.999871,0.000166,0.000878,0.016050
20,4,409600,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085002,0.075005,0.870448,0.999999,-0.000923,-0.000845,0.000005
20,4,409600,28,gripper,0,"","put 7up can on newspaper",-0.107744,0.044392,1.065473,0.023250,-0.862541,0.014987,0.505231
20,4,409600,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.128113,-0.050001,0.885785,0.780953,0.031580,-0.063994,-0.620499
20,4,409600,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.004370,0.258537,0.017186,-0.068659,0.899657,-0.408290,-0.138577
20,4,409600,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.078499,-0.072834,0.869490,0.999437,0.000209,0.000867,-0.033548
20,4,409600,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075033,0.870447,0.999991,-0.003114,-0.002734,-0.000047
20,4,409600,29,gripper,0,"","put 7up can on newspaper",-0.169710,-0.032136,0.978277,-0.022834,-0.733626,-0.066372,0.675919
20,4,409600,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.088291,0.036333,0.883544,0.613952,0.011005,-0.006253,0.789242
20,4,409600,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.098022,0.101244,0.885757,-0.508614,-0.467640,0.406556,-0.597776
20,4,409600,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234962,0.045107,0.869493,0.999936,-0.006572,-0.009181,-0.000696
20,4,409600,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082035,-0.039864,0.870295,0.996480,-0.000444,0.001048,-0.083827
20,4,409600,30,gripper,0,"","put 7up can on newspaper",-0.128933,0.013417,0.916862,0.084313,-0.709312,0.016061,0.699650
20,4,409600,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.099091,-0.097916,0.883658,0.722488,0.007116,-0.009395,0.691283
20,4,409600,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.131485,-0.204662,0.885673,0.685671,-0.272190,0.299989,0.604793
20,4,409600,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.041344,-0.121517,0.869490,0.998586,0.000226,0.000864,-0.053158
20,4,409600,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.074375,0.065496,0.870418,0.999986,-0.000767,-0.001367,-0.005095
20,4,409600,31,gripper,0,"","put 7up can on newspaper",-0.136738,-0.114084,0.974998,-0.005059,-0.778170,-0.064707,0.624691
20,4,409600,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214600,-0.025660,0.887281,0.979626,-0.009048,0.020206,0.199606
20,4,409600,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234970,0.074574,0.878547,0.999910,0.013294,0.002049,-0.000100
20,4,409600,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
20,4,409600,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
20,4,409600,32,gripper,0,"","put banana on flat bowl",-0.166656,0.060761,0.975288,-0.283128,-0.670540,-0.229413,0.646208
20,4,409600,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.127003,-0.048071,0.887290,0.759812,-0.026835,0.021807,0.649222
20,4,409600,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075005,0.878547,0.706790,0.007923,0.010826,0.707296
20,4,409600,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
20,4,409600,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
20,4,409600,33,gripper,0,"","put banana on flat bowl",-0.042267,0.078884,0.974606,0.102000,-0.792481,0.122976,0.588597
20,4,409600,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122814,-0.085963,0.887277,0.388962,-0.026365,0.004982,0.920863
20,4,409600,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075314,0.878547,0.382300,0.003199,0.013098,0.923940
20,4,409600,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
20,4,409600,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
20,4,409600,34,gripper,0,"","put banana on flat bowl",-0.057785,0.096356,0.992718,0.215203,-0.713554,0.255148,0.615977
20,4,409600,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.124596,0.071646,0.887545,0.763907,-0.020457,0.020895,0.644663
20,4,409600,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007946,0.010851,0.707290
20,4,409600,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
20,4,409600,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000001
20,4,409600,35,gripper,0,"","put banana on flat bowl",-0.049047,-0.015711,0.978117,0.142295,-0.732543,0.253641,0.615467
20,4,409600,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.109608,0.087240,0.896336,0.984714,0.099062,0.134840,0.048398
20,4,409600,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204991,0.074503,0.878547,0.999909,0.013292,0.002055,0.000622
20,4,409600,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
20,4,409600,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085018,0.075001,0.874362,1.000000,-0.000000,-0.000000,-0.000859
20,4,409600,36,gripper,0,"","put carrot on sheet metal",-0.090015,0.083769,1.078273,-0.024954,-0.663535,-0.087949,0.742538
20,4,409600,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088923,-0.069311,0.887413,0.997025,-0.004480,0.031637,0.070141
20,4,409600,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234999,0.074571,0.878547,0.999910,0.013285,0.002047,0.000057
20,4,409600,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044995,0.871344,0.999999,-0.000158,0.001164,-0.000010
20,4,409600,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
20,4,409600,37,gripper,0,"","put carrot on sheet metal",-0.051449,-0.029229,0.963377,0.053390,-0.723392,0.069410,0.684862
20,4,409600,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246761,0.084040,0.887439,0.926908,-0.011269,0.032837,0.373679
20,4,409600,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011490,0.006984,0.383097
20,4,409600,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
20,4,409600,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
20,4,409600,38,gripper,0,"","put carrot on sheet metal",-0.215603,0.078662,0.957142,-0.001445,-0.722643,-0.022678,0.690848
20,4,409600,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.126156,0.083036,0.887505,0.933640,-0.002940,0.015867,0.357850
20,4,409600,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.044693,0.878546,0.923634,0.011476,0.006976,0.383040
20,4,409600,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
20,4,409600,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
20,4,409600,39,gripper,0,"","put carrot on sheet metal",-0.155066,-0.050846,0.991354,-0.094191,-0.670175,-0.098648,0.729563
20,4,409600,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.212616,-0.086361,0.887362,0.394779,-0.021189,0.012172,0.918451
20,4,409600,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234673,0.045336,0.878547,0.384150,0.003209,0.013042,0.923173
20,4,409600,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
20,4,409600,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000261
20,4,409600,40,gripper,0,"","put carrot on flat bowl",-0.162357,-0.066232,0.978539,-0.161371,-0.645920,-0.153111,0.730276
20,4,409600,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.126793,-0.016930,0.887523,0.968791,-0.006149,0.029653,0.246021
20,4,409600,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.065647,-0.024515,0.878547,0.946766,0.011918,0.006211,0.321641
20,4,409600,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
20,4,409600,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000606
20,4,409600,41,gripper,0,"","put carrot on flat bowl",-0.060925,0.069532,1.004294,0.017711,-0.723697,0.021881,0.689544
20,4,409600,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093563,-0.086187,0.887492,0.388395,-0.020802,0.010254,0.921201
20,4,409600,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.114712,0.045338,0.878547,0.384101,0.003214,0.013061,0.923193
20,4,409600,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
20,4,409600,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
20,4,409600,42,gripper,0,"","put carrot on flat bowl",-0.059292,-0.051418,0.972770,-0.137554,-0.693811,-0.116584,0.697218
20,4,409600,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.214012,-0.058599,0.887440,0.995320,-0.001479,0.031536,0.091326
20,4,409600,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.044556,0.878547,0.999909,0.013302,0.002042,-0.000850
20,4,409600,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
20,4,409600,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000604
20,4,409600,43,gripper,0,"","put carrot on flat bowl",-0.189365,-0.065734,0.957467,-0.092612,-0.723362,-0.071640,0.680469
20,4,409600,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205657,0.076988,0.887528,0.707161,-0.030535,0.030596,0.705730
20,4,409600,44,obj,1,"013_banana_1","put banana on sheet metal",-0.204560,-0.074995,0.878547,0.706792,0.007945,0.010846,0.707294
20,4,409600,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
20,4,409600,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000000
20,4,409600,44,gripper,0,"","put banana on sheet metal",-0.153587,-0.027864,1.010212,0.006069,-0.702178,-0.128481,0.700287
20,4,409600,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
20,4,409600,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234982,0.044556,0.878547,0.999909,0.013302,0.002042,-0.000850
20,4,409600,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
20,4,409600,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000017
20,4,409600,45,gripper,0,"","put banana on sheet metal",-0.184763,0.064437,0.965758,0.024540,-0.719074,0.011301,0.694408
20,4,409600,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205143,0.076702,0.887529,0.706059,-0.030584,0.030549,0.706833
20,4,409600,46,obj,1,"013_banana_1","put banana on sheet metal",-0.114548,-0.044973,0.878547,0.707932,0.007973,0.010849,0.706152
20,4,409600,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
20,4,409600,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
20,4,409600,46,gripper,0,"","put banana on sheet metal",-0.066730,0.000484,0.976772,0.046834,-0.730740,0.013061,0.680922
20,4,409600,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.220055,-0.075489,0.887629,0.873160,-0.022049,0.039667,0.485316
20,4,409600,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114548,0.075018,0.878547,0.708162,0.007962,0.010829,0.705922
20,4,409600,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
20,4,409600,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
20,4,409600,47,gripper,0,"","put banana on sheet metal",-0.077438,0.068076,1.015123,0.069948,-0.711261,0.046733,0.697876
20,4,409600,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.057961,0.060997,0.888113,0.062904,-0.016012,-0.022410,0.997639
20,4,409600,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.230415,-0.039078,0.895464,0.416264,-0.585226,0.454612,0.526842
20,4,409600,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235176,-0.078289,0.872199,1.000000,-0.000001,-0.000001,-0.000224
20,4,409600,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.180290,0.017967,0.870862,0.969342,0.000070,-0.000019,-0.245714
20,4,409600,48,gripper,0,"","put plastic bottle on cutting board",-0.052578,0.010607,0.944233,-0.181543,-0.811785,-0.079151,0.549348
20,4,409600,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.210419,0.012718,0.891616,-0.148923,0.873264,-0.455670,-0.087155
20,4,409600,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.290314,-0.168369,0.885720,-0.616221,-0.366486,0.586380,-0.376986
20,4,409600,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234505,-0.074841,0.872199,0.999984,0.000000,-0.000001,-0.005700
20,4,409600,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205467,0.075790,0.870859,0.999990,0.000474,0.000719,-0.004450
20,4,409600,49,gripper,0,"","put plastic bottle on cutting board",-0.242529,-0.086861,0.981706,0.008019,-0.708977,0.116490,0.695498
20,4,409600,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.067303,-0.078548,0.888113,0.304036,-0.020987,-0.017833,0.952262
20,4,409600,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.167042,0.073879,0.892041,0.539721,0.410550,-0.507325,0.531763
20,4,409600,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.109833,0.040539,0.872199,0.999920,-0.000001,-0.000002,0.012656
20,4,409600,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.223942,0.072117,0.870883,0.999335,0.000707,0.000667,-0.036444
20,4,409600,50,gripper,0,"","put plastic bottle on cutting board",-0.178732,0.049433,1.128338,0.065723,-0.708584,0.000009,0.702559
20,4,409600,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.227472,0.050774,0.890505,0.683188,-0.025221,-0.005293,0.729788
20,4,409600,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.127453,0.081856,0.887026,-0.485522,0.525047,-0.477508,-0.510471
20,4,409600,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.206289,-0.042606,0.872199,0.999422,0.000000,-0.000001,-0.034007
20,4,409600,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.261209,0.070938,0.870883,0.942259,0.000900,0.000438,-0.334885
20,4,409600,51,gripper,0,"","put plastic bottle on cutting board",-0.125430,0.081190,0.917655,0.041481,-0.783159,0.015113,0.620253
20,4,409600,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.198139,-0.043221,0.891601,-0.165988,-0.793033,0.296590,0.505551
20,4,409600,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.354956,-0.152489,0.016920,0.625889,-0.339528,-0.602390,-0.360708
20,4,409600,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
20,4,409600,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.021489,-0.088497,0.870856,0.997492,0.000490,0.000674,-0.070773
20,4,409600,52,gripper,0,"","put hamburger on frying pan",-0.168156,-0.043873,0.965782,-0.053886,-0.706339,0.024895,0.705380
20,4,409600,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.239561,0.005451,0.888113,0.895440,-0.027721,0.002987,0.444308
20,4,409600,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.099838,-0.011402,0.887027,0.501194,-0.509910,0.493636,0.495096
20,4,409600,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.196211,0.075123,0.872199,0.990702,-0.000001,-0.000000,-0.136051
20,4,409600,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085529,-0.080143,0.870870,0.999922,0.000000,-0.000001,-0.012488
20,4,409600,53,gripper,0,"","put hamburger on frying pan",-0.247878,0.007654,0.915469,0.186295,-0.680168,0.157216,0.691338
20,4,409600,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.185516,-0.021992,0.893657,0.778094,-0.188136,0.558218,0.218100
20,4,409600,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.245541,0.060261,0.888770,-0.600351,0.022226,-0.002970,-0.799422
20,4,409600,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235149,-0.075012,0.872199,1.000000,-0.000000,-0.000001,0.000529
20,4,409600,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204845,0.045246,0.870870,1.000000,-0.000001,0.000000,-0.000873
20,4,409600,54,gripper,0,"","put hamburger on frying pan",-0.138319,-0.048817,1.015664,-0.118102,-0.700089,-0.148509,0.688384
20,4,409600,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.289192,-0.108173,0.022371,0.462513,0.520968,0.629639,-0.343844
20,4,409600,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.054111,0.010994,0.887026,0.543870,-0.463232,0.537682,0.447795
20,4,409600,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.070019,0.083981,0.872199,0.999730,-0.000001,-0.000001,-0.023222
20,4,409600,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084698,-0.074650,0.870830,0.999999,-0.000025,0.000434,-0.000926
20,4,409600,55,gripper,0,"","put hamburger on frying pan",-0.090752,-0.039289,0.918646,0.075322,-0.792002,0.021448,0.605474
20,4,409600,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205994,-0.046135,0.888213,0.935066,0.001770,0.043084,0.351842
20,4,409600,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.209633,-0.150082,0.889158,0.280239,0.724291,-0.518797,0.357377
20,4,409600,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.250542,-0.099972,0.872199,0.999845,-0.000000,-0.000000,-0.017586
20,4,409600,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075008,0.870870,1.000000,0.000000,-0.000000,-0.000087
20,4,409600,56,gripper,0,"","put hamburger on cutting board",-0.157154,-0.093483,0.977555,0.003220,-0.722308,0.038107,0.690513
20,4,409600,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.072727,-0.014553,0.889543,0.098130,-0.010306,0.007128,0.995095
20,4,409600,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.202885,-0.002617,0.889773,0.023462,-0.756771,0.652563,0.030151
20,4,409600,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.209206,0.061367,0.872199,0.999997,-0.000000,-0.000001,-0.002425
20,4,409600,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233505,-0.078434,0.870870,0.999710,0.000000,-0.000001,-0.024071
20,4,409600,57,gripper,0,"","put hamburger on cutting board",-0.088396,-0.018848,0.914376,-0.040182,-0.693281,-0.079992,0.715086
20,4,409600,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.152863,-0.093987,0.888112,-0.120079,-0.011661,-0.024948,0.992382
20,4,409600,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.100571,0.089287,0.887026,-0.336950,-0.615532,-0.353279,0.618691
20,4,409600,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.064445,-0.082581,0.872199,0.964869,0.000000,-0.000000,-0.262732
20,4,409600,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.216072,0.031853,0.870871,0.982860,0.000000,-0.000000,-0.184356
20,4,409600,58,gripper,0,"","put hamburger on cutting board",-0.171577,-0.097994,0.946331,-0.175888,-0.751950,-0.180599,0.609113
20,4,409600,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.019972,-0.116009,0.888860,0.952077,-0.026740,-0.075167,-0.295270
20,4,409600,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.051279,-0.090088,0.885720,-0.667580,0.258078,0.641521,0.276013
20,4,409600,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
20,4,409600,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.214809,0.024841,0.870870,0.998269,0.000000,-0.000001,0.058809
20,4,409600,59,gripper,0,"","put hamburger on cutting board",-0.041001,-0.145674,0.944148,-0.075367,-0.706056,-0.141376,0.689795
20,4,409600,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.210976,0.227917,0.888112,-0.918441,0.027227,-0.004157,-0.394598
20,4,409600,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.121328,0.120399,0.901018,-0.487422,-0.495493,0.486820,-0.529068
20,4,409600,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114003,0.035427,0.872199,0.995772,0.000000,-0.000001,-0.091863
20,4,409600,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235351,0.069801,0.870870,0.999997,0.000000,-0.000000,-0.002555
20,4,409600,60,gripper,0,"","put plastic bottle on frying pan",-0.103315,0.116198,0.931688,0.038157,-0.803944,-0.066856,0.589702
20,4,409600,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.012659,0.024120,0.890795,-0.479193,0.786628,0.283980,-0.266358
20,4,409600,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.069630,-0.145809,0.887026,-0.602918,0.380593,-0.599029,-0.364422
20,4,409600,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234711,-0.077774,0.872199,0.999948,0.000000,-0.000001,-0.010175
20,4,409600,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.081810,0.082081,0.870883,0.998417,0.000631,0.000720,0.056229
20,4,409600,61,gripper,0,"","put plastic bottle on frying pan",-0.060065,-0.035477,0.946040,0.102145,-0.787708,-0.004669,0.607504
20,4,409600,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084492,0.020588,0.890528,-0.080148,-0.475520,-0.874429,0.053216
20,4,409600,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.162594,0.018063,1.011859,0.832817,0.015092,0.014385,0.553156
20,4,409600,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.060917,0.088379,0.872200,0.983642,-0.000001,-0.000001,0.180135
20,4,409600,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084831,-0.077728,0.870870,0.999966,0.000000,-0.000001,-0.008234
20,4,409600,62,gripper,0,"","put plastic bottle on frying pan",-0.146923,0.013966,1.053542,0.127196,-0.647833,0.142234,0.737498
20,4,409600,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.080765,0.004646,0.888113,0.260253,-0.020153,-0.018775,0.965148
20,4,409600,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.421787,0.652817,0.016920,-0.171149,-0.673334,0.157389,-0.701825
20,4,409600,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.067997,0.088215,0.872199,0.995938,-0.000001,-0.000001,-0.090046
20,4,409600,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235241,-0.074806,0.870870,0.999997,0.000000,-0.000001,0.002378
20,4,409600,63,gripper,0,"","put plastic bottle on frying pan",-0.127771,-0.050541,1.002944,-0.140598,-0.737918,-0.228914,0.619119
21,1,414720,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.158646,0.161469,0.879704,-0.397592,0.487511,-0.734860,-0.253447
21,1,414720,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.209145,-0.077812,0.881628,0.703550,0.032729,-0.037907,0.708879
21,1,414720,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235008,0.075005,0.869532,1.000000,0.000000,-0.000001,0.000033
21,1,414720,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
21,1,414720,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.199238,-0.104832,0.928131,-0.066977,-0.710875,-0.075532,0.696036
21,1,414720,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.093506,0.177437,0.878982,-0.441651,0.525069,-0.385027,-0.617253
21,1,414720,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204422,0.074249,0.881638,0.382666,0.034414,-0.019081,0.923048
21,1,414720,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084980,0.075012,0.869532,1.000000,0.000000,-0.000001,0.000219
21,1,414720,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,-0.044998,0.871289,0.999999,-0.000154,-0.001019,0.000002
21,1,414720,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.122408,-0.013798,0.989193,-0.040147,-0.788882,-0.017396,0.612985
21,1,414720,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.087135,0.023026,0.010288,0.860870,0.108597,-0.450159,0.210872
21,1,414720,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235962,0.075111,0.881638,0.999225,-0.004457,-0.039111,-0.000289
21,1,414720,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
21,1,414720,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
21,1,414720,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.058264,0.014362,0.982339,0.044440,-0.752964,0.080074,0.651659
21,1,414720,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.153526,0.069794,0.885209,0.182206,0.723877,-0.631311,0.210354
21,1,414720,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234411,-0.045738,0.881638,0.382403,0.034405,-0.019062,0.923158
21,1,414720,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204998,0.075005,0.869532,1.000000,-0.000001,-0.000001,0.000064
21,1,414720,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114992,-0.074997,0.871289,0.999999,-0.000158,-0.001019,-0.000020
21,1,414720,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.153901,0.060852,1.085260,0.035537,-0.759141,0.084720,0.644410
21,1,414720,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.071980,-0.078880,0.879373,0.957345,0.028272,0.276805,-0.077908
21,1,414720,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235059,-0.045525,0.882955,0.999813,0.018617,-0.005132,-0.000998
21,1,414720,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000000
21,1,414720,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205022,0.075012,0.871282,0.999999,-0.000450,-0.001264,0.000025
21,1,414720,4,gripper,0,"","put ketchup bottle on cloth",-0.370774,-0.138355,0.889846,0.214953,-0.504280,0.786643,0.284060
21,1,414720,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.073570,0.083450,0.879088,0.449609,0.398238,-0.236300,0.763819
21,1,414720,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204411,0.044220,0.881638,0.382433,0.034426,-0.019073,0.923144
21,1,414720,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000017
21,1,414720,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235010,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000148
21,1,414720,5,gripper,0,"","put ketchup bottle on cloth",-0.142543,0.052200,0.912340,-0.103706,-0.854954,-0.192082,0.470536
21,1,414720,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.170135,0.044289,0.885121,0.508242,0.461761,-0.620204,0.379228
21,1,414720,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205978,-0.074883,0.881637,0.999226,-0.004462,-0.039087,-0.000428
21,1,414720,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205013,0.075012,0.869532,1.000000,0.000000,-0.000001,-0.000365
21,1,414720,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
21,1,414720,6,gripper,0,"","put ketchup bottle on cloth",-0.209454,0.019035,1.062127,0.085569,-0.764710,0.109329,0.629241
21,1,414720,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.020840,-0.065178,0.884757,0.072811,-0.393921,0.195485,0.895159
21,1,414720,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.203934,-0.045998,0.883794,0.998498,0.031832,0.044579,-0.000593
21,1,414720,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000003
21,1,414720,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235043,0.075081,0.871210,0.999984,-0.003907,-0.004129,0.000274
21,1,414720,7,gripper,0,"","put ketchup bottle on cloth",-0.056847,-0.031174,0.915198,-0.030289,-0.811578,0.011079,0.583353
21,1,414720,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.146545,-0.156601,0.879126,-0.461320,-0.529883,0.563348,-0.434795
21,1,414720,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.105927,-0.045551,0.887042,0.698245,-0.049071,0.020788,0.713873
21,1,414720,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075008,0.869532,1.000000,-0.000002,0.000001,-0.000418
21,1,414720,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000110
21,1,414720,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.181648,-0.070072,0.939479,0.067920,-0.724350,-0.005598,0.686056
21,1,414720,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.182644,-0.037342,0.885369,0.622657,-0.208094,0.184682,0.731360
21,1,414720,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235752,0.074402,0.881638,0.923220,0.010857,-0.037838,0.382249
21,1,414720,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.074993,0.869532,1.000000,0.000000,-0.000001,-0.000068
21,1,414720,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
21,1,414720,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.213305,0.048872,0.970552,0.094777,-0.729737,0.015436,0.676951
21,1,414720,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.072990,0.073170,0.879373,0.959264,0.019874,0.277540,-0.048873
21,1,414720,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205978,0.075111,0.881638,0.999225,-0.004454,-0.039113,-0.000246
21,1,414720,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000010
21,1,414720,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.079128,-0.101379,0.871288,0.998994,-0.000199,-0.001011,-0.044826
21,1,414720,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.069983,0.009005,0.940906,-0.103202,-0.808246,-0.039384,0.578392
21,1,414720,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.147635,0.063766,0.879869,0.872314,0.002156,0.488922,-0.004453
21,1,414720,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085953,-0.074890,0.881638,0.999225,-0.004449,-0.039114,-0.000112
21,1,414720,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.083939,0.074783,0.869532,0.999828,0.000000,-0.000000,-0.018533
21,1,414720,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235010,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000164
21,1,414720,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.198773,-0.084383,0.948680,-0.071908,-0.728050,-0.082966,0.676675
21,1,414720,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.016769,0.088364,0.879089,-0.885672,-0.016109,0.462789,-0.033937
21,1,414720,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.115952,-0.044884,0.881638,0.999225,-0.004452,-0.039116,-0.000204
21,1,414720,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205000,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000007
21,1,414720,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235023,-0.074970,0.871288,0.999999,-0.000153,-0.001019,0.000079
21,1,414720,12,gripper,0,"","put kitchen shovel on cloth",-0.149703,0.028448,1.022394,0.050399,-0.757913,-0.033396,0.649548
21,1,414720,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078070,-0.081879,0.879088,0.338426,0.427357,-0.178312,0.819169
21,1,414720,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.208212,-0.141445,0.881638,0.536919,0.030774,-0.024867,0.842705
21,1,414720,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000016
21,1,414720,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205015,0.075016,0.871281,0.999999,-0.000451,-0.001265,0.000080
21,1,414720,13,gripper,0,"","put kitchen shovel on cloth",-0.292619,-0.173948,0.919152,-0.010217,-0.742501,0.157312,0.651031
21,1,414720,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.439243,1.110508,1.591075,0.512742,0.846803,0.005126,-0.141401
21,1,414720,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.253731,-0.108013,0.873650,0.003443,0.041198,-0.994713,-0.094006
21,1,414720,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
21,1,414720,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",0.412800,0.381031,0.479321,-0.668578,0.014349,-0.024987,0.743084
21,1,414720,14,gripper,0,"","put kitchen shovel on cloth",0.592499,0.028439,0.943262,0.823418,-0.000004,-0.567435,0.000002
21,1,414720,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.205013,-0.084721,0.879088,0.626337,0.326490,-0.328378,0.627116
21,1,414720,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.051090,-0.037903,0.881641,0.483329,-0.037120,0.015436,0.874515
21,1,414720,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205006,0.074787,0.869532,0.999993,-0.000000,-0.000000,-0.003708
21,1,414720,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.055653,-0.143585,0.871288,0.982621,0.000038,-0.001029,0.185622
21,1,414720,15,gripper,0,"","put kitchen shovel on cloth",-0.110023,-0.072529,0.914379,-0.064278,-0.805675,-0.080670,0.583309
21,1,414720,16,obj,0,"003_bread_1","put bread on newspaper",-0.205139,0.074535,0.883544,0.705114,0.010167,-0.007541,0.708981
21,1,414720,16,obj,1,"005_7up can_1","put bread on newspaper",-0.101578,-0.042061,0.889250,0.538961,0.339337,-0.223548,0.737833
21,1,414720,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.081467,-0.071449,0.869490,0.999697,0.000201,0.000870,-0.024600
21,1,414720,16,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.075005,0.870460,1.000000,0.000019,-0.000159,-0.000026
21,1,414720,16,gripper,0,"","put bread on newspaper",-0.147762,-0.051081,0.957643,-0.070052,-0.802827,-0.001177,0.592081
21,1,414720,17,obj,0,"003_bread_1","put bread on newspaper",-0.085476,-0.075512,0.883544,0.924296,0.006466,-0.010890,0.381467
21,1,414720,17,obj,1,"005_7up can_1","put bread on newspaper",-0.197113,0.049492,0.886963,0.581556,-0.330513,0.315054,0.673271
21,1,414720,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.234745,0.075165,0.869528,0.999997,0.000845,0.001503,0.001782
21,1,414720,17,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,-0.044998,0.870404,1.000000,0.000065,-0.000723,-0.000050
21,1,414720,17,gripper,0,"","put bread on newspaper",-0.205799,0.012339,0.944305,-0.103185,-0.748453,-0.032037,0.654328
21,1,414720,18,obj,0,"003_bread_1","put bread on newspaper",-0.231129,-0.062119,0.886788,0.178670,0.015319,0.000110,0.983790
21,1,414720,18,obj,1,"005_7up can_1","put bread on newspaper",-0.078526,0.068291,0.885636,0.365923,0.261031,-0.113667,0.886026
21,1,414720,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
21,1,414720,18,recep,1,"003_carpet_1","put bread on newspaper",-0.202805,-0.072201,0.870448,0.999701,-0.000936,-0.000817,-0.024422
21,1,414720,18,gripper,0,"","put bread on newspaper",-0.214533,-0.045094,0.984872,-0.029851,-0.733548,-0.101647,0.671330
21,1,414720,19,obj,0,"003_bread_1","put bread on newspaper",-0.085485,0.074501,0.883544,0.924357,0.006462,-0.010886,0.381317
21,1,414720,19,obj,1,"005_7up can_1","put bread on newspaper",-0.217978,-0.049149,0.887847,0.728718,0.117944,-0.099705,0.667171
21,1,414720,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.235905,-0.075314,0.869483,0.999990,0.000549,0.001342,0.004265
21,1,414720,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,0.074993,0.870452,0.999998,0.001568,0.001265,0.000014
21,1,414720,19,gripper,0,"","put bread on newspaper",-0.167143,-0.035772,1.014455,0.143534,-0.679233,0.101347,0.712580
21,1,414720,20,obj,0,"003_bread_1","put bread on carpet",-0.246995,0.080338,0.886693,0.705543,0.012092,-0.005393,0.708543
21,1,414720,20,obj,1,"005_7up can_1","put bread on carpet",-0.085177,-0.082603,0.885627,0.686697,0.161156,-0.168257,0.688597
21,1,414720,20,recep,0,"004_newspaper_1","put bread on carpet",-0.109723,0.044910,0.869490,0.999584,0.000154,0.000879,0.028824
21,1,414720,20,recep,1,"003_carpet_1","put bread on carpet",-0.235003,0.075005,0.870452,0.999999,-0.000929,-0.000893,-0.000001
21,1,414720,20,gripper,0,"","put bread on carpet",-0.098908,0.005203,0.929440,0.060486,-0.742428,0.043255,0.665786
21,1,414720,21,obj,0,"003_bread_1","put bread on carpet",-0.085485,0.074501,0.883544,0.924357,0.006462,-0.010886,0.381317
21,1,414720,21,obj,1,"005_7up can_1","put bread on carpet",-0.181692,-0.167652,0.885904,-0.392892,-0.488499,0.730945,-0.269673
21,1,414720,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,0.075001,0.869490,1.000000,0.000180,0.000874,0.000037
21,1,414720,21,recep,1,"003_carpet_1","put bread on carpet",-0.084728,-0.074993,0.870448,0.999999,-0.000734,-0.000684,0.000019
21,1,414720,21,gripper,0,"","put bread on carpet",-0.197703,-0.156651,0.947170,-0.052761,-0.705751,0.040951,0.705305
21,1,414720,22,obj,0,"003_bread_1","put bread on carpet",-0.201263,-0.022564,0.885380,0.359413,0.027724,0.005499,0.932751
21,1,414720,22,obj,1,"005_7up can_1","put bread on carpet",-0.228527,0.068287,0.885636,0.366018,0.261035,-0.113702,0.885982
21,1,414720,22,recep,0,"004_newspaper_1","put bread on carpet",-0.231094,-0.070004,0.869490,0.999593,0.000205,0.000862,-0.028511
21,1,414720,22,recep,1,"003_carpet_1","put bread on carpet",-0.115005,0.045010,0.870447,0.999999,-0.000923,-0.000845,-0.000035
21,1,414720,22,gripper,0,"","put bread on carpet",-0.242594,-0.043156,0.940887,0.130704,-0.745571,0.038087,0.652373
21,1,414720,23,obj,0,"003_bread_1","put bread on carpet",-0.106422,-0.076603,0.886751,0.587029,0.013282,-0.004116,0.809447
21,1,414720,23,obj,1,"005_7up can_1","put bread on carpet",-0.071880,0.061111,0.900353,0.729200,0.193174,-0.246531,0.608419
21,1,414720,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
21,1,414720,23,recep,1,"003_carpet_1","put bread on carpet",-0.085014,-0.075012,0.870447,0.999999,-0.000923,-0.000844,-0.000002
21,1,414720,23,gripper,0,"","put bread on carpet",-0.082081,0.061426,0.929458,0.078598,-0.778164,0.058273,0.620393
21,1,414720,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.269920,-0.006668,0.883615,0.012771,-0.531305,0.842479,0.088211
21,1,414720,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.138832,-0.075373,0.888968,0.540332,0.150819,-0.095279,0.822324
21,1,414720,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
21,1,414720,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.107521,-0.041006,0.870448,0.999277,-0.001506,-0.001451,0.037970
21,1,414720,24,gripper,0,"","put 7up can on newspaper",-0.147072,-0.079102,0.933713,-0.158130,-0.789821,-0.069497,0.588514
21,1,414720,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.086483,-0.016048,0.884662,-0.893581,-0.045024,0.039258,-0.444910
21,1,414720,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.177864,-0.095881,0.941238,0.637745,0.316945,-0.273444,0.646572
21,1,414720,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
21,1,414720,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.045010,0.870448,0.999998,0.001528,0.001267,0.000024
21,1,414720,25,gripper,0,"","put 7up can on newspaper",-0.157417,-0.095389,0.970813,-0.048899,-0.752841,-0.073532,0.652252
21,1,414720,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.100342,-0.004736,0.966261,0.991806,0.085362,0.070456,-0.063795
21,1,414720,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214394,0.075176,0.885636,0.958611,-0.005148,-0.284670,0.000910
21,1,414720,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
21,1,414720,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000020
21,1,414720,26,gripper,0,"","put 7up can on newspaper",-0.101053,-0.007608,1.008453,-0.249283,-0.626762,-0.270102,0.687075
21,1,414720,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.199991,-0.054878,0.886176,0.998950,0.000460,0.005023,-0.045542
21,1,414720,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242823,0.045143,0.885627,0.970914,-0.004675,-0.239380,0.001124
21,1,414720,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204933,-0.074972,0.869490,1.000000,0.000180,0.000875,-0.000309
21,1,414720,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075022,0.870447,0.999999,-0.000923,-0.000845,-0.000036
21,1,414720,27,gripper,0,"","put 7up can on newspaper",-0.248092,0.024712,0.940620,0.048624,-0.725245,-0.047826,0.685105
21,1,414720,28,obj,0,"003_bread_1","put 7up can on carpet",-0.082382,-0.017046,0.885240,0.876908,-0.036615,0.014904,0.479029
21,1,414720,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.210501,-0.080254,0.885627,0.898023,0.084453,-0.217150,0.373185
21,1,414720,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
21,1,414720,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085009,-0.074993,0.870448,0.999999,-0.000924,-0.000846,0.000082
21,1,414720,28,gripper,0,"","put 7up can on carpet",-0.066927,-0.064235,0.956782,-0.049511,-0.711035,-0.030607,0.700744
21,1,414720,29,obj,0,"003_bread_1","put 7up can on carpet",-0.159363,-0.055616,0.883544,0.953414,-0.002042,-0.012494,-0.301398
21,1,414720,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.092604,0.075182,0.885627,0.972473,-0.005086,-0.232956,0.001070
21,1,414720,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.233833,-0.075611,0.869490,0.999974,0.000187,0.000878,-0.007177
21,1,414720,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870453,0.999998,0.001568,0.001265,0.000015
21,1,414720,29,gripper,0,"","put 7up can on carpet",-0.148274,-0.059649,0.939976,0.013401,-0.759506,0.006847,0.650326
21,1,414720,30,obj,0,"003_bread_1","put 7up can on carpet",-0.235477,-0.075520,0.883544,0.924482,0.006447,-0.010887,0.381015
21,1,414720,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.138828,-0.201370,0.885634,-0.493198,-0.095518,0.051406,-0.863128
21,1,414720,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
21,1,414720,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
21,1,414720,30,gripper,0,"","put 7up can on carpet",-0.192795,-0.173418,0.914599,-0.145882,-0.732475,-0.004610,0.664965
21,1,414720,31,obj,0,"003_bread_1","put 7up can on carpet",-0.236568,0.090031,0.883544,0.777784,0.009296,-0.008595,0.628404
21,1,414720,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.090485,-0.080244,0.885627,0.897925,0.084508,-0.217117,0.373428
21,1,414720,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.183369,-0.082531,0.869487,0.995937,0.000256,0.000882,-0.090049
21,1,414720,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
21,1,414720,31,gripper,0,"","put 7up can on carpet",-0.141626,-0.085367,0.914329,-0.013613,-0.740164,-0.028155,0.671699
21,1,414720,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.215218,0.007765,0.897979,0.985291,-0.079025,0.002783,-0.151487
21,1,414720,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.085007,0.074563,0.878547,0.999910,0.013264,0.002052,0.000417
21,1,414720,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
21,1,414720,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205177,0.045089,0.874362,0.999993,-0.000001,-0.000001,0.003851
21,1,414720,32,gripper,0,"","put carrot on sheet metal",-0.205925,0.015874,1.030988,0.084569,-0.720111,0.156192,0.670740
21,1,414720,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.132751,-0.011384,0.887329,0.991869,0.009731,0.034499,-0.122113
21,1,414720,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234455,0.045003,0.878547,0.706567,0.007939,0.010849,0.707519
21,1,414720,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,1,414720,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.209637,-0.069767,0.874363,0.991803,0.000003,0.000002,0.127779
21,1,414720,33,gripper,0,"","put carrot on sheet metal",-0.069662,-0.046706,1.013965,0.100660,-0.779452,0.114348,0.607657
21,1,414720,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237045,0.078299,0.887429,0.910493,-0.018606,0.034746,0.411642
21,1,414720,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
21,1,414720,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,1,414720,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000000
21,1,414720,34,gripper,0,"","put carrot on sheet metal",-0.092733,0.077873,1.016540,0.096009,-0.781259,0.032214,0.615937
21,1,414720,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087812,0.077872,0.887502,0.911411,-0.009858,0.015804,0.411076
21,1,414720,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204674,-0.075309,0.878547,0.923625,0.011471,0.006973,0.383062
21,1,414720,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
21,1,414720,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000001,-0.000000
21,1,414720,35,gripper,0,"","put carrot on sheet metal",-0.098348,0.097353,0.951721,-0.099825,-0.704964,-0.109562,0.693582
21,1,414720,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.236257,-0.075307,0.887528,0.716309,-0.016335,0.019867,0.697309
21,1,414720,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204558,0.075010,0.878547,0.706831,0.007941,0.010846,0.707255
21,1,414720,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
21,1,414720,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
21,1,414720,36,gripper,0,"","put carrot on flat bowl",-0.197724,-0.089567,0.981143,0.040756,-0.754264,0.041744,0.653974
21,1,414720,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207451,-0.067400,0.887426,0.994918,-0.006340,0.038796,0.092697
21,1,414720,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234999,0.074571,0.878547,0.999910,0.013281,0.002046,0.000057
21,1,414720,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
21,1,414720,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
21,1,414720,37,gripper,0,"","put carrot on flat bowl",-0.145173,-0.095383,0.987396,-0.271183,-0.681915,-0.269255,0.623661
21,1,414720,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,-0.076574,0.887458,0.348966,-0.035355,0.011562,0.936397
21,1,414720,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
21,1,414720,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
21,1,414720,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000000
21,1,414720,38,gripper,0,"","put carrot on flat bowl",-0.055325,-0.028477,0.979657,0.084499,-0.720870,0.148760,0.671622
21,1,414720,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206455,-0.070767,0.887486,0.997274,-0.002167,0.031445,0.066712
21,1,414720,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
21,1,414720,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,1,414720,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
21,1,414720,39,gripper,0,"","put carrot on flat bowl",-0.203285,-0.048568,0.996560,-0.179117,-0.741746,-0.106376,0.637506
21,1,414720,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089989,-0.069988,0.887478,0.996380,-0.002811,0.023810,0.081563
21,1,414720,40,obj,1,"013_banana_1","put banana on sheet metal",-0.235016,-0.075438,0.878547,0.999910,0.013265,0.002045,0.000041
21,1,414720,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074923,0.871344,0.999999,-0.000158,0.001164,0.000004
21,1,414720,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000005
21,1,414720,40,gripper,0,"","put banana on sheet metal",-0.187313,-0.051032,0.969302,-0.215618,-0.688131,-0.188629,0.666636
21,1,414720,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118099,0.072908,0.887272,0.356295,-0.028667,0.018251,0.933755
21,1,414720,41,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,-0.074675,0.878547,0.382746,0.003199,0.013079,0.923756
21,1,414720,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
21,1,414720,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
21,1,414720,41,gripper,0,"","put banana on sheet metal",-0.169006,-0.064421,0.957838,0.032868,-0.718164,-0.053748,0.693016
21,1,414720,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237476,-0.074839,0.887529,0.678482,-0.031727,0.029353,0.733344
21,1,414720,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,0.075008,0.878547,0.707145,0.007950,0.010843,0.706941
21,1,414720,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
21,1,414720,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
21,1,414720,42,gripper,0,"","put banana on sheet metal",-0.184311,0.074045,0.993672,0.117319,-0.666122,-0.015045,0.736405
21,1,414720,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236012,0.076529,0.887516,0.997130,-0.003182,0.031182,0.068909
21,1,414720,43,obj,1,"013_banana_1","put banana on sheet metal",-0.204996,-0.045433,0.878547,0.999910,0.013291,0.002050,-0.000041
21,1,414720,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000040
21,1,414720,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
21,1,414720,43,gripper,0,"","put banana on sheet metal",-0.166329,-0.024829,0.980318,0.032798,-0.706077,0.049056,0.705672
21,1,414720,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087079,0.073730,0.887394,0.997342,0.000057,0.023111,0.069093
21,1,414720,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234992,-0.045433,0.878546,0.999910,0.013269,0.002052,0.000269
21,1,414720,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
21,1,414720,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,-0.000002
21,1,414720,44,gripper,0,"","put banana on flat bowl",-0.213872,-0.046063,0.954393,-0.053603,-0.703253,-0.056435,0.706666
21,1,414720,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086878,-0.073093,0.887265,0.996354,0.004186,0.029482,0.079949
21,1,414720,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204988,0.074512,0.878547,0.999909,0.013327,0.002061,0.000427
21,1,414720,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
21,1,414720,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000165
21,1,414720,45,gripper,0,"","put banana on flat bowl",-0.172232,0.087001,0.952091,-0.017752,-0.789359,0.032522,0.612813
21,1,414720,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236347,0.044659,0.887143,0.914133,-0.002184,0.030105,0.404290
21,1,414720,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
21,1,414720,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
21,1,414720,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
21,1,414720,46,gripper,0,"","put banana on flat bowl",-0.045837,0.027293,1.017916,0.218475,-0.714420,0.194883,0.635526
21,1,414720,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118336,0.074936,0.887490,0.743732,-0.028614,0.030352,0.667175
21,1,414720,47,obj,1,"013_banana_1","put banana on flat bowl",-0.204552,-0.074997,0.878547,0.706978,0.007973,0.010881,0.707107
21,1,414720,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000047
21,1,414720,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
21,1,414720,47,gripper,0,"","put banana on flat bowl",-0.189388,-0.077572,0.950707,0.002671,-0.736460,-0.040397,0.675268
21,1,414720,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.114365,-0.044052,0.888112,0.999586,-0.023252,0.014762,-0.008312
21,1,414720,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.211197,-0.080616,0.887026,0.704254,-0.034486,0.708869,0.018509
21,1,414720,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
21,1,414720,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
21,1,414720,48,gripper,0,"","put hamburger on frying pan",-0.139164,-0.118692,0.962086,-0.068534,-0.784597,0.008918,0.616142
21,1,414720,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.157173,-0.078430,0.932045,0.605706,-0.031080,-0.007162,0.795049
21,1,414720,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.115818,-0.015633,0.887026,0.497214,-0.513846,0.489538,0.499092
21,1,414720,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
21,1,414720,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
21,1,414720,49,gripper,0,"","put hamburger on frying pan",-0.153263,-0.076935,0.977887,-0.065442,-0.765803,-0.057833,0.637118
21,1,414720,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.164589,-0.025997,0.896449,0.917784,-0.030492,0.006336,0.395858
21,1,414720,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
21,1,414720,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000129
21,1,414720,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
21,1,414720,50,gripper,0,"","put hamburger on frying pan",-0.130377,-0.030125,1.092411,-0.035277,-0.732869,-0.029823,0.678799
21,1,414720,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.232676,-0.076984,0.888112,0.339143,-0.021636,-0.017043,0.940332
21,1,414720,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106390,0.094933,0.887027,0.266393,-0.662843,0.253621,0.652189
21,1,414720,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
21,1,414720,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000010
21,1,414720,51,gripper,0,"","put hamburger on frying pan",-0.231399,-0.068375,0.978111,-0.138894,-0.730004,-0.138134,0.654769
21,1,414720,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.229838,-0.030106,0.890597,0.596075,-0.025125,-0.006764,0.802508
21,1,414720,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115827,-0.015633,0.887027,0.497177,-0.513884,0.489501,0.499126
21,1,414720,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
21,1,414720,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234988,-0.075016,0.870870,1.000000,-0.000000,-0.000001,0.000010
21,1,414720,52,gripper,0,"","put hamburger on cutting board",-0.193159,-0.037865,1.023484,0.070082,-0.722502,0.071137,0.684119
21,1,414720,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.182150,0.105556,0.890445,0.959656,-0.028619,0.008891,0.279575
21,1,414720,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065012,0.066517,0.887027,0.649653,-0.289082,0.648163,0.272519
21,1,414720,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000005
21,1,414720,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000002
21,1,414720,53,gripper,0,"","put hamburger on cutting board",-0.190521,0.092121,1.055039,0.028586,-0.728510,-0.005802,0.684414
21,1,414720,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.183250,0.090813,0.890653,0.873416,-0.028409,0.004607,0.486124
21,1,414720,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
21,1,414720,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
21,1,414720,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.074989,0.870870,1.000000,0.000005,0.000003,0.000060
21,1,414720,54,gripper,0,"","put hamburger on cutting board",-0.172062,0.084158,1.059486,0.013586,-0.670389,0.003114,0.741879
21,1,414720,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.235229,-0.073895,0.888112,0.925612,-0.027142,0.004665,0.377471
21,1,414720,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.086182,0.072910,0.889705,0.556741,-0.447294,0.551018,0.431679
21,1,414720,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000008
21,1,414720,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.062099,0.078358,0.870872,0.999995,0.000000,-0.000015,0.003053
21,1,414720,55,gripper,0,"","put hamburger on cutting board",-0.116323,0.017172,1.000363,0.177529,-0.740096,0.075776,0.644204
21,1,414720,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.133965,5.161003,0.023301,0.542541,0.795885,0.210655,0.166857
21,1,414720,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.061440,0.073948,0.887067,0.726205,-0.017952,0.687147,0.011542
21,1,414720,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
21,1,414720,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
21,1,414720,56,gripper,0,"","put plastic bottle on frying pan",-0.032890,0.039003,0.914271,0.000631,-0.796839,-0.000818,0.604191
21,1,414720,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116116,-0.045269,0.888112,0.386811,-0.022480,-0.015915,0.921748
21,1,414720,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.158527,0.061157,1.016407,-0.026976,-0.787005,0.616344,-0.003928
21,1,414720,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
21,1,414720,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
21,1,414720,57,gripper,0,"","put plastic bottle on frying pan",-0.140463,0.065130,1.041828,-0.084587,-0.727026,-0.077989,0.676902
21,1,414720,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.239159,-0.042126,0.888112,0.692528,-0.026703,-0.006754,0.720865
21,1,414720,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.087914,-0.023151,0.887027,0.478889,-0.531169,0.470686,0.516700
21,1,414720,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000003
21,1,414720,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
21,1,414720,58,gripper,0,"","put plastic bottle on frying pan",-0.162043,-0.066149,0.939517,-0.045808,-0.756225,-0.113520,0.642759
21,1,414720,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115961,0.075615,0.888112,0.712402,-0.026876,-0.006006,0.701231
21,1,414720,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.237028,0.058281,0.895209,0.512235,-0.494158,0.473259,0.519085
21,1,414720,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234953,0.044918,0.872199,1.000000,-0.000001,-0.000000,0.000107
21,1,414720,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
21,1,414720,59,gripper,0,"","put plastic bottle on frying pan",-0.162921,0.047062,1.084080,-0.010307,-0.692047,0.079720,0.717363
21,1,414720,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115225,0.076080,0.888112,0.925849,-0.027141,0.004681,0.376889
21,1,414720,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.246225,0.052513,0.887067,0.525599,-0.479187,0.491524,0.502524
21,1,414720,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
21,1,414720,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204985,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000018
21,1,414720,60,gripper,0,"","put plastic bottle on cutting board",-0.222317,0.053469,0.914865,-0.014856,-0.785924,0.006411,0.618111
21,1,414720,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075954,0.888112,0.999525,-0.023167,0.014890,-0.013806
21,1,414720,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.174101,-0.073650,0.894077,0.699254,-0.208107,0.683136,0.032568
21,1,414720,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
21,1,414720,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084076,-0.075214,0.870870,0.999997,0.000000,-0.000000,-0.002619
21,1,414720,61,gripper,0,"","put plastic bottle on cutting board",-0.197722,-0.044849,0.940052,0.025798,-0.707065,0.101718,0.699319
21,1,414720,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085228,-0.073883,0.888112,0.925793,-0.027141,0.004677,0.377027
21,1,414720,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.159405,-0.097382,0.887026,0.672529,-0.226439,0.672615,0.209807
21,1,414720,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.045223,0.872199,0.999992,-0.000001,-0.000001,-0.004109
21,1,414720,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
21,1,414720,62,gripper,0,"","put plastic bottle on cutting board",-0.229450,-0.088434,0.913359,-0.104413,-0.674147,-0.099948,0.724316
21,1,414720,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
21,1,414720,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.193512,0.034294,0.888340,0.500411,0.503998,-0.474138,0.520353
21,1,414720,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.111858,-0.044991,0.872199,0.999997,-0.000000,-0.000001,-0.002384
21,1,414720,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204807,0.074718,0.870880,0.999998,0.000694,0.000694,0.001673
21,1,414720,63,gripper,0,"","put plastic bottle on cutting board",-0.164230,0.047424,1.072536,-0.032069,-0.698809,-0.031626,0.713889
21,2,419840,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.158646,0.161469,0.879704,-0.397567,0.487514,-0.734879,-0.253423
21,2,419840,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.210754,0.049561,0.891544,0.713725,0.023847,-0.093029,0.693811
21,2,419840,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.225067,0.065102,0.871741,0.996012,0.034142,-0.030482,0.076588
21,2,419840,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000157,-0.001019,0.000033
21,2,419840,0,gripper,0,"","put ketchup bottle on cloth",-0.244740,0.066154,0.921578,0.089208,-0.777109,0.046590,0.621267
21,2,419840,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.093506,0.177437,0.878982,-0.441661,0.525061,-0.385032,-0.617249
21,2,419840,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.280483,0.455048,0.012838,-0.999130,0.003903,0.039148,-0.013860
21,2,419840,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084980,0.075012,0.869532,1.000000,0.000000,-0.000001,0.000226
21,2,419840,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,-0.044998,0.871289,1.000000,-0.000153,-0.001019,0.000016
21,2,419840,1,gripper,0,"","put ketchup bottle on cloth",-0.307520,-0.110054,0.914549,0.155240,-0.603936,0.129657,0.770942
21,2,419840,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.087135,0.023026,0.010288,0.860866,0.108604,-0.450159,0.210885
21,2,419840,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.168442,0.063515,0.881637,0.996842,-0.007010,-0.046538,-0.063958
21,2,419840,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000027
21,2,419840,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.113144,-0.047348,0.871288,0.999992,-0.000150,-0.001019,0.003888
21,2,419840,2,gripper,0,"","put ketchup bottle on cloth",-0.176722,0.028912,0.949156,0.097029,-0.791289,0.107260,0.594089
21,2,419840,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.153431,0.070114,0.885210,0.180743,0.728057,-0.626530,0.211482
21,2,419840,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234413,-0.045738,0.881638,0.382320,0.034437,-0.019071,0.923191
21,2,419840,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204998,0.075005,0.869532,1.000000,-0.000000,-0.000000,0.000026
21,2,419840,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,-0.074997,0.871288,0.999999,-0.000154,-0.001020,-0.000028
21,2,419840,3,gripper,0,"","put ketchup bottle on cloth",-0.166865,0.079113,1.090017,0.059257,-0.818363,0.050907,0.569368
21,2,419840,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.071980,-0.078880,0.879373,0.957343,0.028272,0.276813,-0.077908
21,2,419840,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.190475,-0.051712,0.882904,0.994687,0.014716,-0.040409,-0.093535
21,2,419840,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078095,0.076469,0.869533,0.999165,0.000001,-0.000001,-0.040849
21,2,419840,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.189356,0.075455,0.871217,0.994099,0.000185,0.000292,0.108475
21,2,419840,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.264258,-0.071510,0.913797,-0.038464,-0.750923,-0.043295,0.657846
21,2,419840,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.073563,0.083450,0.879088,0.449659,0.398225,-0.236326,0.763789
21,2,419840,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.211994,0.048836,0.881638,0.600204,0.028610,-0.027053,0.798877
21,2,419840,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000012
21,2,419840,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235008,-0.074982,0.871287,0.999999,-0.000153,-0.001019,0.000253
21,2,419840,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.250439,0.028793,0.914459,-0.192038,-0.698561,-0.146056,0.673648
21,2,419840,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.170414,0.044472,0.885120,0.508536,0.461630,-0.619841,0.379587
21,2,419840,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.187866,-0.076973,0.881638,0.986180,-0.010682,-0.037868,-0.160935
21,2,419840,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204952,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000424
21,2,419840,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
21,2,419840,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.199373,-0.036865,0.931506,-0.053004,-0.778895,-0.012449,0.624786
21,2,419840,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.015594,-0.070732,0.879811,0.147250,-0.109655,0.012600,0.982921
21,2,419840,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.202415,-0.045006,0.883776,0.998693,0.031323,-0.040241,-0.003378
21,2,419840,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000006
21,2,419840,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235031,0.075066,0.871282,0.999999,-0.000451,-0.001265,0.000231
21,2,419840,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.258762,-0.092289,0.915302,0.068500,-0.762027,0.140448,0.628409
21,2,419840,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.146545,-0.156601,0.879126,-0.461329,-0.529872,0.563352,-0.434794
21,2,419840,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.191734,-0.034637,0.952712,0.613763,0.103353,0.066175,0.779894
21,2,419840,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083557,-0.074158,0.869532,0.999882,-0.000000,0.000000,-0.015328
21,2,419840,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000105
21,2,419840,8,gripper,0,"","put kitchen shovel on cloth",-0.219898,-0.045767,0.997541,-0.039624,-0.695136,-0.109540,0.709378
21,2,419840,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.179760,-0.051487,0.885370,0.703511,-0.184919,0.207256,0.654158
21,2,419840,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.187668,-0.017677,0.881637,0.833630,0.022368,-0.041189,0.550331
21,2,419840,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.207695,-0.082108,0.869532,0.995998,0.000000,-0.000001,-0.089372
21,2,419840,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
21,2,419840,9,gripper,0,"","put kitchen shovel on cloth",-0.171564,-0.023458,0.964775,0.014612,-0.716114,-0.035851,0.696909
21,2,419840,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.039997,0.080666,0.879705,0.469337,-0.068154,0.879944,0.027867
21,2,419840,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.079643,0.125206,0.891098,0.915204,0.027000,-0.255561,0.310420
21,2,419840,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000013
21,2,419840,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.079132,-0.101379,0.871288,0.998994,-0.000199,-0.001012,-0.044843
21,2,419840,10,gripper,0,"","put kitchen shovel on cloth",-0.140480,0.109882,0.914304,0.336121,-0.552748,0.255309,0.718547
21,2,419840,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.230078,-0.047642,0.888328,0.730027,-0.052574,-0.052432,-0.679373
21,2,419840,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085949,-0.074890,0.881638,0.999225,-0.004445,-0.039112,-0.000021
21,2,419840,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.071486,0.065559,0.869532,0.989860,-0.000000,0.000000,0.142044
21,2,419840,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,-0.074989,0.871288,0.999999,-0.000155,-0.001019,0.000246
21,2,419840,11,gripper,0,"","put kitchen shovel on cloth",-0.229023,-0.057823,0.974643,0.058393,-0.742575,0.105743,0.658780
21,2,419840,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.060342,0.002132,0.010944,0.271242,0.656829,0.646378,-0.277847
21,2,419840,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.141891,-0.042923,0.881638,0.979032,0.003470,-0.039218,0.199865
21,2,419840,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.213328,0.079372,0.869532,0.992691,0.000001,-0.000001,-0.120686
21,2,419840,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235023,-0.074970,0.871288,0.999999,-0.000154,-0.001019,0.000079
21,2,419840,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.017685,0.050421,0.966576,0.319636,-0.691443,0.290251,0.579218
21,2,419840,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.014935,0.157261,0.879117,0.634488,0.317747,-0.323428,0.625984
21,2,419840,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.208208,-0.142498,0.881638,0.529842,0.030802,-0.024504,0.847183
21,2,419840,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.074993,0.869532,1.000000,0.000000,-0.000001,0.000263
21,2,419840,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205015,0.075012,0.871281,0.999999,-0.000450,-0.001264,0.000175
21,2,419840,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.075384,0.166039,0.920957,0.207441,-0.748379,0.141207,0.613969
21,2,419840,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.334610,0.991325,0.010572,-0.027639,-0.278241,-0.002282,0.960111
21,2,419840,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.252995,-0.123257,0.873650,0.009515,0.105437,-0.989967,-0.093588
21,2,419840,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
21,2,419840,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",0.413021,0.380920,0.002489,-0.669564,0.000859,0.000568,0.742754
21,2,419840,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.197611,-0.104078,0.928689,-0.023731,-0.658758,-0.095823,0.745850
21,2,419840,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.186234,-0.007576,0.879212,-0.240322,-0.481601,0.831025,-0.140365
21,2,419840,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.051090,-0.037899,0.881641,0.483249,-0.037114,0.015428,0.874560
21,2,419840,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205006,0.075031,0.869532,0.999981,-0.000000,-0.000001,-0.006096
21,2,419840,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.055653,-0.143585,0.871288,0.982613,0.000038,-0.001030,0.185664
21,2,419840,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.248110,-0.040113,0.914497,0.140170,-0.696462,0.071310,0.700149
21,2,419840,16,obj,0,"003_bread_1","put bread on carpet",-0.246658,-0.002792,0.950869,0.636027,-0.021008,0.010113,0.771314
21,2,419840,16,obj,1,"005_7up can_1","put bread on carpet",-0.099945,-0.042969,0.889226,0.523148,0.359027,-0.236122,0.735977
21,2,419840,16,recep,0,"004_newspaper_1","put bread on carpet",-0.081467,-0.071453,0.869490,0.999698,0.000201,0.000870,-0.024569
21,2,419840,16,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.075005,0.870460,1.000000,0.000019,-0.000159,-0.000052
21,2,419840,16,gripper,0,"","put bread on carpet",-0.236881,-0.002283,0.983332,-0.016329,-0.748989,-0.011224,0.662286
21,2,419840,17,obj,0,"003_bread_1","put bread on carpet",-0.178246,-0.046211,0.886410,0.953990,0.008155,-0.007708,0.299627
21,2,419840,17,obj,1,"005_7up can_1","put bread on carpet",-0.194431,0.038570,0.886952,0.656240,-0.062106,0.085143,0.747157
21,2,419840,17,recep,0,"004_newspaper_1","put bread on carpet",-0.234028,0.075863,0.869489,0.999972,0.000539,0.001429,0.007380
21,2,419840,17,recep,1,"003_carpet_1","put bread on carpet",-0.203159,-0.042881,0.870447,0.999807,-0.000123,-0.000160,0.019651
21,2,419840,17,gripper,0,"","put bread on carpet",-0.084505,-0.080713,0.997032,-0.061482,-0.747822,-0.076073,0.656654
21,2,419840,18,obj,0,"003_bread_1","put bread on carpet",-0.231133,-0.062168,0.886788,0.181192,0.015315,0.000085,0.983328
21,2,419840,18,obj,1,"005_7up can_1","put bread on carpet",-0.253868,0.027222,0.885950,-0.139416,-0.860973,0.310103,-0.378319
21,2,419840,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
21,2,419840,18,recep,1,"003_carpet_1","put bread on carpet",-0.202808,-0.072227,0.870448,0.999703,-0.000936,-0.000817,-0.024356
21,2,419840,18,gripper,0,"","put bread on carpet",-0.148848,0.026581,0.983894,0.073111,-0.697242,0.027555,0.712565
21,2,419840,19,obj,0,"003_bread_1","put bread on carpet",-0.195715,0.075436,0.886538,0.916534,0.008836,-0.005432,0.399822
21,2,419840,19,obj,1,"005_7up can_1","put bread on carpet",-0.218157,-0.049149,0.887857,0.733268,0.116617,-0.100518,0.662280
21,2,419840,19,recep,0,"004_newspaper_1","put bread on carpet",-0.235914,-0.075329,0.869490,0.999994,0.000177,0.000873,0.003373
21,2,419840,19,recep,1,"003_carpet_1","put bread on carpet",-0.205015,0.075005,0.870461,1.000000,0.000019,-0.000159,0.000020
21,2,419840,19,gripper,0,"","put bread on carpet",-0.168114,0.004793,1.000494,-0.178128,-0.733139,-0.297123,0.585231
21,2,419840,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.246995,0.080338,0.886693,0.705544,0.012093,-0.005393,0.708543
21,2,419840,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.020980,-0.083843,0.885745,0.577800,0.409768,-0.436003,0.555102
21,2,419840,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.109723,0.044910,0.869490,0.999584,0.000154,0.000879,0.028824
21,2,419840,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235003,0.075005,0.870452,0.999999,-0.000928,-0.000893,-0.000001
21,2,419840,20,gripper,0,"","put 7up can on newspaper",-0.023837,-0.086855,0.921407,0.041788,-0.738364,-0.014365,0.672953
21,2,419840,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.188759,0.086590,0.885779,0.945965,0.011444,0.005416,0.324022
21,2,419840,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.181686,-0.167652,0.885904,-0.392949,-0.488365,0.731029,-0.269607
21,2,419840,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204987,0.075001,0.869490,1.000000,0.000180,0.000874,0.000117
21,2,419840,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083019,-0.071621,0.870418,0.999987,-0.000215,-0.000844,0.004965
21,2,419840,21,gripper,0,"","put 7up can on newspaper",-0.213213,0.070732,0.976842,0.032992,-0.783271,0.089198,0.614363
21,2,419840,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.201359,-0.022507,0.885352,0.354659,0.029514,0.003614,0.934523
21,2,419840,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.323914,0.147293,0.885747,0.355914,0.531988,-0.270466,0.719140
21,2,419840,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.231354,-0.070122,0.869490,0.999635,0.000202,0.000859,-0.026986
21,2,419840,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.045025,0.870447,0.999999,-0.000923,-0.000845,-0.000063
21,2,419840,22,gripper,0,"","put 7up can on newspaper",-0.208128,-0.015696,0.935195,0.012334,-0.756142,0.009818,0.654218
21,2,419840,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.106796,-0.071407,0.886750,0.662788,0.012478,-0.004994,0.748686
21,2,419840,23,obj,1,"005_7up can_1","put 7up can on newspaper",0.125164,-0.148300,0.016985,0.307615,0.498764,0.193528,-0.786864
21,2,419840,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
21,2,419840,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085369,-0.074791,0.870448,0.999997,-0.000921,-0.000847,0.002020
21,2,419840,23,gripper,0,"","put 7up can on newspaper",-0.120028,-0.033449,1.019758,-0.120874,-0.653316,-0.187005,0.723600
21,2,419840,24,obj,0,"003_bread_1","put 7up can on carpet",-0.269920,-0.006760,0.883615,0.012945,-0.529639,0.843527,0.088187
21,2,419840,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.097343,-0.177887,0.885687,-0.517260,-0.334241,0.225408,-0.754928
21,2,419840,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000036
21,2,419840,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.107506,-0.041018,0.870447,0.999263,-0.003001,-0.002844,0.038174
21,2,419840,24,gripper,0,"","put 7up can on carpet",-0.216698,-0.049796,0.914052,-0.149326,-0.739779,-0.169751,0.633730
21,2,419840,25,obj,0,"003_bread_1","put 7up can on carpet",-0.086483,-0.016048,0.884662,-0.893578,-0.045017,0.039253,-0.444916
21,2,419840,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.141178,-0.072788,0.885937,0.443208,-0.517068,0.641365,0.353352
21,2,419840,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
21,2,419840,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,0.045012,0.870448,0.999998,0.001527,0.001267,0.000093
21,2,419840,25,gripper,0,"","put 7up can on carpet",-0.162300,-0.076367,0.936791,-0.114578,-0.757814,-0.050475,0.640345
21,2,419840,26,obj,0,"003_bread_1","put 7up can on carpet",-0.155556,-0.097086,0.883547,0.997079,0.001083,-0.012322,-0.075361
21,2,419840,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.214394,0.075176,0.885636,0.958614,-0.005241,-0.284660,0.000596
21,2,419840,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084923,0.075129,0.869490,0.999999,0.000180,0.000875,-0.000855
21,2,419840,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235348,-0.081734,0.870456,0.999639,-0.000087,-0.000318,-0.026863
21,2,419840,26,gripper,0,"","put 7up can on carpet",-0.186619,-0.113945,0.919946,-0.153735,-0.742633,-0.039086,0.650641
21,2,419840,27,obj,0,"003_bread_1","put 7up can on carpet",-0.199976,-0.054873,0.886176,0.998955,0.000438,0.004980,-0.045436
21,2,419840,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.210037,0.046074,0.885847,0.627132,0.032834,0.777513,-0.033171
21,2,419840,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204916,-0.074972,0.869490,1.000000,0.000180,0.000874,-0.000313
21,2,419840,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075039,0.870447,0.999999,-0.000923,-0.000845,-0.000069
21,2,419840,27,gripper,0,"","put 7up can on carpet",-0.184470,-0.053898,0.977120,-0.029705,-0.711936,-0.013181,0.701491
21,2,419840,28,obj,0,"003_bread_1","put bread on newspaper",-0.107466,-0.046812,0.886712,0.892646,0.009063,-0.004823,0.450642
21,2,419840,28,obj,1,"005_7up can_1","put bread on newspaper",-0.210502,-0.080254,0.885627,0.898021,0.084459,-0.217162,0.373184
21,2,419840,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
21,2,419840,28,recep,1,"003_carpet_1","put bread on newspaper",-0.088411,-0.075983,0.870420,0.999581,-0.000621,-0.001272,0.028923
21,2,419840,28,gripper,0,"","put bread on newspaper",-0.139770,-0.088899,0.960122,0.000463,-0.749705,-0.036100,0.660787
21,2,419840,29,obj,0,"003_bread_1","put bread on newspaper",-0.159363,-0.055616,0.883544,0.953511,-0.002038,-0.012493,-0.301093
21,2,419840,29,obj,1,"005_7up can_1","put bread on newspaper",0.083914,0.017546,0.016815,0.904830,-0.066978,0.139759,0.396566
21,2,419840,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.233833,-0.075611,0.869490,0.999974,0.000187,0.000877,-0.007183
21,2,419840,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.074997,0.870453,0.999998,0.001568,0.001266,0.000031
21,2,419840,29,gripper,0,"","put bread on newspaper",-0.115142,-0.008279,0.940965,-0.057737,-0.772055,-0.130575,0.619312
21,2,419840,30,obj,0,"003_bread_1","put bread on newspaper",-0.221111,-0.103436,0.920929,0.844036,-0.046980,0.055587,0.531325
21,2,419840,30,obj,1,"005_7up can_1","put bread on newspaper",-0.138828,-0.201370,0.885634,-0.493069,-0.095530,0.051394,-0.863201
21,2,419840,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
21,2,419840,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
21,2,419840,30,gripper,0,"","put bread on newspaper",-0.230116,-0.107615,0.967984,0.047715,-0.760715,0.007759,0.647284
21,2,419840,31,obj,0,"003_bread_1","put bread on newspaper",-0.236568,0.090031,0.883544,0.777784,0.009296,-0.008595,0.628404
21,2,419840,31,obj,1,"005_7up can_1","put bread on newspaper",0.035492,-0.158928,0.016947,-0.714583,0.280680,-0.518014,-0.377162
21,2,419840,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.183365,-0.082535,0.869490,0.995950,0.000258,0.000855,-0.089902
21,2,419840,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
21,2,419840,31,gripper,0,"","put bread on newspaper",-0.144661,-0.204254,0.936528,-0.052250,-0.718719,-0.100895,0.685954
21,2,419840,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.215126,0.007913,0.897957,0.984271,-0.078443,0.001447,-0.158290
21,2,419840,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.085007,0.074563,0.878547,0.999910,0.013260,0.002051,0.000417
21,2,419840,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
21,2,419840,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205177,0.045089,0.874363,0.999993,-0.000000,0.000001,0.003843
21,2,419840,32,gripper,0,"","put carrot on flat bowl",-0.130497,-0.066751,1.026841,-0.133741,-0.780543,-0.157221,0.590041
21,2,419840,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.135178,0.000478,0.887560,0.983190,0.007614,0.030976,-0.179778
21,2,419840,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234455,0.045003,0.878547,0.706567,0.007923,0.010832,0.707519
21,2,419840,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
21,2,419840,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.209637,-0.069767,0.874363,0.991803,0.000004,0.000002,0.127779
21,2,419840,33,gripper,0,"","put carrot on flat bowl",-0.022102,-0.054954,0.993001,-0.201413,-0.707498,-0.100380,0.669927
21,2,419840,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240864,0.079822,0.887561,0.914503,-0.006821,0.023689,0.403827
21,2,419840,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
21,2,419840,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,2,419840,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.045000,0.874362,1.000000,0.000001,0.000000,0.000000
21,2,419840,34,gripper,0,"","put carrot on flat bowl",-0.092402,0.089586,1.020044,-0.037457,-0.661959,-0.003414,0.748596
21,2,419840,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090780,0.079490,0.887428,0.915546,-0.006481,0.015706,0.401854
21,2,419840,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204674,-0.075309,0.878547,0.923625,0.011474,0.006974,0.383062
21,2,419840,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
21,2,419840,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000001,0.000001,-0.000000
21,2,419840,35,gripper,0,"","put carrot on flat bowl",-0.087974,0.093231,1.010266,-0.103683,-0.736825,-0.043431,0.666673
21,2,419840,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237472,-0.076797,0.887443,0.727931,-0.015074,0.016074,0.685296
21,2,419840,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204558,0.075010,0.878546,0.706832,0.007924,0.010827,0.707255
21,2,419840,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
21,2,419840,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
21,2,419840,36,gripper,0,"","put banana on sheet metal",-0.172407,0.089211,0.958909,0.069241,-0.702474,0.040358,0.707183
21,2,419840,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210348,-0.064734,0.887425,0.995883,-0.000867,0.030985,0.085184
21,2,419840,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234999,0.074570,0.878547,0.999909,0.013308,0.002048,0.000057
21,2,419840,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
21,2,419840,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
21,2,419840,37,gripper,0,"","put banana on sheet metal",-0.190666,0.077679,1.006138,-0.020371,-0.725144,-0.028103,0.687722
21,2,419840,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089123,-0.080236,0.887156,0.359635,-0.022807,-0.000399,0.932814
21,2,419840,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
21,2,419840,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
21,2,419840,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
21,2,419840,38,gripper,0,"","put banana on sheet metal",-0.071938,0.094711,0.973217,0.132691,-0.763024,0.111539,0.622692
21,2,419840,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206253,-0.069927,0.887446,0.996793,-0.000532,0.040020,0.069292
21,2,419840,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
21,2,419840,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,2,419840,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
21,2,419840,39,gripper,0,"","put banana on sheet metal",-0.096155,0.078297,1.017735,0.013170,-0.724275,-0.035323,0.688479
21,2,419840,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090042,-0.069738,0.887410,0.996086,0.000117,0.038710,0.079460
21,2,419840,40,obj,1,"013_banana_1","put banana on flat bowl",-0.235016,-0.075441,0.878547,0.999910,0.013280,0.002041,-0.000334
21,2,419840,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074940,0.871344,0.999999,-0.000158,0.001164,0.000033
21,2,419840,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000006
21,2,419840,40,gripper,0,"","put banana on flat bowl",-0.200012,-0.068947,0.973151,-0.119378,-0.705610,-0.006645,0.698440
21,2,419840,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120434,0.069315,0.887406,0.371813,-0.036893,0.011191,0.927507
21,2,419840,41,obj,1,"013_banana_1","put banana on flat bowl",-0.204697,-0.074669,0.878547,0.383219,0.003197,0.013048,0.923560
21,2,419840,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
21,2,419840,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
21,2,419840,41,gripper,0,"","put banana on flat bowl",-0.142870,-0.032892,0.996016,-0.109247,-0.677526,-0.111853,0.718688
21,2,419840,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237442,-0.074837,0.887529,0.676533,-0.031804,0.029268,0.735143
21,2,419840,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,0.075012,0.878547,0.707431,0.007951,0.010835,0.706655
21,2,419840,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
21,2,419840,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
21,2,419840,42,gripper,0,"","put banana on flat bowl",-0.158630,0.087523,1.018748,0.029598,-0.674768,-0.043418,0.736157
21,2,419840,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236416,0.077099,0.887514,0.997115,-0.001775,0.034261,0.067715
21,2,419840,43,obj,1,"013_banana_1","put banana on flat bowl",-0.204994,-0.045435,0.878547,0.999909,0.013295,0.002045,-0.000404
21,2,419840,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,0.044992,0.871345,0.999999,-0.000157,0.001164,-0.000045
21,2,419840,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
21,2,419840,43,gripper,0,"","put banana on flat bowl",-0.159104,-0.056837,0.961663,-0.235465,-0.658553,-0.227643,0.677527
21,2,419840,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087177,0.074560,0.887516,0.996947,-0.001794,0.034219,0.070161
21,2,419840,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234991,-0.045433,0.878547,0.999910,0.013295,0.002052,0.000209
21,2,419840,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
21,2,419840,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,-0.000002
21,2,419840,44,gripper,0,"","put carrot on sheet metal",-0.133326,0.059604,1.062845,0.026799,-0.731865,0.039383,0.679783
21,2,419840,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087862,-0.073347,0.887471,0.996757,-0.000530,0.020912,0.077703
21,2,419840,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204987,0.074518,0.878548,0.999909,0.013341,0.002061,0.000302
21,2,419840,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
21,2,419840,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000323
21,2,419840,45,gripper,0,"","put carrot on sheet metal",-0.068367,-0.087619,1.006168,-0.231025,-0.704325,-0.194609,0.642403
21,2,419840,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240303,0.047564,0.887184,0.919799,-0.019975,0.024111,0.391140
21,2,419840,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
21,2,419840,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
21,2,419840,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
21,2,419840,46,gripper,0,"","put carrot on sheet metal",-0.196264,-0.062379,0.925701,-0.193105,-0.764769,-0.091424,0.607850
21,2,419840,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122101,0.073494,0.887386,0.754112,-0.020211,0.019337,0.656150
21,2,419840,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.204548,-0.074995,0.878547,0.707144,0.007968,0.010869,0.706941
21,2,419840,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.045004,0.871344,0.999999,-0.000158,0.001164,-0.000045
21,2,419840,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
21,2,419840,47,gripper,0,"","put carrot on sheet metal",-0.204714,-0.156136,0.944236,0.291552,-0.590389,0.272271,0.701646
21,2,419840,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.182869,0.098297,0.890443,0.999350,-0.024766,0.018330,-0.018714
21,2,419840,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.211197,-0.080616,0.887026,0.704253,-0.034458,0.708872,0.018480
21,2,419840,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
21,2,419840,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,0.075001,0.870883,0.999999,0.000697,0.000710,0.000002
21,2,419840,48,gripper,0,"","put hamburger on cutting board",-0.178581,-0.028526,0.990764,0.092094,-0.677241,0.153281,0.713701
21,2,419840,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.184692,0.100468,0.890473,0.670573,-0.027503,-0.005225,0.741316
21,2,419840,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115910,-0.011398,0.887026,0.516626,-0.494017,0.509542,0.478969
21,2,419840,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
21,2,419840,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205124,0.074871,0.870870,1.000000,0.000004,0.000002,0.000177
21,2,419840,49,gripper,0,"","put hamburger on cutting board",-0.132109,0.032648,0.984871,-0.065427,-0.706362,-0.082187,0.700012
21,2,419840,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.117405,0.003857,0.891171,0.530084,-0.281215,0.767324,0.226147
21,2,419840,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
21,2,419840,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205181,-0.045277,0.872199,0.999985,0.000000,-0.000001,-0.005437
21,2,419840,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
21,2,419840,50,gripper,0,"","put hamburger on cutting board",-0.152866,-0.070835,0.968095,-0.026264,-0.729666,-0.001051,0.683299
21,2,419840,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.232676,-0.076981,0.888112,0.341812,-0.021684,-0.016980,0.939365
21,2,419840,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106390,0.094933,0.887027,0.266393,-0.662842,0.253621,0.652190
21,2,419840,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.223127,0.072071,0.872199,0.989302,-0.000001,-0.000001,0.145884
21,2,419840,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115004,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000020
21,2,419840,51,gripper,0,"","put hamburger on cutting board",-0.160481,0.004665,0.977502,-0.085671,-0.700349,-0.071778,0.704996
21,2,419840,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.229847,-0.030113,0.890597,0.596676,-0.025130,-0.006740,0.802061
21,2,419840,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.064869,0.090099,0.895267,0.295023,-0.656641,0.278194,0.635918
21,2,419840,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085965,0.076290,0.872200,0.999933,-0.000000,-0.000001,0.011557
21,2,419840,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234988,-0.075016,0.870870,1.000000,-0.000001,-0.000002,0.000010
21,2,419840,52,gripper,0,"","put plastic bottle on frying pan",-0.086256,0.059853,1.049232,-0.190737,-0.676364,-0.294074,0.647821
21,2,419840,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.180805,0.102436,0.890449,0.976988,-0.028169,0.010495,0.211167
21,2,419840,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.255323,0.052593,0.889413,-0.470865,-0.431386,0.292525,-0.711773
21,2,419840,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235016,-0.044876,0.872199,0.999998,-0.000000,-0.000001,0.001941
21,2,419840,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.208488,0.072971,0.870873,0.999940,0.000002,-0.000028,0.010922
21,2,419840,53,gripper,0,"","put plastic bottle on frying pan",-0.253082,0.004005,0.980795,0.053645,-0.718796,-0.006770,0.693116
21,2,419840,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.092140,-0.059048,0.896395,0.799966,-0.018935,0.018220,0.599470
21,2,419840,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
21,2,419840,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000008
21,2,419840,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.207134,0.078827,0.870870,0.999850,0.000000,-0.000000,0.017323
21,2,419840,54,gripper,0,"","put plastic bottle on frying pan",-0.139009,-0.044746,0.997977,0.014560,-0.725890,0.084411,0.682456
21,2,419840,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235229,-0.073895,0.888112,0.925090,-0.027149,0.004628,0.378747
21,2,419840,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.112106,0.021294,0.889179,0.785438,-0.148841,0.168832,0.576567
21,2,419840,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115009,-0.048607,0.873206,0.999822,-0.017587,-0.006809,-0.000136
21,2,419840,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.063393,0.081863,0.870870,0.999996,0.000000,-0.000000,-0.002943
21,2,419840,55,gripper,0,"","put plastic bottle on frying pan",-0.112911,0.020641,0.923673,0.121710,-0.734275,0.082086,0.662789
21,2,419840,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.133965,5.161003,0.023301,0.542365,0.795661,0.211500,0.167426
21,2,419840,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.013184,0.069744,0.887026,0.701963,-0.075887,0.705641,0.059667
21,2,419840,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
21,2,419840,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000031
21,2,419840,56,gripper,0,"","put plastic bottle on cutting board",-0.055988,0.074390,0.955340,0.204021,-0.803235,0.128596,0.544658
21,2,419840,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116493,-0.050995,0.888112,0.350804,-0.021846,-0.016773,0.936044
21,2,419840,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.158882,0.032452,0.886458,-0.516005,0.448814,0.381945,0.621629
21,2,419840,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.082233,0.078857,0.872199,0.999891,-0.000001,-0.000001,-0.014752
21,2,419840,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
21,2,419840,57,gripper,0,"","put plastic bottle on cutting board",-0.161247,0.035295,0.915217,-0.004750,-0.756295,0.042050,0.652861
21,2,419840,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.239159,-0.042130,0.888112,0.691399,-0.026693,-0.006798,0.721948
21,2,419840,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.185799,0.074490,0.890822,0.502265,-0.525338,0.478294,0.492936
21,2,419840,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.086281,0.049492,0.872199,0.999997,-0.000000,-0.000001,-0.002504
21,2,419840,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205025,0.075005,0.870870,1.000000,-0.000000,-0.000001,0.000471
21,2,419840,58,gripper,0,"","put plastic bottle on cutting board",-0.205023,0.052975,1.093324,-0.000241,-0.754558,0.026148,0.655712
21,2,419840,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115961,0.075615,0.888112,0.712883,-0.026881,-0.005992,0.700742
21,2,419840,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235836,0.053322,0.895730,0.561099,-0.430687,0.404594,0.579638
21,2,419840,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234079,0.045193,0.872199,0.999936,-0.000001,0.000000,-0.011353
21,2,419840,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
21,2,419840,59,gripper,0,"","put plastic bottle on cutting board",-0.224181,0.034883,0.954133,0.026825,-0.708648,-0.040364,0.703896
21,2,419840,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115225,0.076080,0.888112,0.925853,-0.027141,0.004682,0.376879
21,2,419840,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.192705,0.034397,0.887026,0.478047,-0.531933,0.469815,0.517486
21,2,419840,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
21,2,419840,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204985,-0.075016,0.870870,1.000000,0.000001,-0.000000,0.000018
21,2,419840,60,gripper,0,"","put hamburger on frying pan",-0.177950,0.047462,0.961654,-0.057338,-0.759829,-0.026141,0.647061
21,2,419840,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084379,0.075951,0.888112,0.999421,-0.023074,0.015034,-0.019978
21,2,419840,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.131327,-0.117348,0.889024,0.496459,-0.541257,0.452730,0.505574
21,2,419840,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
21,2,419840,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.066050,-0.069786,0.870871,0.995149,0.000001,-0.000006,0.098381
21,2,419840,61,gripper,0,"","put hamburger on frying pan",-0.234879,-0.192907,0.918784,-0.144301,-0.770231,-0.021772,0.620844
21,2,419840,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.057648,-0.063198,0.888112,0.986045,-0.025448,0.010533,0.164187
21,2,419840,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.238922,0.039070,0.895101,0.748548,0.191423,-0.274215,0.572573
21,2,419840,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234818,0.045319,0.872199,0.999975,-0.000001,-0.000001,-0.007017
21,2,419840,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000026
21,2,419840,62,gripper,0,"","put hamburger on frying pan",-0.226486,-0.008249,0.990276,0.094682,-0.697878,0.121676,0.699426
21,2,419840,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085213,0.076092,0.888113,0.925030,-0.027149,0.004624,0.378895
21,2,419840,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.153011,-0.010937,0.886769,0.554068,0.406334,-0.359351,0.631481
21,2,419840,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.101364,-0.075943,0.872199,0.999037,0.000000,-0.000001,-0.043873
21,2,419840,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204750,0.076214,0.870871,0.999989,-0.000003,-0.000004,0.004666
21,2,419840,63,gripper,0,"","put hamburger on frying pan",-0.164797,-0.013712,0.914944,-0.027128,-0.769089,-0.037166,0.637483
21,3,424960,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.158646,0.161469,0.879704,-0.397576,0.487534,-0.734851,-0.253452
21,3,424960,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.208809,0.057899,0.887501,0.630099,0.022446,-0.028678,0.775661
21,3,424960,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.218864,0.062981,0.869532,0.993514,0.000000,-0.000001,0.113706
21,3,424960,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000155,-0.001020,0.000040
21,3,424960,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.129036,0.045372,1.126580,-0.009624,-0.824799,0.101991,0.556068
21,3,424960,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.093506,0.177437,0.878982,-0.441676,0.525046,-0.385029,-0.617253
21,3,424960,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.280487,0.455048,0.012838,-0.999132,0.003909,0.039150,-0.013685
21,3,424960,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084980,0.075012,0.869532,1.000000,-0.000001,0.000000,0.000233
21,3,424960,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,-0.044998,0.871289,0.999999,-0.000153,-0.001019,0.000030
21,3,424960,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.317636,-0.226189,0.916175,0.021792,-0.627662,0.139816,0.765518
21,3,424960,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.087135,0.023033,0.010288,0.860862,0.108610,-0.450159,0.210896
21,3,424960,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.113338,0.029037,0.882133,0.884792,-0.039635,-0.064343,-0.459818
21,3,424960,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000002,0.000037
21,3,424960,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114704,-0.064148,0.871211,0.995978,-0.003524,-0.004461,0.089413
21,3,424960,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.232718,-0.091072,0.936726,-0.086712,-0.772573,-0.131238,0.615133
21,3,424960,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.153328,0.070297,0.885209,0.181117,0.727145,-0.627539,0.211311
21,3,424960,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.119022,-0.077110,0.889580,0.466133,-0.110863,0.003850,0.877732
21,3,424960,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204998,0.075005,0.869532,1.000000,-0.000000,-0.000001,0.000055
21,3,424960,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.113222,-0.075363,0.871288,0.999999,-0.000157,-0.001020,0.001279
21,3,424960,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.175757,-0.080173,0.994268,-0.067828,-0.732966,-0.086373,0.671342
21,3,424960,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.071980,-0.078880,0.879373,0.957345,0.028271,0.276806,-0.077908
21,3,424960,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.180436,-0.059113,0.881638,0.995575,-0.007768,-0.038571,-0.085336
21,3,424960,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078095,0.076469,0.869533,0.999165,0.000001,-0.000001,-0.040849
21,3,424960,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.189356,0.075455,0.871217,0.994099,0.000185,0.000292,0.108475
21,3,424960,4,gripper,0,"","put kitchen shovel on cloth",-0.229198,-0.063473,0.914631,-0.040084,-0.721016,0.000375,0.691758
21,3,424960,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.213490,-0.038338,0.887921,-0.636749,0.202439,-0.197505,-0.717329
21,3,424960,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.211994,0.048836,0.881638,0.600201,0.028610,-0.027053,0.798879
21,3,424960,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.113344,-0.062363,0.869532,0.999545,0.000000,-0.000001,-0.030165
21,3,424960,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,-0.074982,0.871287,0.999999,-0.000154,-0.001019,0.000351
21,3,424960,5,gripper,0,"","put kitchen shovel on cloth",-0.227852,-0.032242,0.973416,-0.092276,-0.644635,-0.062826,0.756296
21,3,424960,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.137436,0.025803,0.879169,-0.459462,0.499644,-0.364222,-0.637646
21,3,424960,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.153984,-0.093613,0.881648,0.970451,-0.015695,-0.048180,-0.235917
21,3,424960,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.198387,0.072258,0.869532,0.993910,0.000000,-0.000001,0.110190
21,3,424960,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.076550,-0.082039,0.871672,0.999732,-0.008562,-0.003810,-0.021184
21,3,424960,6,gripper,0,"","put kitchen shovel on cloth",-0.143499,-0.030247,0.931155,-0.141593,-0.757659,-0.207146,0.602490
21,3,424960,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.015594,-0.070732,0.879811,0.147240,-0.109659,0.012599,0.982922
21,3,424960,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.201805,-0.044304,0.883812,0.998668,0.031792,-0.040300,-0.005280
21,3,424960,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.044998,0.869532,1.000000,0.000001,-0.000000,0.000008
21,3,424960,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235031,0.075066,0.871282,0.999999,-0.000451,-0.001265,0.000253
21,3,424960,7,gripper,0,"","put kitchen shovel on cloth",-0.266739,-0.086803,0.915788,0.039170,-0.741096,0.116942,0.659975
21,3,424960,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.146545,-0.156601,0.879126,-0.461330,-0.529871,0.563355,-0.434790
21,3,424960,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.184685,-0.076405,0.892995,0.427096,0.057960,0.120771,0.894228
21,3,424960,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.077621,-0.081371,0.869532,0.995602,0.000000,-0.000000,0.093682
21,3,424960,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003908,-0.004128,0.000105
21,3,424960,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.202007,-0.085747,0.940341,-0.249778,-0.729503,-0.238704,0.590302
21,3,424960,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.181377,-0.066353,0.885371,0.735983,0.062942,-0.061760,0.671232
21,3,424960,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.187046,-0.017841,0.881638,0.834864,0.017774,-0.035119,0.549048
21,3,424960,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.206512,-0.086357,0.869532,0.996860,-0.000000,0.000000,-0.079180
21,3,424960,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
21,3,424960,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.222599,-0.034737,0.969981,0.006101,-0.788120,0.054176,0.613103
21,3,424960,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.011177,0.080978,0.878988,0.637075,-0.348925,0.546350,0.416999
21,3,424960,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.117687,0.153233,0.881638,0.990615,0.000721,-0.039365,0.130886
21,3,424960,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000017
21,3,424960,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.079132,-0.101376,0.871288,0.998993,-0.000201,-0.001012,-0.044858
21,3,424960,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.031939,0.075274,0.914844,0.273105,-0.716454,0.025564,0.641446
21,3,424960,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.080891,0.091335,0.885369,0.616318,0.217054,0.174118,-0.736697
21,3,424960,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085945,-0.074890,0.881638,0.999226,-0.004443,-0.039090,0.000071
21,3,424960,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.071424,0.065529,0.869532,0.990056,-0.000000,-0.000001,0.140673
21,3,424960,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235020,-0.074993,0.871288,0.999999,-0.000153,-0.001018,0.000330
21,3,424960,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.267401,-0.032923,0.918243,-0.059100,-0.752924,0.060309,0.652668
21,3,424960,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.060499,0.003994,0.010903,0.325452,0.626850,0.620311,-0.341109
21,3,424960,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.141597,-0.018517,0.881641,0.938539,-0.022925,0.053000,0.340308
21,3,424960,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.224328,0.095478,0.869532,0.989368,0.000001,-0.000000,-0.145435
21,3,424960,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.242615,-0.133270,0.871288,0.997519,-0.000085,-0.001030,0.070385
21,3,424960,12,gripper,0,"","put ketchup bottle on cloth",-0.176679,-0.044949,0.914242,0.165283,-0.725342,0.165703,0.647382
21,3,424960,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.100136,0.087311,0.885083,0.817892,0.177012,-0.427179,0.342399
21,3,424960,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.208202,-0.142509,0.881638,0.530188,0.030795,-0.024519,0.846966
21,3,424960,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084993,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000212
21,3,424960,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205015,0.075012,0.871281,0.999999,-0.000450,-0.001265,0.000275
21,3,424960,13,gripper,0,"","put ketchup bottle on cloth",-0.143007,0.076727,0.999104,0.297393,-0.699429,0.295730,0.578705
21,3,424960,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.334614,0.991325,0.010572,-0.027605,-0.278241,-0.002272,0.960112
21,3,424960,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.241447,-0.116493,0.873650,0.027102,0.291378,-0.951971,-0.090080
21,3,424960,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
21,3,424960,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",0.413021,0.380920,0.002489,-0.669564,0.000859,0.000568,0.742754
21,3,424960,14,gripper,0,"","put ketchup bottle on cloth",-0.239246,-0.089428,0.929688,0.000575,-0.770652,0.041650,0.635894
21,3,424960,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.169815,0.067867,0.885084,-0.667127,-0.303673,0.349642,-0.583502
21,3,424960,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.051094,-0.037895,0.881641,0.483166,-0.037121,0.015427,0.874605
21,3,424960,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204372,0.075214,0.869532,1.000000,0.000004,0.000007,0.000713
21,3,424960,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.055653,-0.143593,0.871288,0.982604,0.000038,-0.001030,0.185709
21,3,424960,15,gripper,0,"","put ketchup bottle on cloth",-0.200548,-0.004230,1.053400,0.042048,-0.779722,0.015616,0.624517
21,3,424960,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.245674,-0.007950,0.883524,0.714747,0.010924,-0.007723,0.699255
21,3,424960,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.098732,-0.042702,0.889162,0.518272,0.350889,-0.218278,0.748750
21,3,424960,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.081467,-0.071472,0.869490,0.999703,0.000201,0.000870,-0.024363
21,3,424960,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.075005,0.870460,1.000000,0.000019,-0.000159,-0.000070
21,3,424960,16,gripper,0,"","put 7up can on newspaper",-0.219193,-0.021631,0.972662,0.068600,-0.724087,-0.008639,0.686235
21,3,424960,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.172611,-0.048279,0.886363,0.987100,0.005450,-0.009305,0.159739
21,3,424960,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.150486,0.088875,0.886454,0.599007,0.088470,-0.043761,0.794637
21,3,424960,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.221344,0.104668,0.869490,0.972931,0.000206,0.001516,0.231089
21,3,424960,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.203144,-0.042858,0.870416,0.999855,0.000065,-0.000603,0.017030
21,3,424960,17,gripper,0,"","put 7up can on newspaper",-0.174963,0.026920,0.915737,0.007390,-0.765557,0.064648,0.640069
21,3,424960,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.231049,-0.062687,0.886811,0.173970,0.018551,-0.000789,0.984576
21,3,424960,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184029,-0.060833,0.897571,0.518385,-0.064828,0.285919,0.803321
21,3,424960,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
21,3,424960,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.202881,-0.072239,0.870448,0.999704,-0.000936,-0.000820,-0.024286
21,3,424960,18,gripper,0,"","put 7up can on newspaper",-0.216600,-0.073345,0.955223,-0.033420,-0.771533,-0.071674,0.631256
21,3,424960,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.195841,0.075432,0.886561,0.916726,0.007902,-0.008232,0.399354
21,3,424960,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.209919,-0.049355,0.887839,0.757154,0.154994,-0.171882,0.610862
21,3,424960,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.229158,-0.070946,0.869489,0.998593,0.000232,0.000873,-0.053023
21,3,424960,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205044,0.075008,0.870448,0.999998,-0.001347,-0.001212,-0.000059
21,3,424960,19,gripper,0,"","put 7up can on newspaper",-0.200625,-0.071512,1.009910,0.212500,-0.732347,0.233724,0.603229
21,3,424960,20,obj,0,"003_bread_1","put 7up can on carpet",-0.246995,0.080338,0.886693,0.705543,0.012093,-0.005395,0.708543
21,3,424960,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.092346,-0.082199,0.919592,-0.341461,0.587660,-0.658632,-0.322900
21,3,424960,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.109723,0.044910,0.869490,0.999584,0.000154,0.000879,0.028824
21,3,424960,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.235003,0.075005,0.870452,0.999999,-0.000929,-0.000893,-0.000001
21,3,424960,20,gripper,0,"","put 7up can on carpet",-0.084758,-0.076500,0.965342,-0.007527,-0.721890,0.093209,0.685661
21,3,424960,21,obj,0,"003_bread_1","put 7up can on carpet",-0.188757,0.086590,0.885779,0.946243,0.011422,0.005415,0.323211
21,3,424960,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.163046,-0.096935,0.885640,-0.817031,-0.087195,0.123094,-0.556512
21,3,424960,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204985,0.075001,0.869490,1.000000,0.000180,0.000874,0.000115
21,3,424960,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.081865,-0.069168,0.870419,0.999957,-0.000648,-0.001278,0.009113
21,3,424960,21,gripper,0,"","put 7up can on carpet",-0.204773,-0.099953,0.918308,-0.007096,-0.749222,0.015495,0.662100
21,3,424960,22,obj,0,"003_bread_1","put 7up can on carpet",-0.193909,-0.036694,0.885318,0.304892,0.035879,-0.000750,0.951710
21,3,424960,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.323906,0.147293,0.885746,0.355878,0.532289,-0.270729,0.718836
21,3,424960,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.228058,-0.070557,0.869490,0.999364,0.000213,0.000873,-0.035645
21,3,424960,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.108597,0.058540,0.870447,0.999317,-0.003212,-0.002617,-0.036715
21,3,424960,22,gripper,0,"","put 7up can on carpet",-0.186960,0.005651,0.972502,-0.090859,-0.698436,-0.012560,0.709771
21,3,424960,23,obj,0,"003_bread_1","put 7up can on carpet",-0.104866,-0.072605,0.886740,0.722375,0.011709,-0.005674,0.691379
21,3,424960,23,obj,1,"005_7up can_1","put 7up can on carpet",0.125526,-0.147903,0.016950,0.311881,0.486198,0.187417,-0.794491
21,3,424960,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
21,3,424960,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.085140,-0.075073,0.870447,0.999988,-0.000919,-0.000849,0.004765
21,3,424960,23,gripper,0,"","put 7up can on carpet",-0.250364,-0.025543,0.914354,0.172727,-0.607219,0.131909,0.764232
21,3,424960,24,obj,0,"003_bread_1","put bread on newspaper",-0.104324,-0.049339,0.886652,0.022472,-0.411067,0.907231,0.086320
21,3,424960,24,obj,1,"005_7up can_1","put bread on newspaper",-0.097343,-0.177887,0.885687,-0.517212,-0.334252,0.225383,-0.754964
21,3,424960,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000058
21,3,424960,24,recep,1,"003_carpet_1","put bread on newspaper",-0.107506,-0.041016,0.870448,0.999269,-0.001311,-0.001270,0.038184
21,3,424960,24,gripper,0,"","put bread on newspaper",-0.166687,-0.055290,0.994277,-0.031615,-0.717218,-0.009997,0.696059
21,3,424960,25,obj,0,"003_bread_1","put bread on newspaper",-0.081120,-0.041580,0.883552,-0.884931,-0.007066,0.010335,-0.465554
21,3,424960,25,obj,1,"005_7up can_1","put bread on newspaper",-0.161640,0.207434,0.885995,0.118198,0.543657,-0.826685,0.084011
21,3,424960,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.235146,0.074991,0.869490,1.000000,0.000180,0.000874,-0.000362
21,3,424960,25,recep,1,"003_carpet_1","put bread on newspaper",-0.114975,0.044912,0.870447,0.999999,-0.000923,-0.000845,-0.000252
21,3,424960,25,gripper,0,"","put bread on newspaper",-0.096205,-0.044034,0.914615,-0.032086,-0.787924,-0.052754,0.612669
21,3,424960,26,obj,0,"003_bread_1","put bread on newspaper",-0.105946,-0.099981,0.884089,0.093869,0.112475,0.986626,0.071465
21,3,424960,26,obj,1,"005_7up can_1","put bread on newspaper",-0.138821,0.094320,0.885878,-0.756558,0.075438,0.643773,0.086512
21,3,424960,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084908,0.075138,0.869490,0.999999,0.000180,0.000874,-0.000873
21,3,424960,26,recep,1,"003_carpet_1","put bread on newspaper",-0.217167,-0.098499,0.870443,0.995713,-0.000702,-0.000852,0.092484
21,3,424960,26,gripper,0,"","put bread on newspaper",-0.264561,-0.050271,0.913664,-0.011873,-0.683060,-0.049852,0.728562
21,3,424960,27,obj,0,"003_bread_1","put bread on newspaper",-0.199965,-0.054869,0.886175,0.998957,0.000437,0.004978,-0.045390
21,3,424960,27,obj,1,"005_7up can_1","put bread on newspaper",-0.148071,0.019817,0.887270,0.061206,-0.572556,0.817009,0.030487
21,3,424960,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.204912,-0.074972,0.869490,1.000000,0.000180,0.000874,-0.000307
21,3,424960,27,recep,1,"003_carpet_1","put bread on newspaper",-0.074177,0.077749,0.870418,0.999218,-0.000185,-0.000859,0.039542
21,3,424960,27,gripper,0,"","put bread on newspaper",-0.176397,0.024968,0.914719,0.034566,-0.787733,0.025838,0.614503
21,3,424960,28,obj,0,"003_bread_1","put bread on carpet",-0.095780,-0.034794,0.886683,0.881057,0.007803,-0.004009,0.472928
21,3,424960,28,obj,1,"005_7up can_1","put bread on carpet",-0.116820,-0.079840,0.888948,0.714453,0.251671,-0.301092,0.579277
21,3,424960,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
21,3,424960,28,recep,1,"003_carpet_1","put bread on carpet",-0.087581,-0.073360,0.870445,0.999982,-0.000894,-0.000808,0.005895
21,3,424960,28,gripper,0,"","put bread on carpet",-0.193612,-0.089065,0.984034,0.104742,-0.730201,0.080497,0.670340
21,3,424960,29,obj,0,"003_bread_1","put bread on carpet",-0.215637,0.067459,0.886703,0.864685,-0.005073,-0.007439,-0.502234
21,3,424960,29,obj,1,"005_7up can_1","put bread on carpet",0.083910,0.017521,0.016815,0.904735,-0.067011,0.139743,0.396782
21,3,424960,29,recep,0,"004_newspaper_1","put bread on carpet",-0.233833,-0.075611,0.869490,0.999974,0.000187,0.000878,-0.007196
21,3,424960,29,recep,1,"003_carpet_1","put bread on carpet",-0.204308,0.075977,0.870461,0.999990,0.000018,-0.000158,-0.004388
21,3,424960,29,gripper,0,"","put bread on carpet",-0.106222,-0.004815,1.047989,0.042878,-0.755310,0.008198,0.653912
21,3,424960,30,obj,0,"003_bread_1","put bread on carpet",-0.094040,-0.097664,0.886638,0.849707,0.011610,-0.006876,0.527083
21,3,424960,30,obj,1,"005_7up can_1","put bread on carpet",-0.138828,-0.201370,0.885634,-0.493057,-0.095534,0.051394,-0.863207
21,3,424960,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
21,3,424960,30,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074940,0.870460,1.000000,0.000018,-0.000158,-0.000123
21,3,424960,30,gripper,0,"","put bread on carpet",-0.145744,-0.090003,0.938485,-0.036848,-0.765281,-0.074419,0.638317
21,3,424960,31,obj,0,"003_bread_1","put bread on carpet",-0.207649,0.089262,0.883544,0.610901,0.011029,-0.006206,0.791606
21,3,424960,31,obj,1,"005_7up can_1","put bread on carpet",0.035492,-0.158957,0.016947,-0.714506,0.280785,-0.517956,-0.377308
21,3,424960,31,recep,0,"004_newspaper_1","put bread on carpet",-0.183365,-0.082535,0.869490,0.995957,0.000258,0.000855,-0.089825
21,3,424960,31,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
21,3,424960,31,gripper,0,"","put bread on carpet",-0.174795,0.033466,0.948214,0.026734,-0.733979,0.005370,0.678625
21,3,424960,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.214699,0.004706,0.899217,0.990623,0.001888,0.041541,-0.130140
21,3,424960,32,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,0.074563,0.878547,0.999910,0.013266,0.002052,0.000417
21,3,424960,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
21,3,424960,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205177,0.045089,0.874363,0.999993,-0.000001,-0.000002,0.003836
21,3,424960,32,gripper,0,"","put banana on sheet metal",-0.164368,0.008740,0.963911,0.079352,-0.713751,0.014046,0.695748
21,3,424960,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.135582,0.003104,0.887192,0.982245,-0.003270,0.025438,-0.185843
21,3,424960,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234455,0.045003,0.878547,0.706566,0.007938,0.010849,0.707519
21,3,424960,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,3,424960,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.209637,-0.069767,0.874363,0.991803,0.000003,0.000002,0.127779
21,3,424960,33,gripper,0,"","put banana on sheet metal",-0.227850,0.031333,1.008097,0.018035,-0.674036,0.064193,0.735683
21,3,424960,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.244652,0.081917,0.887387,0.922547,-0.008077,0.016477,0.385449
21,3,424960,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
21,3,424960,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,3,424960,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000000
21,3,424960,34,gripper,0,"","put banana on sheet metal",-0.188911,-0.052099,1.000376,-0.016416,-0.716400,-0.076641,0.693273
21,3,424960,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093237,0.081241,0.887145,0.919223,-0.020517,0.022121,0.392579
21,3,424960,35,obj,1,"013_banana_1","put banana on sheet metal",-0.198780,-0.081110,0.878547,0.895303,0.011040,0.007785,0.445253
21,3,424960,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
21,3,424960,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
21,3,424960,35,gripper,0,"","put banana on sheet metal",-0.184789,-0.039601,0.970831,-0.125084,-0.737343,-0.071927,0.659929
21,3,424960,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239321,-0.076779,0.887529,0.716309,-0.030129,0.030989,0.696443
21,3,424960,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204558,0.075010,0.878546,0.706831,0.007936,0.010840,0.707255
21,3,424960,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
21,3,424960,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000002
21,3,424960,36,gripper,0,"","put banana on flat bowl",-0.173648,0.088197,0.958757,0.014013,-0.752068,0.022916,0.658538
21,3,424960,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211681,-0.062239,0.887473,0.996735,-0.002681,0.022370,0.077538
21,3,424960,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234999,0.074571,0.878547,0.999910,0.013282,0.002046,0.000057
21,3,424960,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
21,3,424960,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000001
21,3,424960,37,gripper,0,"","put banana on flat bowl",-0.196797,0.076419,0.963439,0.052146,-0.718270,0.013086,0.693684
21,3,424960,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092476,-0.084251,0.887565,0.377089,-0.030053,0.014676,0.925573
21,3,424960,38,obj,1,"013_banana_1","put banana on flat bowl",-0.047993,0.067548,0.879406,0.590016,-0.006356,-0.013366,0.807256
21,3,424960,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
21,3,424960,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
21,3,424960,38,gripper,0,"","put banana on flat bowl",-0.063843,0.083138,0.918460,0.488878,-0.624231,0.426493,0.435246
21,3,424960,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207237,-0.070350,0.887471,0.997273,-0.002770,0.018491,0.071389
21,3,424960,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
21,3,424960,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,3,424960,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
21,3,424960,39,gripper,0,"","put banana on flat bowl",-0.120556,0.085133,1.027024,-0.032496,-0.712870,-0.022994,0.700165
21,3,424960,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091415,-0.069466,0.887363,0.996734,0.001614,0.033982,0.073238
21,3,424960,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.235008,-0.075443,0.878547,0.999909,0.013304,0.002039,-0.000691
21,3,424960,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074957,0.871344,0.999999,-0.000158,0.001164,0.000062
21,3,424960,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000006
21,3,424960,40,gripper,0,"","put carrot on sheet metal",-0.051098,0.045080,0.990149,-0.082699,-0.760109,-0.087981,0.638478
21,3,424960,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120750,0.067183,0.887188,0.377454,-0.024450,0.019725,0.925495
21,3,424960,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.204697,-0.074663,0.878547,0.383704,0.003210,0.013067,0.923358
21,3,424960,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
21,3,424960,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
21,3,424960,41,gripper,0,"","put carrot on sheet metal",-0.090178,0.052116,1.008734,0.172195,-0.731958,0.240461,0.613812
21,3,424960,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237408,-0.074837,0.887528,0.674593,-0.031876,0.029177,0.736924
21,3,424960,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234550,0.075016,0.878547,0.707722,0.007971,0.010850,0.706363
21,3,424960,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
21,3,424960,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
21,3,424960,42,gripper,0,"","put carrot on sheet metal",-0.227333,-0.058641,0.971395,-0.037031,-0.707385,0.086355,0.700556
21,3,424960,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236814,0.077969,0.887436,0.996735,-0.000071,0.039538,0.070395
21,3,424960,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.045437,0.878547,0.999910,0.013272,0.002038,-0.000763
21,3,424960,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,0.044991,0.871345,0.999999,-0.000157,0.001164,-0.000051
21,3,424960,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
21,3,424960,43,gripper,0,"","put carrot on sheet metal",-0.222400,0.067738,1.007371,-0.063423,-0.713242,-0.001686,0.698040
21,3,424960,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087847,0.073793,0.887550,0.997096,0.000460,0.028253,0.070723
21,3,424960,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234990,-0.045433,0.878547,0.999910,0.013270,0.002049,0.000132
21,3,424960,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
21,3,424960,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000001,-0.000002
21,3,424960,44,gripper,0,"","put carrot on flat bowl",-0.116704,0.089290,1.018407,0.053094,-0.723759,0.011204,0.687916
21,3,424960,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088243,-0.072742,0.887320,0.996964,-0.006106,0.025167,0.073436
21,3,424960,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204987,0.074518,0.878548,0.999909,0.013343,0.002060,0.000232
21,3,424960,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
21,3,424960,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000000,0.000482
21,3,424960,45,gripper,0,"","put carrot on flat bowl",-0.105112,-0.029226,0.973738,-0.145845,-0.687196,-0.203102,0.682085
21,3,424960,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.245049,0.049398,0.887347,0.927821,-0.003967,0.014829,0.372710
21,3,424960,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
21,3,424960,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
21,3,424960,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
21,3,424960,46,gripper,0,"","put carrot on flat bowl",-0.223379,0.038739,0.986832,0.005060,-0.726794,0.003149,0.686830
21,3,424960,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123661,0.072292,0.887446,0.771100,-0.020284,0.022918,0.635978
21,3,424960,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.204548,-0.074993,0.878547,0.707307,0.007978,0.010877,0.706778
21,3,424960,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000048
21,3,424960,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
21,3,424960,47,gripper,0,"","put carrot on flat bowl",-0.081991,0.061372,0.976430,0.092338,-0.723219,0.060197,0.681765
21,3,424960,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.182877,0.098297,0.890445,0.999148,-0.024658,0.018256,-0.027617
21,3,424960,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.286987,-0.110970,0.887026,0.524057,-0.485984,0.517204,0.470833
21,3,424960,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
21,3,424960,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.075001,0.870883,1.000000,0.000699,0.000712,0.000001
21,3,424960,48,gripper,0,"","put plastic bottle on frying pan",-0.239014,-0.074335,0.948377,0.068188,-0.719089,0.093479,0.685217
21,3,424960,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.184669,0.100506,0.890473,0.672179,-0.027540,-0.005157,0.739858
21,3,424960,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.057476,-0.024105,0.914538,0.390720,0.581623,-0.383269,0.601795
21,3,424960,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.073338,0.072765,0.872199,0.991521,0.000000,-0.000000,-0.129947
21,3,424960,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205124,0.074902,0.870870,1.000000,0.000000,-0.000000,0.000135
21,3,424960,49,gripper,0,"","put plastic bottle on frying pan",-0.067814,-0.029900,0.941789,-0.147820,-0.751366,-0.152848,0.624688
21,3,424960,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.231449,0.036823,0.022936,-0.216256,0.781603,0.240624,0.533319
21,3,424960,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.059029,0.099342,0.887026,0.638102,-0.315055,0.635945,0.298563
21,3,424960,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205181,-0.045277,0.872199,0.999985,0.000000,-0.000001,-0.005437
21,3,424960,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
21,3,424960,50,gripper,0,"","put plastic bottle on frying pan",-0.042356,0.033337,0.956104,0.103075,-0.772652,0.138678,0.610863
21,3,424960,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.232676,-0.076977,0.888112,0.344491,-0.021734,-0.016918,0.938386
21,3,424960,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.182989,0.089275,0.895401,0.486405,-0.524209,0.478405,0.509651
21,3,424960,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.224035,0.071625,0.872199,0.986729,0.000000,-0.000001,0.162376
21,3,424960,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115007,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000029
21,3,424960,51,gripper,0,"","put plastic bottle on frying pan",-0.189058,0.009428,1.001537,0.128050,-0.763810,0.028705,0.631960
21,3,424960,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.230308,-0.030373,0.890599,0.602182,-0.025223,-0.006503,0.797934
21,3,424960,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.049432,0.082058,0.896293,0.302846,-0.656002,0.309917,0.617979
21,3,424960,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.077152,0.073097,0.873254,0.996122,-0.018559,-0.005538,-0.085822
21,3,424960,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235128,-0.075142,0.870870,0.999999,0.000001,0.000001,0.001151
21,3,424960,52,gripper,0,"","put plastic bottle on cutting board",-0.077695,0.129683,0.921814,0.337708,-0.684732,0.253898,0.593828
21,3,424960,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.180910,0.102520,0.890445,0.980374,-0.027995,0.010935,0.194844
21,3,424960,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.252520,0.045612,0.888424,-0.404130,-0.576393,0.383115,-0.598057
21,3,424960,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235016,-0.044876,0.872199,0.999999,-0.000000,-0.000001,0.001727
21,3,424960,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.208492,0.072979,0.870870,0.999939,0.000000,-0.000000,0.011035
21,3,424960,53,gripper,0,"","put plastic bottle on cutting board",-0.144147,0.028730,1.146316,0.150537,-0.772339,0.161589,0.595584
21,3,424960,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.171463,0.104259,0.890454,0.804842,-0.029013,-0.000101,0.592780
21,3,424960,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064972,0.096619,0.887027,0.649598,-0.289213,0.648106,0.272649
21,3,424960,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114845,-0.074726,0.872199,0.999999,-0.000001,-0.000001,0.000991
21,3,424960,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.207104,0.078827,0.870870,0.999849,0.000006,0.000004,0.017389
21,3,424960,54,gripper,0,"","put plastic bottle on cutting board",-0.128864,0.000626,0.986887,0.158884,-0.752977,0.099358,0.630801
21,3,424960,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235233,-0.073895,0.888112,0.924570,-0.027156,0.004591,0.380016
21,3,424960,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.066353,-0.022026,0.888625,0.446136,-0.553172,0.550824,0.437672
21,3,424960,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.089565,-0.086975,0.872199,0.944861,0.000000,-0.000000,-0.327472
21,3,424960,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.059078,0.081310,0.870870,0.999829,0.000000,-0.000000,0.018502
21,3,424960,55,gripper,0,"","put plastic bottle on cutting board",-0.124695,-0.019491,0.914920,0.105010,-0.701187,0.013939,0.705064
21,3,424960,56,obj,0,"014_hamburger_1","put hamburger on frying pan",0.133965,5.161003,0.023301,0.542187,0.795436,0.212347,0.168002
21,3,424960,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.113678,0.044224,0.021012,-0.011579,0.883386,-0.467651,-0.028256
21,3,424960,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001270
21,3,424960,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000001,-0.000028
21,3,424960,56,gripper,0,"","put hamburger on frying pan",-0.079815,0.047791,0.913567,0.190077,-0.708249,0.193166,0.651875
21,3,424960,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116776,-0.063194,0.888112,0.447602,-0.023495,-0.014375,0.893808
21,3,424960,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.102070,-0.018787,0.893045,-0.554179,0.543908,0.384021,0.499577
21,3,424960,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.076744,0.081699,0.872199,0.999333,0.000000,-0.000000,0.036506
21,3,424960,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234840,-0.074883,0.870870,1.000000,-0.000001,-0.000002,-0.000380
21,3,424960,57,gripper,0,"","put hamburger on frying pan",-0.150871,-0.014666,0.933797,0.041408,-0.752747,0.021686,0.656648
21,3,424960,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.062855,0.044678,0.896457,0.677932,-0.033318,-0.006611,0.734339
21,3,424960,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.185791,0.074589,0.890195,0.490690,-0.527286,0.475534,0.505034
21,3,424960,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.086281,0.049492,0.872199,0.999997,0.000000,-0.000001,-0.002569
21,3,424960,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205029,0.075001,0.870870,0.999999,-0.000001,-0.000000,0.001223
21,3,424960,58,gripper,0,"","put hamburger on frying pan",-0.165724,0.033617,0.975511,-0.057324,-0.703945,-0.064197,0.705020
21,3,424960,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115959,0.075615,0.888112,0.713381,-0.026885,-0.005974,0.700235
21,3,424960,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.236076,0.057732,0.895132,0.508050,-0.499111,0.468297,0.522944
21,3,424960,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234081,0.045193,0.872199,0.999935,0.000000,-0.000001,-0.011371
21,3,424960,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000007
21,3,424960,59,gripper,0,"","put hamburger on frying pan",-0.108538,0.042849,1.148601,0.128669,-0.752463,0.228695,0.604105
21,3,424960,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.159023,-0.034214,0.890498,0.841753,-0.015719,-0.013570,0.539464
21,3,424960,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182885,0.008057,0.889895,-0.049785,-0.728688,0.682311,-0.031411
21,3,424960,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083714,-0.045761,0.872200,0.999926,0.000000,-0.000001,0.012136
21,3,424960,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205125,-0.080963,0.870869,0.999471,0.000059,0.000070,-0.032508
21,3,424960,60,gripper,0,"","put hamburger on cutting board",-0.171858,0.001671,0.951460,-0.001125,-0.755700,-0.016711,0.654704
21,3,424960,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.179787,-0.160366,0.021962,0.451599,-0.764488,-0.339040,0.310915
21,3,424960,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.275114,-0.130135,0.885706,-0.071886,-0.684016,0.059722,-0.723456
21,3,424960,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.244438,0.078732,0.872199,0.994115,0.000001,-0.000001,-0.108334
21,3,424960,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.400454,0.091377,0.002069,0.000000,-0.711496,-0.702690,-0.000000
21,3,424960,61,gripper,0,"","put hamburger on cutting board",-0.144238,-0.071905,0.915269,0.021174,-0.763198,-0.018700,0.645546
21,3,424960,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.057652,-0.063194,0.888112,0.985329,-0.025494,0.010421,0.168431
21,3,424960,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.199738,0.015587,0.894026,0.438383,0.550503,-0.416992,0.575226
21,3,424960,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.227139,0.035564,0.872199,0.991224,-0.000000,-0.000001,-0.132192
21,3,424960,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000041
21,3,424960,62,gripper,0,"","put hamburger on cutting board",-0.216560,0.004919,0.922947,-0.111512,-0.724719,-0.091800,0.673736
21,3,424960,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085217,0.076092,0.888113,0.924629,-0.027154,0.004595,0.379871
21,3,424960,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.178173,0.089199,0.888240,0.580442,0.422517,-0.539933,0.439361
21,3,424960,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.101299,-0.076900,0.872199,0.998893,0.000000,-0.000000,-0.047044
21,3,424960,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205025,0.076458,0.870880,0.999977,0.000468,0.000494,0.006786
21,3,424960,63,gripper,0,"","put hamburger on cutting board",-0.182116,0.071224,1.054316,0.078192,-0.696581,0.110250,0.704632
21,4,430080,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.158646,0.161469,0.879704,-0.397587,0.487520,-0.734855,-0.253451
21,4,430080,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214867,0.058830,0.887548,0.683463,-0.028658,0.017078,0.729222
21,4,430080,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.227066,0.055443,0.869532,0.987847,0.000001,-0.000001,0.155432
21,4,430080,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000069
21,4,430080,0,gripper,0,"","put kitchen shovel on cloth",-0.132141,0.083508,0.939363,0.289192,-0.721638,0.170579,0.605400
21,4,430080,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.059811,0.146370,0.878982,-0.496292,0.487622,-0.431457,-0.574250
21,4,430080,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.280495,0.455048,0.012838,-0.999134,0.003916,0.039149,-0.013507
21,4,430080,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083420,0.072075,0.869532,0.999974,0.000001,-0.000001,-0.007246
21,4,430080,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,-0.044998,0.871289,1.000000,-0.000154,-0.001019,0.000037
21,4,430080,1,gripper,0,"","put kitchen shovel on cloth",-0.175562,0.017750,0.966140,0.004543,-0.691677,-0.039735,0.721099
21,4,430080,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.087135,0.023033,0.010288,0.860865,0.108619,-0.450139,0.210921
21,4,430080,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.077995,-0.002327,0.881637,0.687388,-0.038496,-0.031178,-0.724599
21,4,430080,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000048
21,4,430080,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.117107,-0.077538,0.871289,0.988430,0.000000,-0.001031,0.151673
21,4,430080,2,gripper,0,"","put kitchen shovel on cloth",-0.126263,-0.004089,0.948382,0.061370,-0.747596,0.065411,0.658069
21,4,430080,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.153257,0.070412,0.885209,0.181317,0.726592,-0.628165,0.211179
21,4,430080,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.117592,-0.079445,0.889504,0.461275,0.005002,-0.058674,0.885301
21,4,430080,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204998,0.075005,0.869532,1.000000,-0.000001,-0.000001,0.000070
21,4,430080,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.113222,-0.075363,0.871288,0.999999,-0.000153,-0.001020,0.001304
21,4,430080,3,gripper,0,"","put kitchen shovel on cloth",-0.211311,0.072735,0.952504,0.050346,-0.747742,0.007028,0.662040
21,4,430080,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.068324,-0.066177,0.879713,0.967818,0.027500,0.208184,-0.138675
21,4,430080,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205256,-0.058083,0.881638,0.953364,-0.015949,-0.035962,-0.299249
21,4,430080,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.078095,0.076469,0.869533,0.999165,0.000001,-0.000001,-0.040849
21,4,430080,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.189356,0.075455,0.871217,0.994099,0.000184,0.000292,0.108475
21,4,430080,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.416467,-0.013599,0.906071,-0.033640,-0.357852,-0.012903,0.933083
21,4,430080,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.228342,-0.032669,0.887568,-0.001841,0.745475,-0.665999,-0.026630
21,4,430080,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.173277,-0.009407,0.883864,0.666789,-0.014886,-0.007066,0.745064
21,4,430080,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.113724,-0.073761,0.869979,0.999317,-0.005648,-0.004143,-0.036282
21,4,430080,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.237444,-0.078896,0.871292,0.999963,-0.000405,-0.001168,0.008521
21,4,430080,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.249712,-0.025925,0.917732,-0.131449,-0.737595,-0.018994,0.662053
21,4,430080,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.173676,0.103897,0.884977,-0.580730,0.413389,-0.502965,-0.488762
21,4,430080,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.154060,-0.093765,0.881637,0.969489,-0.013778,-0.036845,-0.241956
21,4,430080,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.199867,0.073242,0.869532,0.991415,0.000000,-0.000001,0.130752
21,4,430080,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.075439,-0.083237,0.871282,0.999744,-0.000480,-0.001255,-0.022590
21,4,430080,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.188883,0.110531,0.994429,0.060333,-0.732999,0.101966,0.669833
21,4,430080,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.015594,-0.070732,0.879811,0.147233,-0.109657,0.012598,0.982924
21,4,430080,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.201820,-0.044304,0.883813,0.998664,0.031784,-0.040319,-0.005803
21,4,430080,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.044998,0.869532,1.000000,0.000000,-0.000000,0.000011
21,4,430080,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235031,0.075066,0.871282,0.999999,-0.000451,-0.001266,0.000266
21,4,430080,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.311602,-0.077236,0.913867,0.194960,-0.656427,0.162604,0.710390
21,4,430080,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.146545,-0.156601,0.879125,-0.461324,-0.529874,0.563379,-0.434761
21,4,430080,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.255768,0.019238,0.914689,0.756335,0.139058,0.054992,0.636864
21,4,430080,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.073769,-0.084103,0.869532,0.987459,-0.000001,-0.000001,0.157878
21,4,430080,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004128,0.000105
21,4,430080,8,gripper,0,"","put ketchup bottle on cloth",-0.273663,0.020004,0.961570,0.072769,-0.712618,0.034434,0.696917
21,4,430080,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.185623,-0.093838,0.885273,0.454697,0.525993,-0.598346,0.398201
21,4,430080,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.207729,-0.104774,0.900984,0.596565,0.146236,-0.272196,0.740698
21,4,430080,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205219,-0.096130,0.869532,0.995756,0.000000,0.000000,-0.092037
21,4,430080,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082001,-0.075718,0.871288,0.999918,-0.000167,-0.001017,-0.012774
21,4,430080,9,gripper,0,"","put ketchup bottle on cloth",-0.243656,-0.095352,0.921968,-0.076529,-0.727764,-0.031579,0.680813
21,4,430080,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.011303,0.080597,0.878981,0.632729,-0.353262,0.546908,0.419228
21,4,430080,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115841,0.148972,0.881641,0.998963,-0.005303,0.039815,0.021459
21,4,430080,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000020
21,4,430080,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.079132,-0.101376,0.871288,0.998992,-0.000199,-0.001011,-0.044875
21,4,430080,10,gripper,0,"","put ketchup bottle on cloth",-0.118574,0.095049,0.983990,0.190550,-0.684709,0.192070,0.676738
21,4,430080,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.099129,0.050934,0.887780,0.106953,0.709365,0.688107,-0.108949
21,4,430080,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085035,-0.084953,0.881641,0.998267,-0.005718,0.046693,0.035369
21,4,430080,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.066906,0.048790,0.872263,0.981785,-0.041616,0.008418,0.185188
21,4,430080,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235020,-0.074993,0.871288,0.999999,-0.000153,-0.001018,0.000377
21,4,430080,11,gripper,0,"","put ketchup bottle on cloth",-0.150150,-0.014271,0.973027,-0.011436,-0.712552,-0.015545,0.701354
21,4,430080,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.060499,0.003994,0.010903,0.325452,0.626850,0.620311,-0.341109
21,4,430080,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.164464,-0.056190,0.882995,0.625082,-0.035166,0.054628,0.777851
21,4,430080,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.226085,0.098274,0.869532,0.985683,0.000000,-0.000000,-0.168610
21,4,430080,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.242519,-0.133266,0.871288,0.997559,-0.000083,-0.001028,0.069826
21,4,430080,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.203026,-0.009035,0.982114,-0.065074,-0.726067,-0.124283,0.673161
21,4,430080,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.271103,0.203659,0.879375,-0.090003,-0.088147,0.003089,-0.992028
21,4,430080,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205626,-0.095932,0.881868,0.284983,-0.072113,0.017123,0.955663
21,4,430080,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.079926,0.087246,0.869532,0.989366,-0.000000,-0.000000,0.145447
21,4,430080,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.191236,0.080257,0.871288,0.999381,-0.000118,-0.001024,0.035172
21,4,430080,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.204194,-0.094641,0.913926,-0.043358,-0.707147,-0.072506,0.702002
21,4,430080,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.334614,0.991325,0.010572,-0.027600,-0.278241,-0.002271,0.960112
21,4,430080,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.216770,-0.106071,0.873649,0.046780,0.501684,-0.859921,-0.081609
21,4,430080,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000041
21,4,430080,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",0.413021,0.380920,0.002489,-0.669564,0.000859,0.000568,0.742754
21,4,430080,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.187710,-0.119164,0.915435,-0.045517,-0.735421,0.020594,0.675767
21,4,430080,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.169052,0.069225,0.885082,-0.681792,-0.294453,0.356945,-0.566610
21,4,430080,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.176762,0.036366,0.886540,0.762117,0.026086,-0.029121,0.646258
21,4,430080,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203701,0.075523,0.869532,0.999999,0.000006,0.000003,0.001636
21,4,430080,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.055653,-0.143604,0.871288,0.982596,0.000038,-0.001030,0.185754
21,4,430080,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.208817,-0.026196,0.965478,0.126678,-0.757111,0.080515,0.635809
21,4,430080,16,obj,0,"003_bread_1","put 7up can on carpet",-0.245674,-0.007950,0.883524,0.714757,0.010924,-0.007724,0.699245
21,4,430080,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.097496,-0.043941,0.889176,0.498888,0.374513,-0.228861,0.747310
21,4,430080,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.081467,-0.071487,0.869490,0.999705,0.000201,0.000870,-0.024253
21,4,430080,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.075005,0.870460,1.000000,0.000019,-0.000159,-0.000097
21,4,430080,16,gripper,0,"","put 7up can on carpet",-0.165920,-0.022289,0.979402,0.053885,-0.714040,0.030474,0.697363
21,4,430080,17,obj,0,"003_bread_1","put 7up can on carpet",-0.169159,-0.045464,0.886342,0.981066,0.006072,-0.009136,0.193362
21,4,430080,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.178082,0.014252,0.885636,0.691627,0.193212,-0.209151,0.663760
21,4,430080,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.218613,0.100681,0.869490,0.984976,0.000026,0.000892,0.172690
21,4,430080,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.203144,-0.042862,0.870385,0.999859,0.000095,-0.000899,0.016793
21,4,430080,17,gripper,0,"","put 7up can on carpet",-0.161467,-0.062756,0.991904,0.066756,-0.711719,0.035262,0.698395
21,4,430080,18,obj,0,"003_bread_1","put 7up can on carpet",-0.231030,-0.062744,0.886787,0.174512,0.015325,0.000150,0.984536
21,4,430080,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.161388,-0.246372,0.885765,0.516604,-0.474103,0.411957,0.581925
21,4,430080,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
21,4,430080,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.202881,-0.072247,0.870448,0.999705,-0.000935,-0.000816,-0.024270
21,4,430080,18,gripper,0,"","put 7up can on carpet",-0.069307,-0.027185,1.004630,0.187275,-0.701205,0.063907,0.684949
21,4,430080,19,obj,0,"003_bread_1","put 7up can on carpet",-0.195839,0.075432,0.886561,0.916779,0.007889,-0.008235,0.399232
21,4,430080,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.209969,-0.048908,0.887867,0.762857,0.147062,-0.160987,0.608692
21,4,430080,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.229288,-0.070946,0.869484,0.998589,0.000618,0.001323,-0.053085
21,4,430080,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.205042,0.075008,0.870448,0.999998,-0.001356,-0.001219,-0.000041
21,4,430080,19,gripper,0,"","put 7up can on carpet",-0.171295,-0.074261,0.951851,0.037172,-0.755066,0.054926,0.652286
21,4,430080,20,obj,0,"003_bread_1","put bread on newspaper",-0.233452,0.092266,0.886612,0.667530,0.012751,-0.004821,0.744458
21,4,430080,20,obj,1,"005_7up can_1","put bread on newspaper",-0.250474,0.049114,0.888777,-0.750108,0.070544,-0.078687,-0.652816
21,4,430080,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.109723,0.044910,0.869490,0.999584,0.000154,0.000879,0.028824
21,4,430080,20,recep,1,"003_carpet_1","put bread on newspaper",-0.234375,0.075447,0.870452,0.999997,-0.000931,-0.000891,-0.001913
21,4,430080,20,gripper,0,"","put bread on newspaper",-0.212563,0.005165,0.938436,0.129922,-0.702610,0.109063,0.691060
21,4,430080,21,obj,0,"003_bread_1","put bread on newspaper",-0.192122,0.123287,0.885836,0.881848,0.013520,0.006087,0.471301
21,4,430080,21,obj,1,"005_7up can_1","put bread on newspaper",-0.163069,-0.096992,0.885637,-0.816863,-0.088152,0.124523,-0.556289
21,4,430080,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.202461,0.093639,0.869489,0.997211,0.000114,0.000885,0.074626
21,4,430080,21,recep,1,"003_carpet_1","put bread on newspaper",-0.080156,-0.065754,0.870350,0.999864,-0.000076,-0.001457,0.016407
21,4,430080,21,gripper,0,"","put bread on newspaper",-0.181931,0.016520,0.949977,0.022561,-0.747941,-0.039988,0.662176
21,4,430080,22,obj,0,"003_bread_1","put bread on newspaper",-0.193863,-0.036629,0.885205,0.304550,0.034678,0.002350,0.951862
21,4,430080,22,obj,1,"005_7up can_1","put bread on newspaper",-0.323910,0.147301,0.885746,0.355950,0.532262,-0.270783,0.718800
21,4,430080,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.228039,-0.070557,0.869480,0.999362,0.000597,0.001289,-0.035691
21,4,430080,22,recep,1,"003_carpet_1","put bread on newspaper",-0.108597,0.058552,0.870447,0.999316,-0.003212,-0.002617,-0.036735
21,4,430080,22,gripper,0,"","put bread on newspaper",-0.145401,-0.002663,1.013003,0.034630,-0.696208,0.057010,0.714734
21,4,430080,23,obj,0,"003_bread_1","put bread on newspaper",-0.104866,-0.072605,0.886740,0.722311,0.011708,-0.005672,0.691446
21,4,430080,23,obj,1,"005_7up can_1","put bread on newspaper",0.125526,-0.147903,0.016950,0.312069,0.486153,0.187532,-0.794418
21,4,430080,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
21,4,430080,23,recep,1,"003_carpet_1","put bread on newspaper",-0.085136,-0.075073,0.870448,0.999986,-0.000919,-0.000849,0.005095
21,4,430080,23,gripper,0,"","put bread on newspaper",-0.162628,-0.094618,0.936938,-0.168353,-0.763424,-0.195876,0.592008
21,4,430080,24,obj,0,"003_bread_1","put bread on carpet",-0.103828,-0.050184,0.886681,0.025643,-0.368970,0.925122,0.085750
21,4,430080,24,obj,1,"005_7up can_1","put bread on carpet",-0.097343,-0.177887,0.885687,-0.517177,-0.334260,0.225365,-0.754989
21,4,430080,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000075
21,4,430080,24,recep,1,"003_carpet_1","put bread on carpet",-0.107513,-0.041018,0.870448,0.999269,-0.001287,-0.001251,0.038174
21,4,430080,24,gripper,0,"","put bread on carpet",-0.140144,-0.060056,1.003213,0.044702,-0.703732,-0.004144,0.709046
21,4,430080,25,obj,0,"003_bread_1","put bread on carpet",-0.091843,0.024303,0.886404,-0.873806,-0.010640,0.007392,-0.486103
21,4,430080,25,obj,1,"005_7up can_1","put bread on carpet",-0.161640,0.207432,0.885995,0.118219,0.543386,-0.826865,0.083968
21,4,430080,25,recep,0,"004_newspaper_1","put bread on carpet",-0.235153,0.074991,0.869490,1.000000,0.000180,0.000874,-0.000406
21,4,430080,25,recep,1,"003_carpet_1","put bread on carpet",-0.114960,0.044931,0.870462,1.000000,0.000036,-0.000158,-0.000132
21,4,430080,25,gripper,0,"","put bread on carpet",-0.194086,-0.058084,0.953532,0.099164,-0.739648,-0.000066,0.665648
21,4,430080,26,obj,0,"003_bread_1","put bread on carpet",-0.105087,-0.099770,0.883615,0.065535,0.118772,0.988913,0.060408
21,4,430080,26,obj,1,"005_7up can_1","put bread on carpet",-0.110683,0.154423,0.886786,0.518561,-0.459705,-0.467037,-0.549219
21,4,430080,26,recep,0,"004_newspaper_1","put bread on carpet",-0.061016,0.053595,0.869490,0.999484,0.000208,0.000869,-0.032124
21,4,430080,26,recep,1,"003_carpet_1","put bread on carpet",-0.216911,-0.098516,0.870447,0.995633,-0.000803,-0.000888,0.093343
21,4,430080,26,gripper,0,"","put bread on carpet",-0.155134,0.156727,0.913146,0.039363,-0.711059,0.022496,0.701669
21,4,430080,27,obj,0,"003_bread_1","put bread on carpet",-0.199968,-0.054865,0.886175,0.998959,0.000441,0.004990,-0.045329
21,4,430080,27,obj,1,"005_7up can_1","put bread on carpet",-0.072857,0.045334,0.888766,0.660616,-0.340178,0.481072,0.465227
21,4,430080,27,recep,0,"004_newspaper_1","put bread on carpet",-0.204924,-0.074972,0.869490,1.000000,0.000180,0.000875,-0.000283
21,4,430080,27,recep,1,"003_carpet_1","put bread on carpet",-0.074091,0.077669,0.870461,0.999192,0.000025,-0.000157,0.040196
21,4,430080,27,gripper,0,"","put bread on carpet",-0.206823,-0.020115,0.965476,-0.025463,-0.713372,0.018089,0.700090
21,4,430080,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.083223,-0.024555,0.886508,0.897706,-0.053004,0.023334,0.436772
21,4,430080,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.100965,-0.061829,0.889049,0.657477,0.341742,-0.431888,0.514208
21,4,430080,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
21,4,430080,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085680,-0.068893,0.870447,0.999768,-0.000941,-0.000825,-0.021506
21,4,430080,28,gripper,0,"","put 7up can on newspaper",-0.151870,-0.081388,0.960341,-0.028491,-0.749930,-0.087393,0.655100
21,4,430080,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.215652,0.067661,0.886703,0.865904,-0.005048,-0.007474,-0.500128
21,4,430080,29,obj,1,"005_7up can_1","put 7up can on newspaper",0.083906,0.017513,0.016815,0.904655,-0.067039,0.139729,0.396965
21,4,430080,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.233833,-0.075611,0.869490,0.999974,0.000187,0.000877,-0.007202
21,4,430080,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204309,0.075974,0.870461,0.999990,0.000010,-0.000166,-0.004445
21,4,430080,29,gripper,0,"","put 7up can on newspaper",-0.167617,0.068910,1.033447,0.086822,-0.728602,0.098061,0.672299
21,4,430080,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.093616,-0.096672,0.886638,0.857926,0.011409,-0.006996,0.513599
21,4,430080,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.148876,-0.147530,0.885686,-0.569433,-0.293321,0.223650,-0.734635
21,4,430080,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
21,4,430080,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084858,-0.074734,0.870460,1.000000,0.000018,-0.000158,-0.000490
21,4,430080,30,gripper,0,"","put 7up can on newspaper",-0.163511,-0.150399,0.926044,-0.061581,-0.794248,-0.085813,0.598343
21,4,430080,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.182121,-0.038342,0.886607,0.487047,0.031037,-0.000590,0.872824
21,4,430080,31,obj,1,"005_7up can_1","put 7up can on newspaper",0.035488,-0.158983,0.016947,-0.714430,0.280890,-0.517899,-0.377453
21,4,430080,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.183311,-0.082516,0.869489,0.995922,0.000258,0.000855,-0.090215
21,4,430080,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
21,4,430080,31,gripper,0,"","put 7up can on newspaper",-0.152727,0.029429,1.021341,0.104763,-0.745053,0.093225,0.652097
21,4,430080,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.215439,0.007540,0.898015,0.988612,-0.080977,0.007777,-0.126603
21,4,430080,32,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,0.074562,0.878547,0.999909,0.013294,0.002054,0.000419
21,4,430080,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
21,4,430080,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205177,0.045089,0.874363,0.999993,0.000000,0.000000,0.003839
21,4,430080,32,gripper,0,"","put banana on flat bowl",-0.096386,-0.089789,0.958265,0.035153,-0.782945,0.087840,0.614855
21,4,430080,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.136681,0.004605,0.887503,0.981063,0.005167,0.030221,-0.191246
21,4,430080,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234455,0.045003,0.878547,0.706566,0.007944,0.010855,0.707519
21,4,430080,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
21,4,430080,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.209637,-0.069767,0.874363,0.991803,0.000002,0.000003,0.127779
21,4,430080,33,gripper,0,"","put banana on flat bowl",-0.182741,0.070205,0.981804,0.106868,-0.678510,0.128220,0.715376
21,4,430080,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247288,0.082852,0.887500,0.926174,-0.008835,0.014675,0.376708
21,4,430080,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011501,0.006989,0.383091
21,4,430080,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,4,430080,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
21,4,430080,34,gripper,0,"","put banana on flat bowl",-0.178295,-0.035144,0.983650,-0.221329,-0.688002,-0.173816,0.668921
21,4,430080,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.097322,0.084067,0.887490,0.927435,-0.009188,0.025046,0.373031
21,4,430080,35,obj,1,"013_banana_1","put banana on flat bowl",-0.198780,-0.081110,0.878547,0.895303,0.011040,0.007785,0.445253
21,4,430080,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
21,4,430080,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
21,4,430080,35,gripper,0,"","put banana on flat bowl",-0.157947,-0.049075,0.956253,-0.051817,-0.748806,-0.042849,0.659370
21,4,430080,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238386,-0.100553,0.885931,0.469088,0.445642,0.549002,0.529109
21,4,430080,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204558,0.075010,0.878547,0.706831,0.007942,0.010847,0.707255
21,4,430080,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114993,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000015
21,4,430080,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075000,0.874363,1.000000,-0.000000,-0.000002,0.000002
21,4,430080,36,gripper,0,"","put carrot on sheet metal",-0.217424,-0.094833,0.969682,-0.053898,-0.721188,-0.033562,0.689824
21,4,430080,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.211834,-0.060378,0.887315,0.996173,0.002814,0.033647,0.080618
21,4,430080,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234999,0.074571,0.878547,0.999910,0.013285,0.002047,0.000057
21,4,430080,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
21,4,430080,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000001
21,4,430080,37,gripper,0,"","put carrot on sheet metal",-0.172135,-0.034250,0.998073,-0.109349,-0.684110,-0.123473,0.710486
21,4,430080,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.108696,-0.053022,0.887462,0.501715,-0.026929,0.016475,0.864457
21,4,430080,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.047523,0.067408,0.878548,0.586247,0.006154,0.011999,0.810020
21,4,430080,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
21,4,430080,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000000,-0.000000,0.000000
21,4,430080,38,gripper,0,"","put carrot on sheet metal",-0.072784,-0.049536,0.968127,0.047104,-0.686891,0.084370,0.720308
21,4,430080,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207069,-0.069948,0.887267,0.996902,0.004593,0.033511,0.071014
21,4,430080,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
21,4,430080,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
21,4,430080,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
21,4,430080,39,gripper,0,"","put carrot on sheet metal",-0.194187,-0.028930,1.005501,-0.228822,-0.681721,-0.090730,0.688959
21,4,430080,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091888,-0.069574,0.887519,0.996806,-0.001989,0.035484,0.071518
21,4,430080,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.235008,-0.075445,0.878547,0.999909,0.013298,0.002033,-0.001011
21,4,430080,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074974,0.871344,0.999999,-0.000158,0.001164,0.000096
21,4,430080,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000005
21,4,430080,40,gripper,0,"","put carrot on flat bowl",-0.074280,0.019287,1.011863,-0.116511,-0.714249,0.025291,0.689662
21,4,430080,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.127785,0.066319,0.887312,0.287608,-0.034984,0.004571,0.957098
21,4,430080,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.204697,-0.074659,0.878547,0.384208,0.003213,0.013051,0.923149
21,4,430080,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
21,4,430080,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
21,4,430080,41,gripper,0,"","put carrot on flat bowl",-0.067308,0.086593,0.969272,0.257977,-0.723163,0.283555,0.574526
21,4,430080,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.230972,-0.074823,0.885932,0.554548,0.534950,0.462414,0.438723
21,4,430080,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234547,0.075018,0.878547,0.708006,0.007960,0.010830,0.706079
21,4,430080,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.108528,-0.044590,0.871344,0.999391,-0.000198,0.001158,0.034869
21,4,430080,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
21,4,430080,42,gripper,0,"","put carrot on flat bowl",-0.191950,-0.040620,0.996798,0.022816,-0.738015,-0.000133,0.674398
21,4,430080,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237631,0.078182,0.887552,0.997048,-0.000489,0.032536,0.069542
21,4,430080,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.204988,-0.045439,0.878547,0.999909,0.013270,0.002034,-0.001110
21,4,430080,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,0.044989,0.871345,0.999999,-0.000158,0.001164,-0.000058
21,4,430080,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
21,4,430080,43,gripper,0,"","put carrot on flat bowl",-0.172398,0.077066,0.969150,-0.057690,-0.697308,-0.066674,0.711328
21,4,430080,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088280,0.073460,0.887251,0.996887,-0.009559,0.031903,0.071463
21,4,430080,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234989,-0.045433,0.878547,0.999910,0.013276,0.002049,0.000062
21,4,430080,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
21,4,430080,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874362,1.000000,-0.000001,0.000000,-0.000002
21,4,430080,44,gripper,0,"","put banana on sheet metal",-0.202941,0.027099,0.984227,0.019671,-0.660002,0.016695,0.750820
21,4,430080,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088898,-0.072042,0.887254,0.997336,0.004270,0.022096,0.069381
21,4,430080,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204987,0.074518,0.878548,0.999909,0.013340,0.002058,0.000156
21,4,430080,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
21,4,430080,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000000,0.000639
21,4,430080,45,gripper,0,"","put banana on sheet metal",-0.192960,0.063903,0.985726,-0.038514,-0.709253,-0.040142,0.702756
21,4,430080,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.250298,0.054100,0.887466,0.930381,-0.010178,0.025788,0.365544
21,4,430080,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
21,4,430080,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
21,4,430080,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
21,4,430080,46,gripper,0,"","put banana on sheet metal",-0.117188,-0.029934,1.022453,0.024237,-0.718797,0.016325,0.694606
21,4,430080,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122459,0.070442,0.887527,0.776267,-0.020346,0.022725,0.629666
21,4,430080,47,obj,1,"013_banana_1","put banana on sheet metal",-0.204548,-0.074991,0.878547,0.707474,0.007974,0.010867,0.706611
21,4,430080,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000047
21,4,430080,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
21,4,430080,47,gripper,0,"","put banana on sheet metal",-0.155928,-0.021894,0.971420,0.099520,-0.681563,0.092299,0.719061
21,4,430080,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.182854,0.098362,0.890446,0.999139,-0.024679,0.018227,-0.027925
21,4,430080,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.286987,-0.110973,0.887026,0.524040,-0.486003,0.517191,0.470847
21,4,430080,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
21,4,430080,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235001,0.075027,0.870883,1.000000,0.000693,0.000705,-0.000105
21,4,430080,48,gripper,0,"","put plastic bottle on cutting board",-0.204472,-0.049454,0.916738,0.155757,-0.738122,0.169544,0.634169
21,4,430080,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.184658,0.100502,0.890473,0.673401,-0.027560,-0.005136,0.738745
21,4,430080,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.072445,0.081188,0.936735,0.067486,0.650160,-0.756781,-0.004457
21,4,430080,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.073338,0.072765,0.872199,0.991512,0.000000,-0.000000,-0.130014
21,4,430080,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205124,0.074902,0.870870,1.000000,-0.000000,-0.000001,0.000144
21,4,430080,49,gripper,0,"","put plastic bottle on cutting board",-0.099497,0.085291,0.973459,0.052099,-0.749779,0.059808,0.656918
21,4,430080,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.231483,0.036827,0.022936,-0.216347,0.781560,0.240755,0.533287
21,4,430080,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.167572,0.072674,0.890336,0.670858,-0.263429,0.287003,0.631018
21,4,430080,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205181,-0.045277,0.872199,0.999985,0.000000,-0.000001,-0.005437
21,4,430080,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235825,0.075005,0.870883,0.999999,0.000692,0.000703,0.001009
21,4,430080,50,gripper,0,"","put plastic bottle on cutting board",-0.247736,0.066065,1.024827,0.079227,-0.727891,0.029407,0.680465
21,4,430080,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.212141,-0.076321,0.888112,0.236651,-0.019691,-0.019260,0.971204
21,4,430080,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.109406,-0.016369,0.889592,0.414670,-0.580869,0.409525,0.568269
21,4,430080,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.224024,0.071606,0.872199,0.986865,-0.000000,-0.000001,0.161545
21,4,430080,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114599,-0.044708,0.870871,0.999997,0.000000,-0.000005,-0.002427
21,4,430080,51,gripper,0,"","put plastic bottle on cutting board",-0.246229,-0.098011,0.913897,-0.069401,-0.712294,-0.044600,0.697017
21,4,430080,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.239372,-0.041351,0.890690,0.603918,-0.025290,-0.006517,0.796618
21,4,430080,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.049254,0.081081,0.895336,0.313845,-0.647924,0.299004,0.626332
21,4,430080,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.077125,0.072971,0.872199,0.996312,-0.000000,-0.000001,-0.085801
21,4,430080,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236009,-0.074497,0.870870,0.999967,0.000001,0.000001,0.008077
21,4,430080,52,gripper,0,"","put hamburger on frying pan",-0.220308,-0.034752,0.984452,-0.013572,-0.695688,-0.010838,0.718134
21,4,430080,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.182600,0.101215,0.890451,0.985508,-0.027738,0.011672,0.166938
21,4,430080,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.254728,0.044098,0.888409,-0.424629,-0.562647,0.396144,-0.588378
21,4,430080,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235016,-0.044876,0.872199,0.999999,0.000000,-0.000001,0.001585
21,4,430080,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.208818,0.072647,0.870871,0.999946,0.000003,0.000011,0.010426
21,4,430080,53,gripper,0,"","put hamburger on frying pan",-0.102592,-0.038826,0.988718,-0.005075,-0.805291,-0.092208,0.585643
21,4,430080,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.107765,-0.071171,0.895464,0.777083,-0.070326,-0.117697,0.614283
21,4,430080,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649585,-0.289243,0.648093,0.272679
21,4,430080,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114845,-0.074726,0.872199,0.999999,-0.000001,-0.000000,0.001008
21,4,430080,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205807,0.078835,0.870870,0.999916,0.000001,-0.000000,0.012981
21,4,430080,54,gripper,0,"","put hamburger on frying pan",-0.108046,-0.074211,1.023823,-0.118837,-0.696520,-0.087538,0.702192
21,4,430080,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.105740,-0.058922,0.957819,0.901520,0.008755,-0.091645,0.422832
21,4,430080,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.066357,-0.022026,0.888589,0.448826,-0.550808,0.550319,0.438538
21,4,430080,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.089565,-0.086975,0.872199,0.944634,0.000000,0.000000,-0.328125
21,4,430080,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.059078,0.081310,0.870870,0.999829,0.000000,-0.000000,0.018507
21,4,430080,55,gripper,0,"","put hamburger on frying pan",-0.102974,-0.064657,1.003553,0.031815,-0.734195,-0.043601,0.676790
21,4,430080,56,obj,0,"014_hamburger_1","put hamburger on cutting board",0.133965,5.161011,0.023301,0.541964,0.795154,0.213392,0.168729
21,4,430080,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.113823,0.043934,0.020973,-0.016161,0.882997,-0.467823,-0.034609
21,4,430080,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
21,4,430080,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074993,0.870870,1.000000,-0.000001,-0.000002,-0.000035
21,4,430080,56,gripper,0,"","put hamburger on cutting board",-0.163765,0.045000,0.985820,0.004734,-0.721970,-0.060216,0.689282
21,4,430080,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.176167,-0.075981,0.890483,0.441070,-0.021382,-0.011686,0.897142
21,4,430080,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107868,-0.016537,0.885720,-0.482541,0.510145,0.466797,0.537593
21,4,430080,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.076744,0.081699,0.872199,0.999333,-0.000000,-0.000001,0.036506
21,4,430080,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234863,-0.074924,0.870875,0.999999,0.000702,0.000651,-0.000586
21,4,430080,57,gripper,0,"","put hamburger on cutting board",-0.146790,0.013962,1.001813,0.067597,-0.777852,0.038039,0.623642
21,4,430080,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.063160,0.044331,0.896355,0.688364,-0.029770,-0.008685,0.724703
21,4,430080,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.185677,0.074650,0.889759,0.481015,-0.530030,0.472021,0.514673
21,4,430080,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.086281,0.049492,0.872199,0.999997,-0.000001,-0.000000,-0.002454
21,4,430080,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205032,0.074997,0.870870,0.999999,0.000003,0.000001,0.001652
21,4,430080,58,gripper,0,"","put hamburger on cutting board",-0.097046,-0.052511,0.924869,0.018293,-0.775776,0.011356,0.630641
21,4,430080,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.070194,-0.075321,0.891250,0.664256,-0.030025,-0.011076,0.746820
21,4,430080,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.236073,0.057743,0.895133,0.508087,-0.499073,0.468340,0.522907
21,4,430080,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234081,0.045193,0.872199,0.999935,-0.000000,-0.000001,-0.011389
21,4,430080,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.075922,-0.075634,0.871277,0.999929,-0.000051,-0.004694,-0.010950
21,4,430080,59,gripper,0,"","put hamburger on cutting board",-0.149959,-0.041929,0.915825,-0.011301,-0.774806,-0.066187,0.628623
21,4,430080,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.157947,-0.032650,0.890956,0.839365,-0.113544,0.065547,0.527520
21,4,430080,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.195156,0.014206,0.890319,-0.077647,-0.801092,0.589486,-0.068763
21,4,430080,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.083223,-0.046001,0.872199,0.999812,-0.000000,-0.000001,0.019384
21,4,430080,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205531,-0.082932,0.870870,0.999122,0.000000,-0.000001,-0.041903
21,4,430080,60,gripper,0,"","put plastic bottle on frying pan",-0.185266,0.021143,0.916654,-0.153242,-0.792022,-0.064408,0.587426
21,4,430080,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.179520,-0.159950,0.021919,0.447142,-0.767905,-0.331014,0.317515
21,4,430080,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.274908,-0.130215,0.885720,-0.070630,-0.688787,0.061021,-0.718930
21,4,430080,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.244438,0.078732,0.872199,0.994121,0.000000,-0.000001,-0.108277
21,4,430080,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.400454,0.091377,0.002069,0.000000,-0.711496,-0.702690,-0.000000
21,4,430080,61,gripper,0,"","put plastic bottle on frying pan",-0.223653,-0.076904,0.980363,0.014537,-0.734100,-0.053512,0.676774
21,4,430080,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.057014,-0.070988,0.891557,0.979039,-0.088997,-0.152382,0.101691
21,4,430080,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.205116,-0.091595,0.885720,0.544440,0.459450,-0.516779,0.474795
21,4,430080,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.229195,0.036171,0.872199,0.974230,0.000001,-0.000001,-0.225556
21,4,430080,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114986,0.068996,0.870870,0.999291,-0.000000,-0.000001,0.037650
21,4,430080,62,gripper,0,"","put plastic bottle on frying pan",-0.089060,-0.082579,0.915579,-0.124077,-0.776501,-0.119388,0.606133
21,4,430080,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.081844,0.074646,0.888112,0.911817,-0.027290,0.003712,0.409672
21,4,430080,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.120369,-0.049660,0.898146,0.068912,0.716518,-0.692766,0.043922
21,4,430080,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.100975,-0.076809,0.872199,0.998697,0.000000,-0.000001,-0.051035
21,4,430080,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205128,0.100861,0.870870,0.994851,-0.000000,-0.000001,0.101348
21,4,430080,63,gripper,0,"","put plastic bottle on frying pan",-0.141371,-0.026440,1.009777,0.057084,-0.737592,0.085570,0.667366
22,1,435200,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.134575,-0.084152,0.885283,-0.122246,0.707024,-0.696265,-0.019668
22,1,435200,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.081047,0.071068,0.881638,0.323367,0.035549,-0.016856,0.945455
22,1,435200,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.083588,-0.075302,0.869533,0.999953,0.000000,0.000000,0.009715
22,1,435200,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.075439,0.871315,0.999991,0.001317,0.000155,-0.004056
22,1,435200,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.186062,-0.096329,0.923379,-0.168587,-0.728349,-0.144583,0.648214
22,1,435200,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.156975,0.068016,0.885083,0.613006,0.332932,-0.320907,0.640624
22,1,435200,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084381,0.074272,0.881638,0.382591,0.034409,-0.019075,0.923080
22,1,435200,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205013,0.075005,0.869532,1.000000,0.000000,-0.000001,-0.000013
22,1,435200,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000007
22,1,435200,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.214397,-0.027637,0.962913,0.017293,-0.802742,0.027772,0.595428
22,1,435200,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.099442,0.092247,0.885083,0.734160,0.257891,-0.383815,0.497179
22,1,435200,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234909,0.072853,0.881638,0.381520,0.034431,-0.019028,0.923523
22,1,435200,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084995,0.075005,0.869532,1.000000,0.000001,-0.000001,-0.000020
22,1,435200,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
22,1,435200,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.216349,0.052536,0.969740,0.090348,-0.678141,0.071198,0.725874
22,1,435200,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.158545,0.091370,0.879403,0.962387,0.025339,-0.075445,0.259764
22,1,435200,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235956,-0.074875,0.881638,0.999225,-0.004450,-0.039117,-0.000140
22,1,435200,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115000,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000017
22,1,435200,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.082088,0.075554,0.871289,0.999906,-0.000140,-0.001021,0.013661
22,1,435200,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.184138,0.077740,0.957693,-0.035425,-0.701600,0.011006,0.711605
22,1,435200,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.091315,-0.021744,0.884978,0.340526,-0.578440,0.298916,0.678306
22,1,435200,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234403,0.074265,0.881638,0.382482,0.034428,-0.019075,0.923124
22,1,435200,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085037,-0.074661,0.869533,0.999896,-0.000001,0.000001,-0.014411
22,1,435200,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235006,-0.074982,0.871288,1.000000,-0.000154,-0.001019,0.000044
22,1,435200,4,gripper,0,"","put ketchup bottle on cloth",-0.125117,-0.055805,0.952955,-0.020317,-0.738961,-0.005648,0.673419
22,1,435200,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.196526,0.014069,0.913997,0.629009,0.343130,-0.325400,0.617029
22,1,435200,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.124252,-0.028236,0.889896,0.579711,0.025539,-0.039664,0.813455
22,1,435200,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.229691,-0.078972,0.869532,0.998754,-0.000001,-0.000000,-0.049896
22,1,435200,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.112602,-0.045235,0.871288,0.999922,-0.000167,-0.001017,-0.012473
22,1,435200,5,gripper,0,"","put ketchup bottle on cloth",-0.243743,0.010883,0.952189,0.035165,-0.785849,-0.030217,0.616679
22,1,435200,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.092899,-0.147522,0.879375,0.882146,0.045232,-0.075725,0.462643
22,1,435200,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235970,0.075111,0.881638,0.999226,-0.004463,-0.039090,-0.000430
22,1,435200,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083923,-0.074791,0.869532,0.999895,0.000000,-0.000001,0.014486
22,1,435200,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
22,1,435200,6,gripper,0,"","put ketchup bottle on cloth",-0.166183,-0.135273,0.916489,-0.121176,-0.765410,-0.071304,0.627996
22,1,435200,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.106972,0.100891,0.888518,0.173105,0.594633,-0.763626,0.182545
22,1,435200,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114491,-0.043945,0.883209,0.705728,-0.017245,0.049973,0.706508
22,1,435200,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234974,-0.074982,0.869532,1.000000,0.000001,-0.000001,-0.000941
22,1,435200,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000045
22,1,435200,7,gripper,0,"","put ketchup bottle on cloth",-0.170221,0.087215,0.925235,0.146938,-0.709563,-0.007636,0.689109
22,1,435200,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.060806,0.106995,0.885085,0.670624,0.301540,-0.351429,0.579513
22,1,435200,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234451,-0.075760,0.881638,0.382484,0.034427,-0.019078,0.923123
22,1,435200,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074959,0.869532,0.999998,-0.000001,-0.000001,0.001965
22,1,435200,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,-0.044994,0.871288,0.999999,-0.000154,-0.001019,-0.000042
22,1,435200,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.211346,0.001417,0.973622,-0.096534,-0.712290,-0.011514,0.695120
22,1,435200,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.181564,-0.062057,0.885209,0.185809,0.712935,-0.643624,0.207238
22,1,435200,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084370,-0.045807,0.881638,0.381378,0.034430,-0.019023,0.923582
22,1,435200,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.200005,-0.083672,0.869532,0.999964,0.000000,-0.000000,0.008448
22,1,435200,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000018
22,1,435200,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.117876,0.000351,0.992417,0.054272,-0.758713,0.033822,0.648278
22,1,435200,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.132618,-0.068420,0.885123,0.468615,0.520275,-0.572189,0.426981
22,1,435200,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.090424,-0.049370,0.887576,0.720312,0.015750,-0.025645,0.692997
22,1,435200,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114750,-0.072964,0.869533,0.999985,0.000000,-0.000000,0.005542
22,1,435200,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000025
22,1,435200,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.170692,-0.024229,1.024163,0.098488,-0.691085,0.214158,0.683255
22,1,435200,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214516,-0.180477,0.879213,-0.211823,-0.620510,0.733152,-0.180515
22,1,435200,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084406,0.074245,0.881638,0.382543,0.034400,-0.019069,0.923100
22,1,435200,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
22,1,435200,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234884,-0.075020,0.871318,0.999999,0.001326,0.000201,-0.000304
22,1,435200,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.229515,-0.116663,0.920763,0.050755,-0.742850,0.051379,0.665551
22,1,435200,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.207394,-0.047585,0.888026,0.535124,0.373536,-0.274081,0.706394
22,1,435200,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084245,-0.075066,0.884036,0.707700,0.017461,0.031694,0.705586
22,1,435200,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
22,1,435200,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205018,-0.074986,0.871282,0.999999,-0.000450,-0.001264,-0.000006
22,1,435200,12,gripper,0,"","put kitchen shovel on cloth",-0.240664,-0.057739,0.942543,0.087849,-0.712352,0.185680,0.671089
22,1,435200,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.025030,0.030827,0.878982,0.755802,0.067095,0.647646,-0.069399
22,1,435200,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205948,-0.074894,0.881638,0.999226,-0.004449,-0.039084,-0.000081
22,1,435200,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
22,1,435200,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,0.075031,0.871211,0.999984,-0.003908,-0.004129,0.000152
22,1,435200,13,gripper,0,"","put kitchen shovel on cloth",-0.079741,0.012703,0.940953,-0.002385,-0.734774,-0.145355,0.662551
22,1,435200,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085835,0.057392,0.879089,0.880371,0.052521,-0.459827,0.103672
22,1,435200,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.427788,0.262177,0.006243,-0.055884,-0.992917,0.023316,0.102218
22,1,435200,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
22,1,435200,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
22,1,435200,14,gripper,0,"","put kitchen shovel on cloth",-0.117743,0.084396,0.914244,0.028616,-0.780589,0.034151,0.623455
22,1,435200,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108276,-0.069775,0.887624,0.335714,0.603660,-0.497404,0.524861
22,1,435200,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.206799,-0.076626,0.881641,0.923101,-0.019387,0.035175,0.382455
22,1,435200,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000018
22,1,435200,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000012
22,1,435200,15,gripper,0,"","put kitchen shovel on cloth",-0.206062,-0.066648,0.931663,-0.074705,-0.778884,0.011471,0.622597
22,1,435200,16,obj,0,"003_bread_1","put bread on newspaper",-0.218361,-0.066402,0.885766,0.352867,0.028822,0.003558,0.935223
22,1,435200,16,obj,1,"005_7up can_1","put bread on newspaper",-0.238503,0.078297,0.885585,0.380360,-0.138426,0.051216,0.912985
22,1,435200,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234985,-0.074993,0.869489,1.000000,0.000180,0.000874,-0.000183
22,1,435200,16,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075012,0.870448,0.999999,-0.000923,-0.000845,-0.000021
22,1,435200,16,gripper,0,"","put bread on newspaper",-0.244270,0.075075,0.943008,0.142778,-0.664055,0.084491,0.729045
22,1,435200,17,obj,0,"003_bread_1","put bread on newspaper",-0.234470,-0.075478,0.883544,0.383785,0.012267,-0.003118,0.923336
22,1,435200,17,obj,1,"005_7up can_1","put bread on newspaper",-0.071411,-0.171387,0.885847,0.378453,-0.625982,0.462324,0.501176
22,1,435200,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.115013,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000121
22,1,435200,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
22,1,435200,17,gripper,0,"","put bread on newspaper",-0.089928,-0.152037,0.948305,-0.165734,-0.752780,-0.098513,0.629404
22,1,435200,18,obj,0,"003_bread_1","put bread on newspaper",-0.085548,-0.035656,0.883702,0.997972,0.000647,-0.021360,-0.059960
22,1,435200,18,obj,1,"005_7up can_1","put bread on newspaper",-0.242615,-0.044823,0.885627,0.972473,-0.005196,-0.232958,0.000611
22,1,435200,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
22,1,435200,18,recep,1,"003_carpet_1","put bread on newspaper",-0.114788,-0.109699,0.870448,0.993587,-0.000856,-0.000630,-0.113064
22,1,435200,18,gripper,0,"","put bread on newspaper",-0.097424,-0.040716,0.917000,0.059164,-0.777379,-0.042298,0.624814
22,1,435200,19,obj,0,"003_bread_1","put bread on newspaper",-0.231678,-0.041115,0.886781,0.997919,0.001738,-0.009573,-0.063740
22,1,435200,19,obj,1,"005_7up can_1","put bread on newspaper",-0.092594,-0.074818,0.885627,0.972484,-0.005058,-0.232910,0.001177
22,1,435200,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
22,1,435200,19,recep,1,"003_carpet_1","put bread on newspaper",-0.203920,-0.041290,0.870426,0.999667,0.000034,-0.000502,-0.025785
22,1,435200,19,gripper,0,"","put bread on newspaper",-0.169878,-0.014832,0.998810,-0.021186,-0.751956,-0.015970,0.658680
22,1,435200,20,obj,0,"003_bread_1","put bread on carpet",-0.094067,0.024113,0.920306,0.307593,0.092255,0.052549,0.945576
22,1,435200,20,obj,1,"005_7up can_1","put bread on carpet",-0.088537,-0.001640,0.885950,-0.304692,-0.604350,0.687184,-0.264013
22,1,435200,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
22,1,435200,20,recep,1,"003_carpet_1","put bread on carpet",-0.085004,-0.074993,0.870448,0.999999,-0.000916,-0.000839,-0.000030
22,1,435200,20,gripper,0,"","put bread on carpet",-0.104429,0.020378,0.956152,0.024194,-0.759449,-0.032518,0.649303
22,1,435200,21,obj,0,"003_bread_1","put bread on carpet",-0.084480,0.074524,0.883544,0.383712,0.012269,-0.003128,0.923366
22,1,435200,21,obj,1,"005_7up can_1","put bread on carpet",-0.193663,0.016411,0.885675,0.721894,0.231314,-0.278536,0.589729
22,1,435200,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
22,1,435200,21,recep,1,"003_carpet_1","put bread on carpet",-0.233835,0.077415,0.870429,0.999845,-0.003076,-0.002613,0.017125
22,1,435200,21,gripper,0,"","put bread on carpet",-0.181112,-0.077280,0.981019,0.118317,-0.756409,0.290167,0.574151
22,1,435200,22,obj,0,"003_bread_1","put bread on carpet",-0.076332,0.031673,0.899658,0.797360,-0.002744,-0.058666,0.600639
22,1,435200,22,obj,1,"005_7up can_1","put bread on carpet",-0.227474,0.047115,0.888596,0.725332,-0.227518,0.278400,0.587046
22,1,435200,22,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000004
22,1,435200,22,recep,1,"003_carpet_1","put bread on carpet",-0.235149,0.075024,0.870462,0.999999,0.000037,-0.000157,-0.001074
22,1,435200,22,gripper,0,"","put bread on carpet",-0.111723,0.025900,0.930050,0.005035,-0.821538,-0.062133,0.566736
22,1,435200,23,obj,0,"003_bread_1","put bread on carpet",-0.205627,-0.073708,0.883544,0.999479,0.001446,-0.012569,-0.029706
22,1,435200,23,obj,1,"005_7up can_1","put bread on carpet",-0.214363,0.075153,0.885636,0.958609,-0.005208,-0.284677,0.000707
22,1,435200,23,recep,0,"004_newspaper_1","put bread on carpet",-0.055645,-0.085522,0.869490,0.996028,0.000101,0.000887,0.089038
22,1,435200,23,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
22,1,435200,23,gripper,0,"","put bread on carpet",-0.087696,-0.097811,0.928535,-0.015197,-0.761839,-0.024371,0.647130
22,1,435200,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.095856,-0.017185,0.883544,0.421531,0.012132,-0.003617,0.906726
22,1,435200,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.194855,-0.009399,0.888136,0.759892,0.153240,-0.173729,0.607372
22,1,435200,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205017,-0.045160,0.869490,1.000000,0.000179,0.000870,-0.000183
22,1,435200,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,0.075012,0.870447,0.999991,-0.003111,-0.002731,-0.000011
22,1,435200,24,gripper,0,"","put 7up can on newspaper",-0.109608,0.010776,0.975592,0.128843,-0.760623,0.101043,0.628206
22,1,435200,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.238613,-0.063379,0.886811,0.530771,0.011567,-0.001982,0.847434
22,1,435200,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.081062,-0.064028,0.947578,0.538744,0.426734,-0.330847,0.646679
22,1,435200,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
22,1,435200,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.199005,-0.077560,0.870448,0.999258,-0.000887,-0.000878,0.038502
22,1,435200,25,gripper,0,"","put 7up can on newspaper",-0.105366,-0.067880,0.989621,-0.099204,-0.756582,-0.083725,0.640884
22,1,435200,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205879,0.075361,0.883544,0.999903,0.001756,-0.012539,-0.005787
22,1,435200,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.021687,0.045841,0.912172,0.066482,0.431918,0.850489,-0.292739
22,1,435200,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000049
22,1,435200,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000039
22,1,435200,26,gripper,0,"","put 7up can on newspaper",-0.053429,0.030677,0.941471,0.108276,-0.753710,-0.092611,0.641577
22,1,435200,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.234482,-0.075483,0.883544,0.383804,0.012270,-0.003124,0.923328
22,1,435200,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.210646,0.081059,0.888415,0.691931,0.124422,-0.093521,0.704986
22,1,435200,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.211500,0.075850,0.869489,0.999876,0.000169,0.000877,0.015702
22,1,435200,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
22,1,435200,27,gripper,0,"","put 7up can on newspaper",-0.215207,0.074049,0.967529,0.033598,-0.706061,-0.064259,0.704429
22,1,435200,28,obj,0,"003_bread_1","put 7up can on carpet",-0.134906,-0.026556,0.883576,0.962537,-0.003406,-0.016926,-0.270599
22,1,435200,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.092601,0.045176,0.885627,0.972475,-0.005029,-0.232951,0.001306
22,1,435200,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000005
22,1,435200,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.235003,-0.044998,0.870446,0.999999,-0.000727,-0.001047,0.000005
22,1,435200,28,gripper,0,"","put 7up can on carpet",-0.123910,-0.024095,0.915839,0.099551,-0.750016,0.057392,0.651361
22,1,435200,29,obj,0,"003_bread_1","put 7up can on carpet",-0.234482,-0.075483,0.883544,0.383804,0.012270,-0.003124,0.923328
22,1,435200,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.074957,-0.006481,0.927221,0.613260,0.285613,-0.222184,0.702119
22,1,435200,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
22,1,435200,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870453,0.999998,0.001568,0.001265,0.000015
22,1,435200,29,gripper,0,"","put 7up can on carpet",-0.087763,-0.008428,0.956763,-0.050099,-0.775316,-0.054110,0.627254
22,1,435200,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
22,1,435200,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.177555,-0.017229,0.886388,-0.645857,-0.132763,0.091846,-0.746195
22,1,435200,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234570,-0.074663,0.869490,0.999992,0.000183,0.000870,-0.004028
22,1,435200,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
22,1,435200,30,gripper,0,"","put 7up can on carpet",-0.183298,-0.016975,0.974533,-0.044137,-0.787592,-0.050069,0.612571
22,1,435200,31,obj,0,"003_bread_1","put 7up can on carpet",-0.161457,-0.078924,0.885327,0.991071,0.007996,-0.014676,-0.132280
22,1,435200,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.242603,0.075174,0.885626,0.972479,-0.005106,-0.232930,0.000979
22,1,435200,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
22,1,435200,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.204781,-0.045889,0.870479,0.999960,-0.000099,0.000095,-0.008875
22,1,435200,31,gripper,0,"","put 7up can on carpet",-0.174242,-0.103206,0.943142,0.079790,-0.741633,0.108069,0.657217
22,1,435200,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087387,-0.071593,0.887364,0.996380,0.001487,0.034703,0.077594
22,1,435200,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013317,0.002051,-0.000100
22,1,435200,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000022
22,1,435200,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
22,1,435200,32,gripper,0,"","put carrot on sheet metal",-0.109531,0.040306,1.025400,0.055499,-0.725273,0.033143,0.685419
22,1,435200,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087868,0.078744,0.887532,0.911740,-0.016263,0.034767,0.408971
22,1,435200,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
22,1,435200,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
22,1,435200,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
22,1,435200,33,gripper,0,"","put carrot on sheet metal",-0.059471,0.060746,0.993051,0.164619,-0.741559,0.176133,0.626073
22,1,435200,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.128197,-0.063294,0.887401,0.554882,-0.027977,0.015538,0.831313
22,1,435200,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.044995,0.878547,0.706793,0.007952,0.010855,0.707293
22,1,435200,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
22,1,435200,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
22,1,435200,34,gripper,0,"","put carrot on sheet metal",-0.098848,-0.050567,0.949420,0.184697,-0.758784,0.283490,0.556568
22,1,435200,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.244253,-0.075623,0.887739,0.572457,-0.039478,0.026890,0.818542
22,1,435200,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204567,0.045007,0.878547,0.706769,0.007931,0.010834,0.707317
22,1,435200,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
22,1,435200,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
22,1,435200,35,gripper,0,"","put carrot on sheet metal",-0.232203,-0.057818,0.945457,0.084271,-0.658514,0.067125,0.744816
22,1,435200,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.060355,-0.050217,0.887472,0.604067,-0.019373,0.015375,0.796550
22,1,435200,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,0.075319,0.878547,0.382207,0.003187,0.013066,0.923979
22,1,435200,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
22,1,435200,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000001,0.000000
22,1,435200,36,gripper,0,"","put carrot on flat bowl",-0.040065,-0.036456,0.976950,0.180729,-0.763839,0.235782,0.572969
22,1,435200,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209276,0.078501,0.887211,0.371659,-0.029098,0.003154,0.927908
22,1,435200,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074685,0.878547,0.382231,0.003186,0.013060,0.923969
22,1,435200,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
22,1,435200,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
22,1,435200,37,gripper,0,"","put carrot on flat bowl",-0.197610,0.094213,0.956367,-0.098008,-0.743300,-0.062575,0.658774
22,1,435200,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087868,0.078744,0.887532,0.911740,-0.016263,0.034767,0.408971
22,1,435200,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383052
22,1,435200,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
22,1,435200,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000000
22,1,435200,38,gripper,0,"","put carrot on flat bowl",-0.074812,0.091333,0.993170,0.097201,-0.754996,0.142769,0.632574
22,1,435200,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087540,0.079131,0.887258,0.996658,0.004777,0.033152,0.074502
22,1,435200,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.235001,0.074566,0.878547,0.999909,0.013315,0.002046,-0.000081
22,1,435200,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
22,1,435200,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
22,1,435200,39,gripper,0,"","put carrot on flat bowl",-0.103140,0.062238,1.056045,-0.062969,-0.674835,-0.077510,0.731180
22,1,435200,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204811,0.079952,0.887250,0.376412,-0.027256,0.019088,0.925855
22,1,435200,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084671,-0.074675,0.878548,0.382899,0.003198,0.013067,0.923692
22,1,435200,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
22,1,435200,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000121
22,1,435200,40,gripper,0,"","put banana on sheet metal",-0.129906,-0.151751,0.968096,-0.217227,-0.789627,-0.146947,0.554714
22,1,435200,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205608,-0.075764,0.887539,0.742821,-0.022500,0.022453,0.668735
22,1,435200,41,obj,1,"013_banana_1","put banana on sheet metal",-0.114555,0.075006,0.878547,0.707170,0.007948,0.010841,0.706916
22,1,435200,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
22,1,435200,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
22,1,435200,41,gripper,0,"","put banana on sheet metal",-0.091387,0.084924,0.958996,0.168309,-0.720414,0.151399,0.655556
22,1,435200,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241131,-0.079845,0.887267,0.994426,0.009068,0.027036,-0.101507
22,1,435200,42,obj,1,"013_banana_1","put banana on sheet metal",-0.130787,-0.094780,0.878547,0.909800,0.011249,0.007381,0.414828
22,1,435200,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045004,0.871344,0.999999,-0.000157,0.001164,0.000001
22,1,435200,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
22,1,435200,42,gripper,0,"","put banana on sheet metal",-0.096643,-0.042006,0.987613,-0.016100,-0.802872,-0.170490,0.571026
22,1,435200,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209829,-0.065947,0.887495,0.993374,-0.003047,0.030820,0.110671
22,1,435200,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084980,0.074562,0.878547,0.999910,0.013293,0.002048,0.000117
22,1,435200,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,1,435200,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
22,1,435200,43,gripper,0,"","put banana on sheet metal",-0.143489,-0.028054,1.012904,0.028459,-0.752682,-0.004160,0.657755
22,1,435200,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087642,0.043049,0.887374,0.353220,-0.018970,0.009241,0.935302
22,1,435200,44,obj,1,"013_banana_1","put banana on flat bowl",-0.114693,-0.074682,0.878547,0.382209,0.003182,0.013051,0.923978
22,1,435200,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001164,0.000003
22,1,435200,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
22,1,435200,44,gripper,0,"","put banana on flat bowl",-0.082963,-0.043343,0.982728,0.034735,-0.770585,0.004758,0.636373
22,1,435200,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.234449,-0.079985,0.887549,0.394178,-0.027822,0.014167,0.918504
22,1,435200,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075333,0.878547,0.382793,0.003196,0.013066,0.923736
22,1,435200,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
22,1,435200,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
22,1,435200,45,gripper,0,"","put banana on flat bowl",-0.211129,-0.056351,0.964430,-0.160171,-0.744694,-0.072959,0.643780
22,1,435200,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
22,1,435200,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084560,-0.074993,0.878547,0.707241,0.007952,0.010846,0.706844
22,1,435200,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
22,1,435200,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000148
22,1,435200,46,gripper,0,"","put banana on flat bowl",-0.043295,-0.034696,0.992278,-0.039902,-0.716521,-0.139914,0.682224
22,1,435200,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087059,-0.044989,0.887438,0.738009,-0.028524,0.027695,0.673618
22,1,435200,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234459,0.045012,0.878546,0.706862,0.007944,0.010846,0.707224
22,1,435200,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
22,1,435200,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000156
22,1,435200,47,gripper,0,"","put banana on flat bowl",-0.183115,0.021779,1.005238,-0.013695,-0.709023,-0.038679,0.703991
22,1,435200,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.088402,-0.052757,0.913684,0.861014,-0.050545,-0.009819,0.505968
22,1,435200,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065109,0.096382,0.887027,0.649532,-0.289371,0.648035,0.272806
22,1,435200,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
22,1,435200,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000025
22,1,435200,48,gripper,0,"","put hamburger on frying pan",-0.090702,-0.050865,0.959235,-0.082534,-0.748252,-0.042054,0.656916
22,1,435200,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.107666,0.038044,0.890820,0.078971,-0.011575,0.836197,-0.542590
22,1,435200,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055618,0.075798,0.887026,0.704494,-0.017534,0.709491,0.001672
22,1,435200,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205051,0.075020,0.872199,1.000000,-0.000001,-0.000001,-0.000783
22,1,435200,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
22,1,435200,49,gripper,0,"","put hamburger on frying pan",-0.111122,0.036102,0.948467,0.067198,-0.780629,0.044852,0.619750
22,1,435200,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.235344,0.046227,0.888112,0.927882,-0.027115,0.004830,0.371855
22,1,435200,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.197777,-0.095474,0.894078,0.699849,-0.181216,0.690902,0.005238
22,1,435200,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.072811,-0.078510,0.872200,0.991046,-0.000001,-0.000001,0.133520
22,1,435200,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
22,1,435200,50,gripper,0,"","put hamburger on frying pan",-0.218868,-0.054949,0.941778,-0.077405,-0.735423,0.163754,0.652951
22,1,435200,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.142426,0.027901,0.889128,0.821006,-0.016985,-0.048643,0.568590
22,1,435200,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.224361,0.093971,0.887026,0.674370,-0.220442,0.674605,0.203812
22,1,435200,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
22,1,435200,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
22,1,435200,51,gripper,0,"","put hamburger on frying pan",-0.158989,0.026495,0.913693,-0.063942,-0.713642,-0.044243,0.696181
22,1,435200,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.144507,0.008396,0.896388,0.657469,0.018492,0.016338,0.753078
22,1,435200,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235743,0.104298,0.887026,0.497537,-0.513530,0.489870,0.498770
22,1,435200,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
22,1,435200,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
22,1,435200,52,gripper,0,"","put hamburger on cutting board",-0.151508,0.004353,0.923431,-0.073352,-0.715696,-0.111379,0.685561
22,1,435200,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.061419,0.083920,0.890766,0.979089,-0.022813,0.020646,-0.201094
22,1,435200,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.142630,0.056606,0.887045,0.710491,-0.025093,0.703159,0.011851
22,1,435200,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.113087,-0.046478,0.872200,0.999707,0.000001,-0.000000,-0.024186
22,1,435200,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.066652,0.075249,0.870871,0.999642,0.000000,0.000001,0.026757
22,1,435200,53,gripper,0,"","put hamburger on cutting board",-0.187825,0.035370,0.976676,0.064754,-0.709805,0.055440,0.699221
22,1,435200,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
22,1,435200,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.109020,-0.077991,0.889696,0.504385,-0.506776,0.496403,0.492299
22,1,435200,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
22,1,435200,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083229,-0.076214,0.870871,0.999973,-0.000000,-0.000015,0.007286
22,1,435200,54,gripper,0,"","put hamburger on cutting board",-0.175840,-0.094139,0.977782,-0.049395,-0.759820,-0.001909,0.648252
22,1,435200,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.202988,-0.053696,0.888314,0.937649,-0.018538,-0.015778,0.346731
22,1,435200,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.094990,0.066597,0.887026,0.649673,-0.289036,0.648183,0.272474
22,1,435200,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
22,1,435200,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
22,1,435200,55,gripper,0,"","put hamburger on cutting board",-0.206654,-0.053022,0.932555,0.007718,-0.774190,0.018896,0.632624
22,1,435200,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115913,-0.044216,0.888156,0.716087,-0.028924,-0.001800,0.697409
22,1,435200,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.239212,-0.045128,0.895410,0.563393,-0.438632,0.557469,0.423579
22,1,435200,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234993,-0.074966,0.872199,0.999999,-0.000000,-0.000000,0.001085
22,1,435200,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
22,1,435200,56,gripper,0,"","put plastic bottle on frying pan",-0.126541,-0.063625,0.952751,0.185707,-0.709793,0.217464,0.643751
22,1,435200,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235229,-0.073895,0.888112,0.925612,-0.027142,0.004665,0.377471
22,1,435200,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.136387,0.080887,0.889124,0.694065,-0.289400,0.505165,0.423473
22,1,435200,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
22,1,435200,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
22,1,435200,57,gripper,0,"","put plastic bottle on frying pan",-0.135101,0.073914,0.916651,0.264104,-0.699492,0.094788,0.657248
22,1,435200,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.008274,0.054890,0.888112,0.992205,-0.021427,0.017307,-0.121533
22,1,435200,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060020,0.033669,0.888264,0.862361,0.115877,0.369500,-0.326153
22,1,435200,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.083313,-0.061604,0.872199,0.942856,-0.000000,-0.000000,-0.333199
22,1,435200,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
22,1,435200,58,gripper,0,"","put plastic bottle on frying pan",-0.081682,0.084282,0.953755,0.248847,-0.742887,0.083594,0.615797
22,1,435200,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,0.074749,0.888112,0.388151,-0.022504,-0.015882,0.921184
22,1,435200,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.194519,-0.038914,0.921140,0.503954,-0.494663,0.487503,0.513498
22,1,435200,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,1,435200,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
22,1,435200,59,gripper,0,"","put plastic bottle on frying pan",-0.169717,-0.036896,0.954460,-0.005769,-0.743103,0.001860,0.669150
22,1,435200,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.079539,0.079014,0.888112,0.999620,-0.023381,0.014551,0.000718
22,1,435200,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.131911,0.056381,0.888472,0.825770,-0.139969,0.502175,0.215250
22,1,435200,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
22,1,435200,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000000
22,1,435200,60,gripper,0,"","put plastic bottle on cutting board",-0.165468,0.061760,0.941851,-0.142493,-0.664823,-0.208768,0.702938
22,1,435200,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.062872,-0.056282,0.909091,0.976315,-0.116285,-0.061346,0.171824
22,1,435200,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.034920,-0.088898,0.887026,0.693429,0.109670,0.701183,-0.124383
22,1,435200,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,1,435200,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
22,1,435200,61,gripper,0,"","put plastic bottle on cutting board",-0.071276,-0.060833,0.948494,-0.027815,-0.818878,-0.054963,0.570653
22,1,435200,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
22,1,435200,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.036648,0.099644,0.888377,-0.003855,-0.767465,-0.015116,0.640901
22,1,435200,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
22,1,435200,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
22,1,435200,62,gripper,0,"","put plastic bottle on cutting board",-0.058325,0.092926,0.945540,-0.027888,-0.747913,-0.035978,0.662234
22,1,435200,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115215,-0.073879,0.888112,0.925580,-0.027143,0.004662,0.377549
22,1,435200,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.144791,0.028587,0.894470,0.603122,-0.508932,0.495340,0.363138
22,1,435200,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
22,1,435200,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.068974,0.070107,0.870871,0.999888,0.000000,-0.000001,0.014982
22,1,435200,63,gripper,0,"","put plastic bottle on cutting board",-0.178730,0.035040,0.914636,0.010554,-0.778263,-0.008298,0.627795
22,2,440320,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.134560,-0.084152,0.885284,-0.121996,0.707271,-0.696065,-0.019444
22,2,440320,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.021553,0.061203,0.881638,0.071991,0.038692,-0.007247,0.996628
22,2,440320,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083588,-0.075302,0.869533,0.999954,0.000000,-0.000001,0.009641
22,2,440320,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,-0.075462,0.871288,0.999989,-0.000159,-0.001019,-0.004587
22,2,440320,0,gripper,0,"","put ketchup bottle on cloth",-0.159557,-0.083645,0.953800,-0.122818,-0.738373,-0.134317,0.649369
22,2,440320,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156975,0.068047,0.885083,0.613229,0.332842,-0.321056,0.640382
22,2,440320,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084381,0.074272,0.881638,0.382637,0.034425,-0.019082,0.923060
22,2,440320,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205013,0.075005,0.869532,1.000000,0.000000,-0.000000,-0.000012
22,2,440320,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000000
22,2,440320,1,gripper,0,"","put ketchup bottle on cloth",-0.148048,0.093159,1.059631,0.077849,-0.738394,0.111984,0.660434
22,2,440320,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.100872,0.080742,0.885084,0.606345,0.336224,-0.317424,0.646948
22,2,440320,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.242386,0.083618,0.887111,0.463985,0.037544,0.072645,0.882061
22,2,440320,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084442,0.073097,0.869532,0.998714,0.000000,-0.000000,0.050690
22,2,440320,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
22,2,440320,2,gripper,0,"","put ketchup bottle on cloth",-0.209146,0.105968,0.914164,0.034173,-0.769902,0.042028,0.635859
22,2,440320,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.151735,0.094200,0.879373,0.929613,-0.064448,0.270677,0.241659
22,2,440320,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235952,-0.074875,0.881638,0.999226,-0.004448,-0.039086,-0.000052
22,2,440320,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115002,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000012
22,2,440320,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082088,0.075554,0.871289,0.999906,-0.000140,-0.001021,0.013661
22,2,440320,3,gripper,0,"","put ketchup bottle on cloth",-0.211292,0.089535,0.914449,-0.109719,-0.720978,-0.077085,0.679860
22,2,440320,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.091315,-0.021744,0.884978,0.340511,-0.578467,0.298932,0.678282
22,2,440320,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.144360,0.043526,0.881638,0.206648,0.037319,-0.012435,0.977624
22,2,440320,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085037,-0.074661,0.869533,0.999896,-0.000001,0.000001,-0.014411
22,2,440320,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234898,-0.080177,0.871288,0.998628,-0.000207,-0.001010,-0.052355
22,2,440320,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.203793,-0.022457,0.941308,-0.070091,-0.715842,-0.063999,0.691781
22,2,440320,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.198263,0.009338,0.879089,0.612193,0.333737,-0.321019,0.640926
22,2,440320,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.224062,-0.066872,0.887523,0.659722,0.021180,-0.028710,0.750662
22,2,440320,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.236317,-0.062431,0.869532,0.998603,-0.000001,-0.000001,0.052835
22,2,440320,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.112652,-0.045578,0.871288,0.999940,-0.000165,-0.001018,-0.010892
22,2,440320,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.124641,0.037102,0.969815,0.053430,-0.762736,0.047531,0.642744
22,2,440320,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.092899,-0.147522,0.879375,0.882132,0.045237,-0.075729,0.462667
22,2,440320,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.209045,0.069641,0.881637,0.975799,0.004074,-0.039127,0.215103
22,2,440320,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.083923,-0.074791,0.869532,0.999895,0.000000,-0.000001,0.014486
22,2,440320,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
22,2,440320,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.223135,0.055569,0.935551,0.079388,-0.759796,0.017922,0.645047
22,2,440320,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.106968,0.100883,0.888517,0.173387,0.594252,-0.763842,0.182607
22,2,440320,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.144779,-0.084000,0.921145,0.617296,0.023792,0.041739,0.785262
22,2,440320,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.237011,-0.077194,0.869532,0.999892,-0.000000,-0.000000,-0.014716
22,2,440320,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000079
22,2,440320,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.193726,-0.090328,0.969430,-0.131874,-0.700200,-0.045153,0.700207
22,2,440320,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.060799,0.106995,0.885085,0.670558,0.301579,-0.351391,0.579591
22,2,440320,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.065437,-0.060257,0.888817,-0.940840,0.066663,0.054129,0.327790
22,2,440320,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074955,0.869532,0.999998,-0.000000,-0.000001,0.002126
22,2,440320,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,-0.044994,0.871288,0.999999,-0.000154,-0.001019,-0.000043
22,2,440320,8,gripper,0,"","put kitchen shovel on cloth",-0.196903,-0.127075,0.914240,0.078494,-0.834823,0.156028,0.522078
22,2,440320,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.093296,0.185757,0.878981,-0.571254,0.422957,-0.495008,-0.499743
22,2,440320,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.076187,-0.043808,0.881638,0.327859,0.035457,-0.017023,0.943907
22,2,440320,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.185032,-0.086960,0.869531,0.994663,-0.000000,-0.000001,-0.103181
22,2,440320,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
22,2,440320,9,gripper,0,"","put kitchen shovel on cloth",-0.216291,0.013687,0.913622,0.162973,-0.717886,0.178872,0.652751
22,2,440320,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.132618,-0.068420,0.885123,0.468655,0.520218,-0.572218,0.426969
22,2,440320,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.090431,-0.049511,0.887576,0.722379,0.015753,-0.025817,0.690836
22,2,440320,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114750,-0.072964,0.869533,0.999985,0.000001,-0.000002,0.005532
22,2,440320,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001019,0.000025
22,2,440320,10,gripper,0,"","put kitchen shovel on cloth",-0.150146,0.006672,1.020339,0.023450,-0.704194,0.022058,0.709278
22,2,440320,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214516,-0.180477,0.879213,-0.211825,-0.620500,0.733161,-0.180511
22,2,440320,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.060669,0.009415,0.881638,0.437974,0.033210,-0.021143,0.898125
22,2,440320,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082386,-0.086433,0.869532,0.984958,0.000001,-0.000001,0.172794
22,2,440320,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234888,-0.075016,0.871288,0.999999,-0.000153,-0.001018,-0.000381
22,2,440320,11,gripper,0,"","put kitchen shovel on cloth",-0.146811,0.006166,0.974669,0.012523,-0.716907,0.181720,0.672953
22,2,440320,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.092487,0.075600,0.885085,0.762228,0.234897,-0.398878,0.452470
22,2,440320,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084461,-0.074375,0.884000,0.707388,-0.002690,0.051881,0.704914
22,2,440320,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000022
22,2,440320,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205033,-0.074963,0.871282,0.999999,-0.000451,-0.001265,-0.000147
22,2,440320,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.209073,0.060904,0.916077,0.230274,-0.720308,0.192494,0.625360
22,2,440320,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.025030,0.030827,0.878982,0.755811,0.067083,0.647638,-0.069388
22,2,440320,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.168474,-0.082977,0.881638,0.967966,0.005394,-0.038966,0.247980
22,2,440320,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084963,-0.074959,0.869532,1.000000,0.000001,-0.000000,0.000735
22,2,440320,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075027,0.871211,0.999984,-0.003908,-0.004129,0.000227
22,2,440320,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.191386,-0.115431,0.915974,-0.249307,-0.723659,-0.167199,0.621456
22,2,440320,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.210415,-0.064190,0.885084,0.746340,0.248280,-0.390342,0.478505
22,2,440320,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.427784,0.262177,0.006243,-0.055872,-0.992915,0.023419,0.102225
22,2,440320,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.201000,-0.075775,0.869532,0.999980,-0.000000,-0.000000,-0.006247
22,2,440320,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
22,2,440320,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.238932,-0.055620,1.070330,0.242228,-0.677222,0.256555,0.645659
22,2,440320,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.094772,-0.196281,0.879372,0.630322,-0.206156,0.186881,0.724755
22,2,440320,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.213539,-0.086914,0.881641,0.914677,0.016743,-0.047787,0.401001
22,2,440320,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,0.000023
22,2,440320,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.086452,-0.078197,0.871288,0.999851,-0.000136,-0.001022,0.017255
22,2,440320,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.198460,-0.093195,0.924149,0.019782,-0.734375,0.006203,0.678427
22,2,440320,16,obj,0,"003_bread_1","put bread on carpet",-0.218384,-0.066410,0.885795,0.350648,0.028377,0.002898,0.936073
22,2,440320,16,obj,1,"005_7up can_1","put bread on carpet",-0.297752,0.129040,0.885746,-0.284441,-0.556049,0.217799,-0.749977
22,2,440320,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234985,-0.074989,0.869489,1.000000,0.000181,0.000873,-0.000449
22,2,440320,16,recep,1,"003_carpet_1","put bread on carpet",-0.083008,0.065109,0.870352,0.997392,-0.000891,-0.002448,0.072126
22,2,440320,16,gripper,0,"","put bread on carpet",-0.079422,0.046843,0.917221,0.014039,-0.785302,0.015051,0.618770
22,2,440320,17,obj,0,"003_bread_1","put bread on carpet",-0.234470,-0.075478,0.883544,0.383793,0.012272,-0.003122,0.923332
22,2,440320,17,obj,1,"005_7up can_1","put bread on carpet",-0.227749,0.066647,0.888999,0.206347,-0.643651,0.710878,0.194389
22,2,440320,17,recep,0,"004_newspaper_1","put bread on carpet",-0.115025,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000152
22,2,440320,17,recep,1,"003_carpet_1","put bread on carpet",-0.235683,0.075089,0.870447,0.999997,-0.000896,-0.000854,-0.002046
22,2,440320,17,gripper,0,"","put bread on carpet",-0.198492,-0.017347,1.003339,-0.028150,-0.668839,0.080756,0.738471
22,2,440320,18,obj,0,"003_bread_1","put bread on carpet",-0.085659,-0.035622,0.883544,0.998117,0.001075,-0.012615,-0.060015
22,2,440320,18,obj,1,"005_7up can_1","put bread on carpet",-0.129314,-0.054829,0.888753,-0.124225,0.129533,0.982122,-0.056794
22,2,440320,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
22,2,440320,18,recep,1,"003_carpet_1","put bread on carpet",-0.113480,-0.107109,0.870448,0.992547,-0.001019,-0.000726,-0.121856
22,2,440320,18,gripper,0,"","put bread on carpet",-0.166788,-0.045891,0.929643,0.046435,-0.761885,0.058548,0.643387
22,2,440320,19,obj,0,"003_bread_1","put bread on carpet",-0.231678,-0.041115,0.886781,0.997845,0.001719,-0.009575,-0.064882
22,2,440320,19,obj,1,"005_7up can_1","put bread on carpet",-0.063265,-0.136662,0.887060,0.993498,-0.042128,-0.071436,-0.077996
22,2,440320,19,recep,0,"004_newspaper_1","put bread on carpet",-0.234995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000005
22,2,440320,19,recep,1,"003_carpet_1","put bread on carpet",-0.203920,-0.041290,0.870426,0.999667,0.000034,-0.000501,-0.025790
22,2,440320,19,gripper,0,"","put bread on carpet",-0.085254,-0.131760,0.917054,-0.011262,-0.779951,0.075919,0.621116
22,2,440320,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.180955,-0.036465,0.883985,-0.065315,-0.601113,0.765134,0.221284
22,2,440320,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.088536,-0.001629,0.885951,-0.304716,-0.604380,0.687124,-0.264070
22,2,440320,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
22,2,440320,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085004,-0.074993,0.870448,0.999999,-0.000923,-0.000844,-0.000030
22,2,440320,20,gripper,0,"","put 7up can on newspaper",-0.151484,-0.030277,0.972032,-0.050276,-0.728205,-0.010206,0.683437
22,2,440320,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.099970,-0.028324,0.887381,-0.022772,0.029553,-0.000175,0.999304
22,2,440320,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.241879,-0.046497,0.885728,-0.720172,0.259283,-0.333209,-0.550542
22,2,440320,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.073313,-0.074745,0.869490,0.998940,0.000220,0.000865,-0.046016
22,2,440320,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234079,0.077774,0.870369,0.999851,-0.000423,-0.001598,0.017196
22,2,440320,21,gripper,0,"","put 7up can on newspaper",-0.246273,-0.044619,0.931342,-0.041809,-0.713354,-0.023524,0.699160
22,2,440320,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.201065,-0.068810,0.886120,-0.545776,-0.025239,-0.001421,-0.837549
22,2,440320,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.228069,0.043495,0.888616,0.757263,-0.151858,0.201435,0.602425
22,2,440320,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205040,-0.045013,0.869490,1.000000,0.000180,0.000874,0.000179
22,2,440320,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235153,0.075050,0.870463,0.999999,0.000037,-0.000157,-0.001127
22,2,440320,22,gripper,0,"","put 7up can on newspaper",-0.111975,0.030832,1.003037,0.045587,-0.754039,-0.002584,0.655240
22,2,440320,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.205627,-0.073708,0.883544,0.999478,0.001446,-0.012571,-0.029725
22,2,440320,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.118362,-0.069847,0.885686,-0.733317,0.072424,0.084644,0.670698
22,2,440320,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.041553,-0.101955,0.869491,0.993425,0.000079,0.000889,0.114481
22,2,440320,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
22,2,440320,23,gripper,0,"","put 7up can on newspaper",-0.159262,-0.078171,0.943459,-0.016957,-0.758841,0.006439,0.651024
22,2,440320,24,obj,0,"003_bread_1","put 7up can on carpet",-0.250198,0.065268,0.886633,0.591505,0.011310,-0.002655,0.806218
22,2,440320,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.167274,-0.027267,0.887902,0.818250,0.152404,-0.221392,0.508158
22,2,440320,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.189651,-0.054800,0.869490,0.994284,0.000272,0.000852,-0.106768
22,2,440320,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.234863,0.075073,0.870425,0.999999,-0.000680,-0.001219,0.000338
22,2,440320,24,gripper,0,"","put 7up can on carpet",-0.114914,0.014561,0.990708,0.005866,-0.701957,0.057262,0.709889
22,2,440320,25,obj,0,"003_bread_1","put 7up can on carpet",-0.238632,-0.063417,0.886850,0.531192,0.011787,-0.000600,0.847169
22,2,440320,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.179516,-0.042290,0.888966,0.125550,-0.630978,0.758752,0.101980
22,2,440320,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.079243,0.082378,0.869490,0.999933,0.000190,0.000873,-0.011582
22,2,440320,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.199020,-0.077593,0.870448,0.999247,-0.000887,-0.000878,0.038768
22,2,440320,25,gripper,0,"","put 7up can on carpet",-0.198397,-0.082121,0.980930,0.045345,-0.723786,0.093461,0.682160
22,2,440320,26,obj,0,"003_bread_1","put 7up can on carpet",-0.205879,0.075361,0.883544,0.999903,0.001756,-0.012542,-0.005776
22,2,440320,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.106213,0.033951,0.885691,0.671966,-0.272428,-0.299284,-0.620220
22,2,440320,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.116253,-0.083349,0.869490,0.999955,0.000188,0.000872,-0.009420
22,2,440320,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000059
22,2,440320,26,gripper,0,"","put 7up can on carpet",-0.122866,0.024078,0.928779,0.062907,-0.748819,0.040689,0.658526
22,2,440320,27,obj,0,"003_bread_1","put 7up can on carpet",-0.231747,-0.075245,0.883544,0.378350,0.012290,-0.003048,0.925576
22,2,440320,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.210415,0.084778,0.888523,0.699831,0.041350,-0.017773,0.712890
22,2,440320,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.211472,0.075842,0.869490,0.999876,0.000164,0.000876,0.015728
22,2,440320,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
22,2,440320,27,gripper,0,"","put 7up can on carpet",-0.227714,-0.080088,0.935934,-0.103655,-0.718096,-0.067312,0.684881
22,2,440320,28,obj,0,"003_bread_1","put bread on newspaper",-0.214809,-0.034470,0.886504,0.995965,0.003149,-0.010046,0.089126
22,2,440320,28,obj,1,"005_7up can_1","put bread on newspaper",-0.083948,0.077143,0.885609,0.993724,-0.008957,0.105803,0.035176
22,2,440320,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
22,2,440320,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,-0.044998,0.870447,0.999998,-0.001354,-0.001218,0.000014
22,2,440320,28,gripper,0,"","put bread on newspaper",-0.148030,-0.015639,0.960737,-0.129511,-0.728456,-0.059042,0.670144
22,2,440320,29,obj,0,"003_bread_1","put bread on newspaper",-0.234760,-0.057304,0.883566,0.447010,0.010211,-0.001184,0.894470
22,2,440320,29,obj,1,"005_7up can_1","put bread on newspaper",-0.183788,-0.022346,0.885849,-0.433449,0.560767,-0.458325,-0.536284
22,2,440320,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.084803,0.075613,0.869490,1.000000,0.000180,0.000874,0.000374
22,2,440320,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204535,0.074892,0.870460,0.999997,0.000018,-0.000158,0.002271
22,2,440320,29,gripper,0,"","put bread on newspaper",-0.250926,-0.055640,0.914653,0.000391,-0.757988,0.024880,0.651794
22,2,440320,30,obj,0,"003_bread_1","put bread on newspaper",-0.083450,0.072432,0.901220,0.330877,0.000291,-0.067221,0.941277
22,2,440320,30,obj,1,"005_7up can_1","put bread on newspaper",-0.218678,0.015604,0.885830,-0.539979,0.456693,-0.516779,-0.482487
22,2,440320,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235687,-0.074591,0.869490,0.999961,0.000189,0.000898,0.008833
22,2,440320,30,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,0.075022,0.870447,0.999991,-0.003114,-0.002733,-0.000029
22,2,440320,30,gripper,0,"","put bread on newspaper",-0.085445,0.065538,0.931452,0.149107,-0.717122,0.006109,0.680783
22,2,440320,31,obj,0,"003_bread_1","put bread on newspaper",-0.162201,-0.077045,0.886155,0.991687,0.002688,-0.006249,-0.128491
22,2,440320,31,obj,1,"005_7up can_1","put bread on newspaper",-0.189625,0.106348,0.885963,0.249559,0.680282,-0.637370,0.262101
22,2,440320,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
22,2,440320,31,recep,1,"003_carpet_1","put bread on newspaper",-0.204750,-0.045851,0.870448,0.999961,-0.000126,-0.000157,-0.008827
22,2,440320,31,gripper,0,"","put bread on newspaper",-0.270466,0.073095,0.912925,0.163019,-0.690995,0.152516,0.687524
22,2,440320,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087517,-0.070607,0.887395,0.996545,-0.006314,0.037667,0.073755
22,2,440320,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234970,0.074573,0.878547,0.999909,0.013322,0.002051,-0.000100
22,2,440320,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000022
22,2,440320,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
22,2,440320,32,gripper,0,"","put carrot on flat bowl",-0.100498,0.031328,1.077487,0.095196,-0.758870,0.077115,0.639614
22,2,440320,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094700,0.092505,0.887170,0.911057,-0.003469,0.030731,0.411118
22,2,440320,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
22,2,440320,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
22,2,440320,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
22,2,440320,33,gripper,0,"","put carrot on flat bowl",-0.155945,-0.017008,0.984906,0.106712,-0.721738,-0.007375,0.683851
22,2,440320,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.131382,-0.065517,0.887435,0.565994,-0.018826,0.013385,0.824086
22,2,440320,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.044995,0.878547,0.706793,0.007954,0.010859,0.707293
22,2,440320,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
22,2,440320,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
22,2,440320,34,gripper,0,"","put carrot on flat bowl",-0.082111,-0.043076,0.967839,0.040024,-0.757782,0.088223,0.645277
22,2,440320,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.244352,-0.075870,0.887529,0.571003,-0.035471,0.024706,0.819809
22,2,440320,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204567,0.045007,0.878547,0.706768,0.007958,0.010867,0.707317
22,2,440320,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,2,440320,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
22,2,440320,35,gripper,0,"","put carrot on flat bowl",-0.182298,-0.036018,0.983907,-0.140462,-0.728385,-0.165539,0.649864
22,2,440320,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.060684,-0.051982,0.887529,0.504167,-0.022665,0.010546,0.863245
22,2,440320,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084054,0.075444,0.878547,0.516971,0.005133,0.012464,0.855897
22,2,440320,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000001
22,2,440320,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,0.000001
22,2,440320,36,gripper,0,"","put banana on sheet metal",-0.045727,0.038478,0.924135,-0.022253,-0.891563,-0.015833,0.452073
22,2,440320,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204113,0.081317,0.887239,0.370852,-0.026860,0.019036,0.928108
22,2,440320,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084890,-0.073981,0.878547,0.375036,0.003077,0.013067,0.926913
22,2,440320,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,2,440320,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
22,2,440320,37,gripper,0,"","put banana on sheet metal",-0.128478,-0.041369,0.978102,-0.098895,-0.712600,-0.097035,0.687754
22,2,440320,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091606,0.080555,0.887273,0.918305,-0.015410,0.021428,0.394994
22,2,440320,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011509,0.006993,0.383052
22,2,440320,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
22,2,440320,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
22,2,440320,38,gripper,0,"","put banana on sheet metal",-0.186487,0.094849,0.971366,-0.001719,-0.670232,-0.008206,0.742104
22,2,440320,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088318,0.078505,0.887473,0.997025,-0.000507,0.021380,0.074052
22,2,440320,39,obj,1,"013_banana_1","put banana on sheet metal",-0.235001,0.074567,0.878547,0.999910,0.013289,0.002044,-0.000081
22,2,440320,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
22,2,440320,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
22,2,440320,39,gripper,0,"","put banana on sheet metal",-0.215553,0.066952,0.971642,0.026412,-0.762922,0.064853,0.642687
22,2,440320,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204811,0.079950,0.887250,0.376546,-0.027250,0.019091,0.925800
22,2,440320,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084671,-0.074667,0.878547,0.383540,0.003201,0.013044,0.923427
22,2,440320,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
22,2,440320,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000251
22,2,440320,40,gripper,0,"","put banana on flat bowl",-0.069305,-0.067549,0.990082,-0.010860,-0.770887,0.030461,0.636151
22,2,440320,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.209595,-0.076290,0.887536,0.750652,-0.023394,0.024695,0.659822
22,2,440320,41,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,0.075010,0.878547,0.707497,0.007956,0.010841,0.706588
22,2,440320,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
22,2,440320,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
22,2,440320,41,gripper,0,"","put banana on flat bowl",-0.094847,0.039233,0.946012,0.084820,-0.883655,0.059740,0.456498
22,2,440320,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.247337,-0.088411,0.888442,0.978220,0.030692,0.015823,-0.204676
22,2,440320,42,obj,1,"013_banana_1","put banana on flat bowl",-0.130779,-0.094780,0.878547,0.910028,0.011228,0.007360,0.414329
22,2,440320,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045004,0.871344,0.999999,-0.000158,0.001164,0.000005
22,2,440320,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
22,2,440320,42,gripper,0,"","put banana on flat bowl",-0.252241,-0.089280,0.914729,0.152335,-0.688483,0.083633,0.704124
22,2,440320,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210682,-0.062819,0.887439,0.993998,-0.005390,0.034351,0.103724
22,2,440320,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084978,0.074560,0.878547,0.999909,0.013313,0.002047,-0.000023
22,2,440320,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,2,440320,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
22,2,440320,43,gripper,0,"","put banana on flat bowl",-0.053405,0.091527,0.960815,-0.027441,-0.735832,-0.058749,0.674052
22,2,440320,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.098188,0.036650,0.887227,0.350023,-0.007915,0.007986,0.936674
22,2,440320,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.114692,-0.074682,0.878548,0.382208,0.003190,0.013074,0.923978
22,2,440320,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001163,0.000003
22,2,440320,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.045000,0.874363,1.000000,0.000000,0.000000,-0.000001
22,2,440320,44,gripper,0,"","put carrot on sheet metal",-0.053963,-0.005697,0.935827,0.240496,-0.725178,0.332313,0.553034
22,2,440320,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238470,-0.082655,0.887529,0.349887,-0.040487,0.015136,0.935794
22,2,440320,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,0.075336,0.878547,0.383286,0.003202,0.013062,0.923532
22,2,440320,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
22,2,440320,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
22,2,440320,45,gripper,0,"","put carrot on sheet metal",-0.183755,-0.087379,1.004011,-0.009705,-0.725754,-0.018160,0.687646
22,2,440320,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205963,0.076595,0.887529,0.711484,-0.030346,0.030782,0.701371
22,2,440320,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074989,0.878547,0.707617,0.007956,0.010840,0.706468
22,2,440320,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
22,2,440320,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000268
22,2,440320,46,gripper,0,"","put carrot on sheet metal",-0.181881,0.066051,0.991159,0.101926,-0.671614,0.106019,0.726158
22,2,440320,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090561,-0.045782,0.887383,0.748843,-0.025197,0.023280,0.661858
22,2,440320,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234455,0.045013,0.878547,0.707155,0.007960,0.010856,0.706931
22,2,440320,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
22,2,440320,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000305
22,2,440320,47,gripper,0,"","put carrot on sheet metal",-0.091232,-0.030045,0.954683,0.024103,-0.715036,-0.049461,0.696919
22,2,440320,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.049171,-0.048672,0.939270,0.619895,-0.069315,0.104715,0.774571
22,2,440320,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065109,0.096382,0.887027,0.649526,-0.289385,0.648028,0.272822
22,2,440320,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
22,2,440320,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000001,-0.000001,-0.000031
22,2,440320,48,gripper,0,"","put hamburger on cutting board",-0.061642,-0.052053,0.965582,-0.121703,-0.775145,-0.098098,0.612141
22,2,440320,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.173191,-0.063004,0.894760,0.346085,-0.321436,0.791979,0.386876
22,2,440320,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055618,0.075798,0.887026,0.704497,-0.017504,0.709489,0.001644
22,2,440320,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205051,0.075020,0.872199,1.000000,-0.000000,-0.000001,-0.000795
22,2,440320,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,-0.075020,0.870874,1.000000,0.000228,0.000232,0.000036
22,2,440320,49,gripper,0,"","put hamburger on cutting board",-0.172237,-0.049856,0.967651,-0.106241,-0.707974,-0.038492,0.697140
22,2,440320,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.049095,0.098312,0.890459,0.969398,-0.028359,0.009801,0.243655
22,2,440320,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.198269,-0.100227,0.887026,0.699493,-0.100134,0.702610,0.083795
22,2,440320,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.072811,-0.078510,0.872200,0.991041,-0.000000,-0.000001,0.133557
22,2,440320,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000019
22,2,440320,50,gripper,0,"","put hamburger on cutting board",-0.158865,0.041845,0.986622,0.229808,-0.695720,0.112261,0.671237
22,2,440320,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.181194,-0.017715,0.890215,0.808279,-0.111691,0.059249,0.575064
22,2,440320,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.228144,0.096672,0.894113,0.691378,-0.281061,0.656913,0.107084
22,2,440320,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
22,2,440320,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234974,-0.075012,0.870870,1.000000,0.000001,0.000000,-0.000073
22,2,440320,51,gripper,0,"","put hamburger on cutting board",-0.243667,0.097176,0.939688,0.142294,-0.713834,0.014021,0.685563
22,2,440320,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.100535,-0.017548,0.894181,0.571509,0.634448,-0.445038,0.269804
22,2,440320,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175855,0.047840,0.887026,0.483442,-0.526983,0.475367,0.512443
22,2,440320,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
22,2,440320,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.074298,-0.076691,0.870871,0.999345,0.000000,-0.000000,-0.036202
22,2,440320,52,gripper,0,"","put plastic bottle on frying pan",-0.143847,-0.016464,0.939093,-0.010956,-0.790708,0.010039,0.612013
22,2,440320,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.041798,0.090340,0.890755,0.989022,-0.023089,0.019136,-0.144693
22,2,440320,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.142376,0.023716,0.889142,0.519166,-0.511462,0.450986,0.515251
22,2,440320,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.111780,-0.058071,0.872199,0.999916,-0.000000,-0.000001,-0.012942
22,2,440320,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.046000,0.081104,0.870870,0.996742,-0.000000,-0.000001,0.080660
22,2,440320,53,gripper,0,"","put plastic bottle on frying pan",-0.151814,0.022087,0.916016,0.035297,-0.772414,-0.048675,0.632266
22,2,440320,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.025963,0.032246,0.889079,0.719264,-0.022661,0.027808,0.693810
22,2,440320,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.108994,-0.077728,0.889702,0.504512,-0.506585,0.497079,0.491683
22,2,440320,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
22,2,440320,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083225,-0.076160,0.870870,0.999978,-0.000000,0.000000,0.006689
22,2,440320,54,gripper,0,"","put plastic bottle on frying pan",-0.037334,0.026709,0.918362,0.137390,-0.755859,0.000919,0.640156
22,2,440320,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.202354,-0.053120,0.888112,0.937139,-0.026980,0.005528,0.347868
22,2,440320,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.061211,0.041313,0.896613,-0.518813,-0.496562,0.457515,-0.524346
22,2,440320,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085903,-0.076721,0.872199,0.999694,0.000000,-0.000001,-0.024757
22,2,440320,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
22,2,440320,55,gripper,0,"","put plastic bottle on frying pan",-0.076849,0.038980,0.924508,-0.021773,-0.848783,-0.028177,0.527541
22,2,440320,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.187660,0.052574,0.890625,0.727826,-0.026075,-0.002028,0.685263
22,2,440320,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.244362,-0.078621,0.905154,0.720629,0.033475,-0.067982,0.689167
22,2,440320,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.232651,-0.064148,0.872200,0.995131,-0.000000,-0.000001,0.098564
22,2,440320,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235046,0.075039,0.870883,0.999999,0.000701,0.000714,-0.000167
22,2,440320,56,gripper,0,"","put plastic bottle on cutting board",-0.222557,-0.079214,0.945767,0.011170,-0.733187,0.018555,0.679682
22,2,440320,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235229,-0.073895,0.888112,0.925090,-0.027149,0.004628,0.378747
22,2,440320,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.110722,-0.039974,0.889707,0.496247,-0.514798,0.488542,0.500049
22,2,440320,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.239986,0.070515,0.872199,0.999073,0.000000,-0.000001,-0.043045
22,2,440320,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084198,-0.074215,0.870868,0.999976,0.000001,0.000024,-0.006989
22,2,440320,57,gripper,0,"","put plastic bottle on cutting board",-0.177435,-0.042080,0.989259,-0.065555,-0.712942,-0.097049,0.691373
22,2,440320,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.008282,0.054878,0.888112,0.990775,-0.021236,0.017555,-0.132691
22,2,440320,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.045841,0.051193,0.885720,0.720580,-0.042305,-0.690192,-0.051094
22,2,440320,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083313,-0.061604,0.872199,0.942835,0.000000,-0.000000,-0.333259
22,2,440320,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
22,2,440320,58,gripper,0,"","put plastic bottle on cutting board",-0.146912,-0.012737,0.948802,0.022608,-0.775205,-0.019929,0.630990
22,2,440320,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086102,0.074749,0.888112,0.388134,-0.022504,-0.015881,0.921191
22,2,440320,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.125223,-0.066479,0.889619,0.431492,-0.573885,0.418419,0.556234
22,2,440320,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,2,440320,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.069448,-0.083431,0.870874,0.999564,0.000001,-0.000040,0.029531
22,2,440320,59,gripper,0,"","put plastic bottle on cutting board",-0.172694,-0.070593,0.924510,-0.167696,-0.741117,-0.094808,0.643145
22,2,440320,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.075959,0.081993,0.888112,0.999413,-0.023663,0.014089,0.020383
22,2,440320,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.001768,-0.038879,0.886875,0.980434,-0.026291,0.014558,0.194538
22,2,440320,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
22,2,440320,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.071403,-0.097466,0.870870,0.967419,0.000001,-0.000000,-0.253180
22,2,440320,60,gripper,0,"","put hamburger on frying pan",-0.090674,0.060390,0.953358,0.106043,-0.748006,0.090648,0.648864
22,2,440320,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.113632,-0.020443,0.894972,0.975870,-0.030456,0.010333,0.215970
22,2,440320,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.029457,-0.091579,0.887027,0.686403,0.144320,0.694881,-0.158629
22,2,440320,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,2,440320,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204975,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000043
22,2,440320,61,gripper,0,"","put hamburger on frying pan",-0.122362,-0.018805,0.947449,-0.051547,-0.779521,-0.010807,0.624157
22,2,440320,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.072372,-0.042370,0.896371,0.340797,-0.012838,-0.024956,0.939718
22,2,440320,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.033504,0.099579,0.887027,-0.000686,-0.709516,-0.016542,0.704495
22,2,440320,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000036
22,2,440320,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
22,2,440320,62,gripper,0,"","put hamburger on frying pan",-0.157684,-0.000587,1.015988,0.050745,-0.711625,0.004701,0.700709
22,2,440320,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115215,-0.073879,0.888112,0.924967,-0.027149,0.004619,0.379047
22,2,440320,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.176994,0.018753,0.890451,0.592071,-0.438625,0.484341,0.471672
22,2,440320,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235085,-0.045006,0.872199,0.999999,0.000000,-0.000001,0.001556
22,2,440320,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.065968,0.071339,0.870871,0.999814,0.000000,-0.000001,0.019272
22,2,440320,63,gripper,0,"","put hamburger on frying pan",-0.183617,0.015905,0.916609,0.143848,-0.723567,-0.007223,0.675060
22,3,445440,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",10.498230,0.005905,-1.814456,-0.939167,0.048880,0.235984,0.244719
22,3,445440,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",1.091949,1.209839,0.012838,0.468967,0.032445,-0.022279,0.882338
22,3,445440,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",1.195450,-5.011772,-8.273987,-0.268255,0.373141,0.847481,-0.265669
22,3,445440,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",0.002975,0.014908,0.871262,0.982819,-0.001022,-0.002306,0.184554
22,3,445440,0,gripper,0,"","put kitchen shovel on yellow_plate",0.069412,0.297226,0.742735,0.798355,0.031468,0.041835,-0.599907
22,3,445440,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.156971,0.068100,0.885081,0.613997,0.331820,-0.320045,0.640683
22,3,445440,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084808,0.074799,0.881662,0.385882,0.008453,-0.008683,0.922468
22,3,445440,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205013,0.075005,0.869532,1.000000,0.000001,0.000000,0.000020
22,3,445440,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.088848,-0.077354,0.871289,0.997960,-0.000088,-0.001026,0.063829
22,3,445440,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.146488,0.003422,0.927624,0.008988,-0.735825,0.040989,0.675870
22,3,445440,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.100872,0.080742,0.885083,0.606315,0.336256,-0.317441,0.646951
22,3,445440,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.196239,0.037498,0.881638,0.143919,0.038025,-0.010029,0.988808
22,3,445440,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084442,0.073097,0.869532,0.998712,-0.000001,-0.000000,0.050727
22,3,445440,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
22,3,445440,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.203032,-0.078533,0.914809,-0.092084,-0.646083,-0.022217,0.757366
22,3,445440,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.120014,-0.025772,0.885209,0.164910,0.771787,-0.571739,0.224196
22,3,445440,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.226084,-0.081322,0.881623,0.992424,-0.009029,-0.041580,-0.115258
22,3,445440,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114609,-0.045303,0.869532,0.999999,-0.000000,-0.000000,0.001123
22,3,445440,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.081337,0.075165,0.871288,0.999779,-0.000133,-0.001022,0.020980
22,3,445440,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.247053,-0.089680,0.921992,-0.084036,-0.724380,-0.069331,0.680738
22,3,445440,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091315,-0.021744,0.884978,0.340511,-0.578468,0.298933,0.678281
22,3,445440,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.128329,0.027489,0.881638,0.118353,0.038307,-0.009044,0.992191
22,3,445440,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085037,-0.074661,0.869533,0.999896,-0.000001,0.000001,-0.014411
22,3,445440,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234898,-0.080177,0.871288,0.998628,-0.000206,-0.001009,-0.052355
22,3,445440,4,gripper,0,"","put kitchen shovel on cloth",-0.136576,0.060555,0.962961,-0.039610,-0.790028,-0.097745,0.603931
22,3,445440,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.231867,0.041801,0.878982,-0.464442,0.510287,-0.404392,-0.600307
22,3,445440,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219694,-0.083244,0.887475,0.523636,0.031049,-0.029082,0.850879
22,3,445440,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.240286,-0.065186,0.869532,0.999499,0.000000,-0.000001,0.031644
22,3,445440,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.112652,-0.045578,0.871288,0.999940,-0.000165,-0.001017,-0.010883
22,3,445440,5,gripper,0,"","put kitchen shovel on cloth",-0.236646,-0.065659,0.943612,-0.072796,-0.724205,-0.122594,0.674684
22,3,445440,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.092899,-0.147522,0.879375,0.882141,0.045235,-0.075728,0.462652
22,3,445440,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.229107,0.033600,0.883736,0.913282,0.046929,-0.145969,0.377367
22,3,445440,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083923,-0.074791,0.869532,0.999895,0.000000,-0.000001,0.014486
22,3,445440,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
22,3,445440,6,gripper,0,"","put kitchen shovel on cloth",-0.203638,0.008331,0.914839,0.096327,-0.757917,0.142206,0.629333
22,3,445440,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.106972,0.100883,0.888516,0.173385,0.594289,-0.763813,0.182614
22,3,445440,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.177441,-0.005165,0.907144,0.785613,0.029041,-0.044959,0.616399
22,3,445440,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235455,-0.088509,0.869532,0.996098,0.000001,-0.000001,-0.088248
22,3,445440,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000114
22,3,445440,7,gripper,0,"","put kitchen shovel on cloth",-0.220778,0.000362,0.943584,0.129877,-0.740945,0.043508,0.657450
22,3,445440,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.060799,0.107002,0.885085,0.670458,0.301645,-0.351353,0.579696
22,3,445440,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.065315,-0.060379,0.888793,-0.941625,0.061162,0.035885,0.329112
22,3,445440,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074955,0.869532,0.999997,-0.000001,-0.000001,0.002298
22,3,445440,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114983,-0.044994,0.871288,0.999999,-0.000154,-0.001019,0.000007
22,3,445440,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.255619,-0.127768,0.915737,-0.136567,-0.719542,-0.050039,0.679047
22,3,445440,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.093296,0.185757,0.878982,-0.571257,0.422954,-0.495003,-0.499747
22,3,445440,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084812,-0.053337,0.881852,0.323284,-0.068725,0.019064,0.943611
22,3,445440,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.194397,-0.092094,0.869532,0.986455,0.000000,-0.000002,-0.164035
22,3,445440,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
22,3,445440,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.109303,-0.086346,0.925117,0.014553,-0.802374,0.004653,0.596626
22,3,445440,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.132618,-0.068420,0.885123,0.468637,0.520243,-0.572198,0.426985
22,3,445440,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.090435,-0.049591,0.887575,0.723626,0.015733,-0.025884,0.689528
22,3,445440,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114750,-0.072964,0.869533,0.999985,0.000001,-0.000002,0.005542
22,3,445440,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,-0.044991,0.871288,0.999999,-0.000154,-0.001019,-0.000184
22,3,445440,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.250586,-0.029871,0.953298,0.097445,-0.722425,0.042375,0.683235
22,3,445440,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.214516,-0.180477,0.879213,-0.211825,-0.620511,0.733151,-0.180518
22,3,445440,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.058855,0.009933,0.881641,0.535047,-0.036096,0.017620,0.843867
22,3,445440,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082386,-0.086433,0.869532,0.984958,0.000001,-0.000000,0.172794
22,3,445440,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234608,-0.074993,0.871287,0.999997,-0.000159,-0.001014,-0.002058
22,3,445440,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.224428,-0.090677,0.926514,-0.055701,-0.740169,0.045663,0.668553
22,3,445440,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.050876,0.068695,0.885792,0.924830,-0.058929,0.158249,0.340843
22,3,445440,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084462,-0.074390,0.884003,0.707922,-0.004166,0.053576,0.704243
22,3,445440,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.077532,0.072414,0.869532,0.999617,-0.000000,-0.000000,-0.027676
22,3,445440,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.204999,-0.074955,0.871282,0.999999,-0.000452,-0.001266,-0.000364
22,3,445440,12,gripper,0,"","put ketchup bottle on cloth",-0.113660,0.092297,0.945792,0.043260,-0.802102,-0.015213,0.595424
22,3,445440,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.025030,0.030827,0.878982,0.755815,0.067076,0.647635,-0.069383
22,3,445440,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.186695,-0.094524,0.881641,0.990693,0.000791,0.040179,-0.130046
22,3,445440,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.101238,-0.058109,0.869532,0.854213,0.000000,0.000000,-0.519923
22,3,445440,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.075027,0.871211,0.999984,-0.003908,-0.004130,0.000302
22,3,445440,13,gripper,0,"","put ketchup bottle on cloth",-0.267532,-0.136095,0.912799,0.186257,-0.678533,0.183888,0.686357
22,3,445440,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156349,0.022263,0.879703,-0.399727,0.481190,-0.739035,-0.250003
22,3,445440,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.427784,0.262177,0.006243,-0.055871,-0.992914,0.023441,0.102224
22,3,445440,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.150494,-0.102406,0.875394,0.992321,-0.050897,-0.073218,-0.085721
22,3,445440,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084801,-0.074783,0.871289,0.999998,-0.000177,-0.001025,-0.001737
22,3,445440,14,gripper,0,"","put ketchup bottle on cloth",-0.187561,-0.081106,0.917787,-0.084079,-0.736310,0.010432,0.671319
22,3,445440,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.094772,-0.196278,0.879372,0.630323,-0.206153,0.186880,0.724755
22,3,445440,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.256779,-0.130032,0.881641,0.883444,-0.022579,0.033215,0.466812
22,3,445440,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234989,0.045029,0.869532,1.000000,-0.000000,-0.000001,0.000383
22,3,445440,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.086452,-0.078197,0.871288,0.999851,-0.000136,-0.001021,0.017246
22,3,445440,15,gripper,0,"","put ketchup bottle on cloth",-0.140553,-0.182970,0.923389,-0.072056,-0.759935,0.027015,0.645427
22,3,445440,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.218369,-0.066387,0.885767,0.348996,0.028860,0.003520,0.936673
22,3,445440,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.267807,0.096649,0.897901,-0.601046,-0.628882,0.205419,-0.448391
22,3,445440,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,-0.074966,0.869489,0.999999,0.000181,0.000872,-0.000755
22,3,445440,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083000,0.068192,0.870418,0.996821,-0.000152,-0.000861,0.079671
22,3,445440,16,gripper,0,"","put 7up can on newspaper",-0.241432,0.089918,0.916886,0.167890,-0.733335,-0.000197,0.658812
22,3,445440,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.125969,-0.067101,0.887399,0.315977,0.058640,0.004727,0.946941
22,3,445440,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.224220,0.054466,0.888728,0.556102,-0.436001,0.535011,0.463052
22,3,445440,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.113003,-0.044159,0.869490,0.999996,0.000184,0.000876,-0.002551
22,3,445440,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.236324,0.075729,0.870372,0.999953,-0.000380,-0.001471,-0.009612
22,3,445440,17,gripper,0,"","put 7up can on newspaper",-0.157972,-0.087879,0.918014,-0.145582,-0.763337,-0.087766,0.623233
22,3,445440,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.064312,-0.053814,0.884993,0.993109,-0.039995,0.002716,-0.110124
22,3,445440,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.075531,-0.012482,0.887358,-0.669298,0.299759,0.509412,0.450204
22,3,445440,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000101
22,3,445440,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114697,-0.098682,0.870448,0.977880,-0.001048,-0.000617,-0.209162
22,3,445440,18,gripper,0,"","put 7up can on newspaper",-0.102175,-0.004549,0.943993,-0.034090,-0.755158,-0.067790,0.651137
22,3,445440,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.228622,-0.041759,0.886769,0.998830,0.000627,-0.009592,-0.047391
22,3,445440,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.160137,-0.013184,0.888457,-0.748759,-0.095309,-0.124241,0.644081
22,3,445440,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234989,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000005
22,3,445440,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.201532,-0.039894,0.870448,0.999966,-0.000885,-0.000801,-0.008179
22,3,445440,19,gripper,0,"","put 7up can on newspaper",-0.162183,-0.012138,0.942598,0.006135,-0.723606,-0.032090,0.689439
22,3,445440,20,obj,0,"003_bread_1","put 7up can on carpet",-0.188298,-0.069248,0.883823,0.013519,-0.565629,0.822360,0.060032
22,3,445440,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.088536,-0.001633,0.885951,-0.304690,-0.604370,0.687161,-0.264028
22,3,445440,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235006,-0.075001,0.869489,1.000000,0.000180,0.000874,-0.000023
22,3,445440,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.085004,-0.074993,0.870448,0.999999,-0.000923,-0.000844,-0.000030
22,3,445440,20,gripper,0,"","put 7up can on carpet",-0.189076,-0.065390,0.961410,-0.046951,-0.727825,-0.002057,0.684150
22,3,445440,21,obj,0,"003_bread_1","put 7up can on carpet",-0.099958,-0.028324,0.887381,-0.024965,0.029568,-0.000180,0.999251
22,3,445440,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.247723,-0.093651,0.885615,-0.653821,0.119581,-0.098573,-0.740609
22,3,445440,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.073311,-0.074745,0.869490,0.998940,0.000220,0.000865,-0.046023
22,3,445440,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.234079,0.077774,0.870450,0.999856,-0.000912,-0.000891,0.016923
22,3,445440,21,gripper,0,"","put 7up can on carpet",-0.367770,-0.168812,0.869468,0.063855,-0.514731,0.086870,0.850546
22,3,445440,22,obj,0,"003_bread_1","put 7up can on carpet",-0.195499,-0.040176,0.888214,-0.381519,0.049293,-0.035999,-0.922344
22,3,445440,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.228104,0.042980,0.888593,0.772392,-0.137329,0.190515,0.590132
22,3,445440,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.200321,-0.039787,0.869490,0.999393,0.000149,0.000881,0.034837
22,3,445440,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.235153,0.075008,0.870462,0.999999,0.000037,-0.000158,-0.000969
22,3,445440,22,gripper,0,"","put 7up can on carpet",-0.184507,-0.032858,0.936469,0.029214,-0.760548,0.027937,0.648022
22,3,445440,23,obj,0,"003_bread_1","put 7up can on carpet",-0.147831,0.069057,0.887840,0.981156,-0.118143,-0.104818,-0.111307
22,3,445440,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.118362,-0.070004,0.885683,-0.734148,0.072569,0.084913,0.669739
22,3,445440,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.041553,-0.101955,0.869491,0.993425,0.000079,0.000889,0.114478
22,3,445440,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.083763,0.073666,0.870351,0.999912,-0.000155,-0.001520,0.013140
22,3,445440,23,gripper,0,"","put 7up can on carpet",-0.159658,0.068283,0.930673,0.139897,-0.651330,0.147487,0.731058
22,3,445440,24,obj,0,"003_bread_1","put bread on newspaper",-0.225815,0.066113,0.886599,0.773917,0.009138,-0.005789,0.633194
22,3,445440,24,obj,1,"005_7up can_1","put bread on newspaper",-0.166611,-0.026152,0.887922,0.825070,0.132710,-0.191999,0.514571
22,3,445440,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.189667,-0.054810,0.869490,0.994043,0.000274,0.000849,-0.108986
22,3,445440,24,recep,1,"003_carpet_1","put bread on newspaper",-0.236000,0.074633,0.870429,0.999990,-0.003114,-0.002566,0.001914
22,3,445440,24,gripper,0,"","put bread on newspaper",-0.155460,0.098866,0.945127,0.150148,-0.704190,0.071481,0.690262
22,3,445440,25,obj,0,"003_bread_1","put bread on newspaper",-0.238632,-0.063448,0.886850,0.530290,0.011798,-0.000589,0.847734
22,3,445440,25,obj,1,"005_7up can_1","put bread on newspaper",-0.179253,-0.040745,0.888956,0.090268,-0.635549,0.763405,0.071712
22,3,445440,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.074181,0.081947,0.869490,0.999993,0.000177,0.000874,0.003640
22,3,445440,25,recep,1,"003_carpet_1","put bread on newspaper",-0.199020,-0.077604,0.870447,0.999239,-0.000887,-0.000878,0.038986
22,3,445440,25,gripper,0,"","put bread on newspaper",-0.102785,0.082759,0.955047,0.141139,-0.704784,0.067635,0.691943
22,3,445440,26,obj,0,"003_bread_1","put bread on newspaper",-0.189037,0.081850,0.883709,0.999989,0.002532,-0.003725,-0.001246
22,3,445440,26,obj,1,"005_7up can_1","put bread on newspaper",-0.092991,-0.193243,0.885945,-0.369399,-0.562448,-0.674353,0.304046
22,3,445440,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.116360,-0.083456,0.869489,0.999958,0.000188,0.000873,-0.009104
22,3,445440,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.044998,0.870446,0.999999,-0.000727,-0.001047,-0.000076
22,3,445440,26,gripper,0,"","put bread on newspaper",-0.181789,0.075756,0.916021,0.113493,-0.733453,0.038023,0.669120
22,3,445440,27,obj,0,"003_bread_1","put bread on newspaper",-0.104538,-0.103777,0.886712,0.386708,0.016833,-0.002983,0.922044
22,3,445440,27,obj,1,"005_7up can_1","put bread on newspaper",-0.210678,0.116901,0.888657,0.406003,-0.572208,0.571049,0.426196
22,3,445440,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.211449,0.075853,0.869489,0.999876,0.000167,0.000877,0.015709
22,3,445440,27,recep,1,"003_carpet_1","put bread on newspaper",-0.085011,-0.074953,0.870448,1.000000,-0.000125,-0.000158,-0.000130
22,3,445440,27,gripper,0,"","put bread on newspaper",-0.169232,-0.095073,0.953946,-0.007460,-0.728222,0.007391,0.685261
22,3,445440,28,obj,0,"003_bread_1","put bread on carpet",-0.214809,-0.034470,0.886504,0.995964,0.003152,-0.010045,0.089138
22,3,445440,28,obj,1,"005_7up can_1","put bread on carpet",0.119747,0.013401,0.016872,-0.695490,0.192477,-0.206756,-0.660680
22,3,445440,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
22,3,445440,28,recep,1,"003_carpet_1","put bread on carpet",-0.235003,-0.044998,0.870447,0.999998,-0.001353,-0.001216,0.000014
22,3,445440,28,gripper,0,"","put bread on carpet",-0.102221,0.077430,0.956492,0.069425,-0.745573,0.041801,0.661478
22,3,445440,29,obj,0,"003_bread_1","put bread on carpet",-0.191591,-0.061777,0.883544,0.469152,0.011918,-0.004269,0.883027
22,3,445440,29,obj,1,"005_7up can_1","put bread on carpet",-0.225046,0.092751,0.889188,-0.163100,0.684532,-0.690008,-0.169419
22,3,445440,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084812,0.075613,0.869490,1.000000,0.000180,0.000874,0.000391
22,3,445440,29,recep,1,"003_carpet_1","put bread on carpet",-0.204548,0.074898,0.870466,0.999996,-0.000948,-0.001052,0.002247
22,3,445440,29,gripper,0,"","put bread on carpet",-0.190557,-0.069860,0.933943,0.027082,-0.765157,0.040678,0.641986
22,3,445440,30,obj,0,"003_bread_1","put bread on carpet",-0.215317,0.094597,0.886517,0.495319,0.014146,-0.002923,0.868591
22,3,445440,30,obj,1,"005_7up can_1","put bread on carpet",-0.218678,0.015604,0.885830,-0.539993,0.456682,-0.516765,-0.482496
22,3,445440,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235687,-0.074589,0.869490,0.999960,0.000189,0.000897,0.008860
22,3,445440,30,recep,1,"003_carpet_1","put bread on carpet",-0.235008,0.075052,0.870452,0.999999,-0.000928,-0.000893,-0.000025
22,3,445440,30,gripper,0,"","put bread on carpet",-0.168495,-0.018082,1.010913,0.092647,-0.722597,0.066682,0.681780
22,3,445440,31,obj,0,"003_bread_1","put bread on carpet",-0.162231,-0.077044,0.886147,0.991821,0.002978,-0.006758,-0.127426
22,3,445440,31,obj,1,"005_7up can_1","put bread on carpet",-0.216839,0.015707,0.885995,0.096010,0.717390,-0.681409,0.108697
22,3,445440,31,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
22,3,445440,31,recep,1,"003_carpet_1","put bread on carpet",-0.204746,-0.045790,0.870405,0.999959,0.000058,-0.000705,-0.008987
22,3,445440,31,gripper,0,"","put bread on carpet",-0.144302,-0.007324,0.974471,0.103321,-0.721263,0.097785,0.677896
22,3,445440,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087975,-0.070059,0.887419,0.997247,-0.001016,0.020296,0.071316
22,3,445440,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013300,0.002050,-0.000100
22,3,445440,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000021
22,3,445440,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
22,3,445440,32,gripper,0,"","put banana on sheet metal",-0.180336,0.083021,0.986484,-0.012512,-0.682279,-0.019082,0.730736
22,3,445440,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097881,0.093806,0.887165,0.915623,-0.015468,0.015068,0.401457
22,3,445440,33,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
22,3,445440,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
22,3,445440,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
22,3,445440,33,gripper,0,"","put banana on sheet metal",-0.220406,-0.081430,0.974077,-0.165463,-0.656338,-0.085737,0.731089
22,3,445440,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.135250,-0.067509,0.887217,0.574934,-0.025793,0.009035,0.817744
22,3,445440,34,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.044995,0.878547,0.706793,0.007955,0.010859,0.707292
22,3,445440,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
22,3,445440,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
22,3,445440,34,gripper,0,"","put banana on sheet metal",-0.215454,-0.031967,0.939612,0.145618,-0.697794,0.216025,0.667242
22,3,445440,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243916,-0.075411,0.887529,0.574494,-0.035363,0.024857,0.817366
22,3,445440,35,obj,1,"013_banana_1","put banana on sheet metal",-0.204567,0.045007,0.878547,0.706769,0.007949,0.010856,0.707317
22,3,445440,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
22,3,445440,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
22,3,445440,35,gripper,0,"","put banana on sheet metal",-0.181537,0.031040,1.016811,-0.121103,-0.710212,-0.127447,0.681682
22,3,445440,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.065601,-0.054933,0.887323,0.521020,-0.028061,0.011560,0.853005
22,3,445440,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084726,0.075273,0.878547,0.549650,0.005590,0.012220,0.835287
22,3,445440,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
22,3,445440,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000001,0.000001
22,3,445440,36,gripper,0,"","put banana on flat bowl",-0.070734,0.045267,0.932558,0.054317,-0.884384,0.106143,0.451274
22,3,445440,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204113,0.081317,0.887239,0.370851,-0.026860,0.019039,0.928109
22,3,445440,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084890,-0.073981,0.878547,0.375035,0.003083,0.013084,0.926913
22,3,445440,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871345,0.999999,-0.000157,0.001164,-0.000010
22,3,445440,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
22,3,445440,37,gripper,0,"","put banana on flat bowl",-0.130382,-0.027821,0.977619,-0.216919,-0.631688,-0.252832,0.699995
22,3,445440,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.093746,0.081676,0.887556,0.921586,-0.005767,0.022420,0.387483
22,3,445440,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234688,0.074693,0.878547,0.923628,0.011522,0.007000,0.383052
22,3,445440,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
22,3,445440,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874363,1.000000,-0.000000,0.000000,0.000000
22,3,445440,38,gripper,0,"","put banana on flat bowl",-0.197144,0.076974,0.964745,-0.034195,-0.703949,-0.145926,0.694256
22,3,445440,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088352,0.079861,0.887501,0.996857,-0.002409,0.037241,0.069886
22,3,445440,39,obj,1,"013_banana_1","put banana on flat bowl",-0.235001,0.074567,0.878547,0.999909,0.013311,0.002046,-0.000081
22,3,445440,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000029
22,3,445440,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
22,3,445440,39,gripper,0,"","put banana on flat bowl",-0.204838,0.079395,0.957496,-0.065725,-0.788925,-0.043981,0.609379
22,3,445440,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.202682,0.086977,0.887545,0.385446,-0.029824,0.010396,0.922190
22,3,445440,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.074661,0.878548,0.384200,0.003218,0.013070,0.923152
22,3,445440,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
22,3,445440,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000380
22,3,445440,40,gripper,0,"","put carrot on sheet metal",-0.194252,0.047649,0.999021,-0.001025,-0.727127,0.052466,0.684494
22,3,445440,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.201992,-0.083658,0.890935,0.749878,0.079735,-0.082153,0.651595
22,3,445440,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.114552,0.075014,0.878547,0.707832,0.007952,0.010826,0.706253
22,3,445440,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
22,3,445440,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
22,3,445440,41,gripper,0,"","put carrot on sheet metal",-0.225164,-0.101331,0.926540,-0.077718,-0.699534,-0.050348,0.708574
22,3,445440,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.251606,-0.085758,0.888118,0.989214,0.007772,0.055524,-0.135321
22,3,445440,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.130775,-0.094778,0.878547,0.910256,0.011251,0.007365,0.413827
22,3,445440,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045006,0.871344,0.999999,-0.000157,0.001164,0.000005
22,3,445440,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
22,3,445440,42,gripper,0,"","put carrot on sheet metal",-0.219439,-0.086148,0.921080,-0.032181,-0.754469,0.162882,0.634989
22,3,445440,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.218567,-0.089224,0.887246,0.990262,0.003089,0.033002,0.135210
22,3,445440,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084978,0.074560,0.878547,0.999909,0.013304,0.002045,-0.000159
22,3,445440,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,3,445440,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
22,3,445440,43,gripper,0,"","put carrot on sheet metal",-0.200717,-0.062189,0.987248,-0.133255,-0.672619,0.001938,0.727889
22,3,445440,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091761,0.065882,0.887527,0.099478,-0.030481,0.001563,0.994572
22,3,445440,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.114693,-0.074682,0.878547,0.382209,0.003184,0.013058,0.923978
22,3,445440,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000003
22,3,445440,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000001
22,3,445440,44,gripper,0,"","put carrot on flat bowl",-0.049192,0.060388,0.952274,0.266881,-0.675530,0.326077,0.605068
22,3,445440,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.247417,-0.076929,0.886828,0.276705,0.026188,-0.015945,0.960466
22,3,445440,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204695,0.075342,0.878547,0.383789,0.003211,0.013065,0.923323
22,3,445440,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
22,3,445440,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
22,3,445440,45,gripper,0,"","put carrot on flat bowl",-0.234015,-0.070709,0.965622,0.097163,-0.736489,0.133392,0.656011
22,3,445440,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206947,0.076466,0.887388,0.718040,-0.023020,0.017072,0.695412
22,3,445440,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074986,0.878547,0.707979,0.007950,0.010822,0.706105
22,3,445440,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
22,3,445440,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000389
22,3,445440,46,gripper,0,"","put carrot on flat bowl",-0.178782,0.089543,0.995367,0.089358,-0.775156,0.057782,0.622744
22,3,445440,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094131,-0.046480,0.887435,0.755585,-0.019050,0.024255,0.654324
22,3,445440,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234455,0.045017,0.878546,0.707452,0.007950,0.010835,0.706633
22,3,445440,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
22,3,445440,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000456
22,3,445440,47,gripper,0,"","put carrot on flat bowl",-0.079023,-0.022011,0.995255,0.103658,-0.694469,0.127819,0.700450
22,3,445440,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.057289,-0.052074,0.888112,0.445625,-0.023464,-0.014420,0.894796
22,3,445440,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235863,0.004189,0.893146,0.609061,-0.477819,0.530348,0.345638
22,3,445440,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001270
22,3,445440,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204987,0.074993,0.870870,1.000000,0.000000,-0.000001,-0.000015
22,3,445440,48,gripper,0,"","put plastic bottle on frying pan",-0.215000,-0.003668,0.928254,0.122842,-0.800758,0.107449,0.576326
22,3,445440,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.168617,-0.066765,0.894082,0.326831,-0.194824,0.824126,0.419574
22,3,445440,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.110092,-0.019321,0.022150,0.201272,-0.755595,0.561720,0.270251
22,3,445440,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205051,0.075020,0.872199,1.000000,-0.000001,-0.000001,-0.000807
22,3,445440,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205143,-0.075012,0.870875,0.999997,0.000310,0.000315,-0.002214
22,3,445440,49,gripper,0,"","put plastic bottle on frying pan",-0.040131,0.087807,0.994413,0.069583,-0.822019,0.017285,0.564929
22,3,445440,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.049198,0.098942,0.890457,0.974717,-0.028183,0.010375,0.221416
22,3,445440,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.040100,-0.089481,0.887026,0.704234,0.003503,0.709699,-0.019211
22,3,445440,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",0.059837,-0.090916,0.003399,-0.999643,0.000000,0.000000,0.026703
22,3,445440,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085003,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000064
22,3,445440,50,gripper,0,"","put plastic bottle on frying pan",-0.099688,-0.100386,0.996083,0.031567,-0.762108,-0.117873,0.635846
22,3,445440,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.181196,-0.017712,0.890214,0.808163,-0.111657,0.059252,0.575234
22,3,445440,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.141876,0.055229,0.889820,0.614518,-0.421530,0.506321,0.433958
22,3,445440,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
22,3,445440,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234974,-0.075012,0.870870,1.000000,0.000000,0.000000,-0.000059
22,3,445440,51,gripper,0,"","put plastic bottle on frying pan",-0.143537,0.051382,0.917362,0.172131,-0.749628,0.031993,0.638283
22,3,445440,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.102385,-0.016502,0.894006,0.567530,0.611274,-0.459131,0.305700
22,3,445440,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.157107,0.022022,0.887068,0.491479,-0.509607,0.457196,0.538257
22,3,445440,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
22,3,445440,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.074298,-0.076691,0.870871,0.999344,0.000000,-0.000000,-0.036202
22,3,445440,52,gripper,0,"","put plastic bottle on cutting board",-0.178023,0.019787,0.914165,-0.049601,-0.808579,-0.070213,0.582074
22,3,445440,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.020123,0.107517,0.890770,0.686818,-0.005699,0.027833,-0.726274
22,3,445440,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.123541,0.108105,0.939737,0.446459,-0.371503,0.490441,0.649713
22,3,445440,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.111780,-0.058071,0.872199,0.999917,-0.000000,-0.000001,-0.012913
22,3,445440,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.028669,0.108711,0.870866,0.999943,0.000532,0.000715,0.010649
22,3,445440,53,gripper,0,"","put plastic bottle on cutting board",-0.137211,0.101168,0.973671,0.072407,-0.682398,-0.096804,0.720916
22,3,445440,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.027054,0.031792,0.888112,0.715227,-0.026903,-0.005906,0.698349
22,3,445440,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.108997,-0.077774,0.889693,0.505019,-0.506165,0.496904,0.491771
22,3,445440,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
22,3,445440,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083225,-0.076122,0.870871,0.999980,0.000000,-0.000013,0.006323
22,3,445440,54,gripper,0,"","put plastic bottle on cutting board",-0.110849,-0.018843,1.112764,0.094473,-0.823791,0.018612,0.558657
22,3,445440,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.202354,-0.053120,0.888112,0.937130,-0.026979,0.005526,0.347894
22,3,445440,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.194046,0.097641,0.888128,-0.424234,-0.566120,0.396289,-0.585225
22,3,445440,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085903,-0.076721,0.872199,0.999695,0.000001,-0.000001,-0.024691
22,3,445440,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235027,0.075039,0.870885,0.999999,0.000709,0.000732,0.000205
22,3,445440,55,gripper,0,"","put plastic bottle on cutting board",-0.209688,0.101612,1.006420,-0.114811,-0.750097,-0.116515,0.640779
22,3,445440,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205498,-0.001057,0.888112,0.670224,-0.026480,-0.007569,0.741648
22,3,445440,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.243347,-0.077656,0.894343,0.726333,-0.023026,0.007163,0.686919
22,3,445440,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.232597,-0.064159,0.872200,0.995045,-0.000000,-0.000001,0.099423
22,3,445440,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235641,0.078228,0.870870,0.999872,0.000001,-0.000000,0.015977
22,3,445440,56,gripper,0,"","put hamburger on frying pan",-0.184074,-0.003479,1.000671,0.034504,-0.743597,0.067040,0.664364
22,3,445440,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.231495,-0.077164,0.888876,0.925797,-0.067542,0.013207,0.371703
22,3,445440,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256939,0.046768,0.895326,0.537283,-0.470718,0.534682,0.451515
22,3,445440,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.239822,0.070332,0.872199,0.999206,-0.000001,-0.000000,-0.039835
22,3,445440,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.079655,-0.091309,0.870871,0.999994,0.000000,-0.000001,0.003462
22,3,445440,57,gripper,0,"","put hamburger on frying pan",-0.241236,-0.078325,0.931757,0.004820,-0.763890,0.031712,0.644549
22,3,445440,58,obj,0,"014_hamburger_1","put hamburger on frying pan",0.008286,0.054863,0.888112,0.989191,-0.021029,0.017781,-0.144025
22,3,445440,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.045841,0.051193,0.885720,0.720564,-0.042517,-0.690179,-0.051314
22,3,445440,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.083313,-0.061604,0.872199,0.942814,-0.000000,-0.000001,-0.333319
22,3,445440,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
22,3,445440,58,gripper,0,"","put hamburger on frying pan",-0.199844,-0.054033,0.937827,0.083962,-0.734881,0.091970,0.666664
22,3,445440,59,obj,0,"014_hamburger_1","put hamburger on frying pan",0.158970,0.067501,0.019312,-0.369581,0.022178,0.016325,-0.928790
22,3,445440,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.179522,0.013000,0.989423,0.364266,-0.575735,0.526135,0.508942
22,3,445440,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,3,445440,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.059807,-0.091743,0.870870,0.998261,0.000000,-0.000001,0.058951
22,3,445440,59,gripper,0,"","put hamburger on frying pan",-0.154371,0.022108,1.013043,-0.098274,-0.733121,-0.013502,0.672825
22,3,445440,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065605,0.019600,0.888112,0.757492,-0.027218,-0.004213,0.652264
22,3,445440,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.001995,-0.038910,0.886971,0.980940,-0.027692,0.014249,0.191797
22,3,445440,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
22,3,445440,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.071428,-0.097477,0.870870,0.967376,-0.000000,-0.000000,-0.253347
22,3,445440,60,gripper,0,"","put hamburger on cutting board",-0.106021,-0.029203,0.959869,0.036240,-0.770834,-0.071232,0.632003
22,3,445440,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.127821,-0.035233,0.888211,0.981790,0.005662,0.038921,0.185851
22,3,445440,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.029482,-0.091579,0.887027,0.686409,0.144291,0.694887,-0.158600
22,3,445440,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,3,445440,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,-0.075024,0.870870,1.000000,0.000000,-0.000001,0.000107
22,3,445440,61,gripper,0,"","put hamburger on cutting board",-0.083373,-0.035025,0.985684,0.042374,-0.763566,0.021902,0.643966
22,3,445440,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.177368,-0.042652,0.890548,0.398594,-0.021420,-0.012510,0.916792
22,3,445440,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.033504,0.099579,0.887027,-0.000664,-0.709516,-0.016519,0.704495
22,3,445440,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084961,-0.072300,0.872199,0.999995,-0.000001,-0.000001,-0.003224
22,3,445440,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,-0.000000,0.000000,0.000059
22,3,445440,62,gripper,0,"","put hamburger on cutting board",-0.150194,-0.037294,1.108537,0.087705,-0.713214,0.108977,0.686846
22,3,445440,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.073364,-0.070984,0.893404,0.976889,-0.114383,0.087477,0.157963
22,3,445440,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.156475,0.000156,0.887468,0.445481,-0.565530,0.429267,0.545392
22,3,445440,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.248199,-0.080189,0.872199,0.989084,-0.000000,-0.000001,-0.147351
22,3,445440,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.066441,0.071167,0.870871,0.999844,0.000000,-0.000010,0.017687
22,3,445440,63,gripper,0,"","put hamburger on cutting board",-0.094082,-0.073566,0.921063,-0.093481,-0.806463,-0.056406,0.581117
22,4,450560,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",10.498230,0.005905,-1273.452881,-0.939167,0.048880,0.235984,0.244719
22,4,450560,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",1.091934,1.209869,0.012838,0.468231,0.032459,-0.022250,0.882730
22,4,450560,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",1.195450,-5.011772,-1279.912231,-0.268255,0.373141,0.847481,-0.265669
22,4,450560,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",0.002975,0.014908,0.871262,0.982822,-0.001022,-0.002306,0.184539
22,4,450560,0,gripper,0,"","put kitchen shovel on cloth",-0.246933,-0.038143,0.915018,-0.002673,-0.709048,0.077094,0.700928
22,4,450560,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.089024,-0.072197,0.888087,0.718427,0.270368,-0.385757,0.511815
22,4,450560,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.083103,0.067787,0.881638,0.265572,0.036523,-0.014680,0.963287
22,4,450560,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204315,0.071770,0.869532,0.998493,0.000000,-0.000000,-0.054885
22,4,450560,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.088848,-0.077362,0.871289,0.997958,-0.000088,-0.001026,0.063870
22,4,450560,1,gripper,0,"","put kitchen shovel on cloth",-0.254934,-0.100067,0.963502,0.052734,-0.726996,0.121317,0.673779
22,4,450560,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.102749,-0.103477,0.885503,-0.461299,0.525361,-0.316771,-0.640979
22,4,450560,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.196236,0.037498,0.881638,0.143937,0.038024,-0.010029,0.988805
22,4,450560,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083660,0.070435,0.869532,0.996118,-0.000001,-0.000002,0.088025
22,4,450560,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000035
22,4,450560,2,gripper,0,"","put kitchen shovel on cloth",-0.152691,-0.118935,0.937618,-0.055524,-0.753246,-0.048598,0.653587
22,4,450560,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.058369,0.213173,0.879213,0.210377,0.626354,-0.728164,0.182209
22,4,450560,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.223577,-0.083969,0.881638,0.994740,-0.008128,-0.038513,-0.094567
22,4,450560,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.111509,-0.046082,0.869532,0.999782,0.000000,0.000000,-0.020878
22,4,450560,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.081333,0.075165,0.871288,0.999780,-0.000133,-0.001023,0.020968
22,4,450560,3,gripper,0,"","put kitchen shovel on cloth",-0.166122,0.068394,0.929820,0.006127,-0.763328,-0.019340,0.645693
22,4,450560,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091318,-0.021744,0.884978,0.340467,-0.578487,0.298901,0.678302
22,4,450560,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.128329,0.027489,0.881638,0.118353,0.038312,-0.009044,0.992191
22,4,450560,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085037,-0.074661,0.869533,0.999896,-0.000001,0.000001,-0.014411
22,4,450560,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.233897,-0.078987,0.871283,0.998035,-0.000291,-0.001046,-0.062641
22,4,450560,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.189662,-0.069080,0.923838,-0.060954,-0.797969,-0.021537,0.599221
22,4,450560,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.229683,-0.036201,0.884978,-0.534163,0.457170,-0.463596,-0.539207
22,4,450560,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.219723,-0.083183,0.887474,0.520698,0.031519,-0.029179,0.852660
22,4,450560,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.240284,-0.065186,0.869532,0.999496,0.000000,-0.000001,0.031746
22,4,450560,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.112652,-0.045578,0.871288,0.999940,-0.000168,-0.001018,-0.010884
22,4,450560,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.244169,-0.038418,1.006464,0.013265,-0.784652,-0.007129,0.619754
22,4,450560,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.092899,-0.147522,0.879375,0.882152,0.045229,-0.075719,0.462633
22,4,450560,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.231247,0.034180,0.881638,0.916405,0.011501,-0.037620,0.398313
22,4,450560,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.083923,-0.074791,0.869532,0.999895,0.000000,-0.000001,0.014486
22,4,450560,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
22,4,450560,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.303946,-0.024464,0.915491,0.148462,-0.744894,0.097963,0.643036
22,4,450560,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.228691,-0.053650,0.885369,-0.656988,0.199052,-0.194484,-0.700657
22,4,450560,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.175156,-0.005875,0.881638,0.790820,0.020384,-0.033666,0.610782
22,4,450560,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235458,-0.088516,0.869532,0.996097,0.000000,-0.000001,-0.088266
22,4,450560,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.082657,0.074005,0.871288,0.999993,-0.000151,-0.001020,0.003558
22,4,450560,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.226448,-0.024124,0.980361,0.041432,-0.740712,0.039188,0.669398
22,4,450560,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.060799,0.106998,0.885085,0.670375,0.301685,-0.351287,0.579811
22,4,450560,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.065315,-0.060390,0.888793,-0.941597,0.061163,0.035875,0.329191
22,4,450560,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074947,0.869532,0.999997,-0.000001,-0.000001,0.002474
22,4,450560,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114983,-0.044994,0.871288,1.000000,-0.000154,-0.001019,0.000046
22,4,450560,8,gripper,0,"","put ketchup bottle on cloth",-0.240768,-0.064083,0.918640,0.050477,-0.740587,0.067562,0.666647
22,4,450560,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.093296,0.185757,0.878981,-0.571253,0.422958,-0.495007,-0.499744
22,4,450560,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.090931,-0.045013,0.881638,0.216078,0.037194,-0.012792,0.975583
22,4,450560,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.241413,-0.067200,0.869532,0.702825,0.000000,-0.000001,-0.711363
22,4,450560,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000033
22,4,450560,9,gripper,0,"","put ketchup bottle on cloth",-0.286167,-0.154440,0.913793,0.006923,-0.701917,0.096234,0.705693
22,4,450560,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.110336,-0.066200,0.887679,0.502722,0.301038,-0.733615,0.344174
22,4,450560,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.066322,-0.076153,0.900639,0.880813,-0.065621,-0.120488,0.453151
22,4,450560,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.088024,-0.077412,0.877165,0.982500,-0.010286,-0.115519,-0.145752
22,4,450560,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.045013,0.871288,0.999999,-0.000154,-0.001019,-0.000211
22,4,450560,10,gripper,0,"","put ketchup bottle on cloth",-0.152304,-0.100977,0.913375,-0.002960,-0.851811,-0.002738,0.523834
22,4,450560,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.214516,-0.180477,0.879213,-0.211826,-0.620503,0.733158,-0.180515
22,4,450560,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.058842,0.010204,0.881638,0.533705,0.030669,-0.024635,0.844755
22,4,450560,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.082386,-0.086433,0.869532,0.984958,0.000001,-0.000000,0.172794
22,4,450560,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234556,-0.074993,0.871288,0.999997,-0.000155,-0.001019,-0.002161
22,4,450560,11,gripper,0,"","put ketchup bottle on cloth",-0.209107,-0.057842,0.977917,-0.049156,-0.715279,-0.086501,0.691720
22,4,450560,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.049351,0.069950,0.885471,0.905625,-0.085974,0.246635,0.334100
22,4,450560,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.106909,0.055695,0.889369,0.759957,0.109318,-0.210517,0.605143
22,4,450560,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.077619,0.072475,0.869532,0.999588,0.000000,-0.000000,-0.028708
22,4,450560,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204999,-0.074955,0.871282,0.999999,-0.000451,-0.001265,-0.000364
22,4,450560,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.264264,0.010866,0.914379,0.234984,-0.742537,0.083430,0.621659
22,4,450560,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.025030,0.030827,0.878982,0.755826,0.067073,0.647622,-0.069384
22,4,450560,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.186689,-0.094524,0.881641,0.990717,0.000780,0.040159,-0.129871
22,4,450560,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.101238,-0.058109,0.869532,0.854213,0.000001,-0.000000,-0.519923
22,4,450560,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,0.075027,0.871211,0.999984,-0.003907,-0.004130,0.000376
22,4,450560,13,gripper,0,"","put kitchen shovel on yellow_plate",0.137997,0.106905,1.026645,-0.812961,-0.171515,-0.158198,-0.533527
22,4,450560,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.128956,-0.210995,0.879089,-0.602168,-0.338685,0.315803,-0.650350
22,4,450560,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.427780,0.262177,0.006243,-0.055860,-0.992912,0.023543,0.102231
22,4,450560,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.154182,-0.105499,0.872231,0.987772,0.032619,-0.024965,-0.150396
22,4,450560,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084892,-0.074940,0.871289,0.999999,-0.000156,-0.001020,-0.000432
22,4,450560,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.213896,-0.036625,0.914967,-0.101969,-0.790923,-0.068095,0.599504
22,4,450560,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094772,-0.196278,0.879372,0.630301,-0.206159,0.186874,0.724774
22,4,450560,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.284245,-0.116081,0.881711,0.849153,0.025580,-0.053897,0.524767
22,4,450560,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234989,0.045029,0.869532,1.000000,0.000000,-0.000001,0.000385
22,4,450560,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.086452,-0.078197,0.871288,0.999851,-0.000136,-0.001022,0.017237
22,4,450560,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.262245,-0.104076,0.921216,0.033208,-0.700535,0.048973,0.711160
22,4,450560,16,obj,0,"003_bread_1","put 7up can on carpet",-0.218361,-0.066380,0.885766,0.350018,0.028887,0.003494,0.936291
22,4,450560,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.272057,0.110111,0.885746,-0.575742,-0.411137,0.433134,-0.558464
22,4,450560,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,-0.074959,0.869490,0.999999,0.000180,0.000872,-0.000818
22,4,450560,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.083000,0.068195,0.870447,0.996812,-0.002886,-0.002973,0.079677
22,4,450560,16,gripper,0,"","put 7up can on carpet",-0.210396,0.068859,0.960555,0.084642,-0.667946,-0.040628,0.738264
22,4,450560,17,obj,0,"003_bread_1","put 7up can on carpet",-0.088108,-0.052757,0.885766,0.237192,0.028517,0.004907,0.971032
22,4,450560,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.204636,0.061016,0.888674,0.497077,-0.495583,0.526763,0.479409
22,4,450560,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.103783,-0.038185,0.869483,0.997246,0.000371,0.001445,0.074147
22,4,450560,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.233463,0.076370,0.870462,0.999982,0.000035,-0.000160,-0.005919
22,4,450560,17,gripper,0,"","put 7up can on carpet",-0.112782,-0.109699,0.917871,-0.057532,-0.775727,-0.060526,0.625519
22,4,450560,18,obj,0,"003_bread_1","put 7up can on carpet",-0.066063,-0.065914,0.885221,0.993174,-0.046445,0.005384,-0.106860
22,4,450560,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.101490,-0.034012,0.885617,-0.715341,-0.103553,-0.116247,0.681212
22,4,450560,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204964,0.075005,0.869490,1.000000,0.000180,0.000874,0.000134
22,4,450560,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.112080,-0.106876,0.870416,0.962572,-0.000872,-0.001009,-0.271022
22,4,450560,18,gripper,0,"","put 7up can on carpet",-0.130299,-0.056011,0.985488,-0.031889,-0.716863,-0.078167,0.692084
22,4,450560,19,obj,0,"003_bread_1","put 7up can on carpet",-0.225164,-0.037704,0.886765,0.999950,0.001665,-0.009833,0.000091
22,4,450560,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.156900,-0.008591,0.888439,-0.739620,-0.096910,-0.122750,0.654602
22,4,450560,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000016
22,4,450560,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.201435,-0.039883,0.870448,0.999986,-0.000882,-0.000804,-0.005104
22,4,450560,19,gripper,0,"","put 7up can on carpet",-0.186274,-0.014198,1.029343,-0.062611,-0.639240,-0.007748,0.766415
22,4,450560,20,obj,0,"003_bread_1","put bread on newspaper",-0.187735,-0.069855,0.883615,0.009287,-0.564160,0.820840,0.088643
22,4,450560,20,obj,1,"005_7up can_1","put bread on newspaper",-0.088536,-0.001629,0.885951,-0.304749,-0.604354,0.687124,-0.264094
22,4,450560,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.235006,-0.075001,0.869489,1.000000,0.000180,0.000874,-0.000023
22,4,450560,20,recep,1,"003_carpet_1","put bread on newspaper",-0.085004,-0.074993,0.870448,0.999999,-0.000923,-0.000844,-0.000030
22,4,450560,20,gripper,0,"","put bread on newspaper",-0.187715,0.004673,0.954973,0.135763,-0.722692,0.091908,0.671445
22,4,450560,21,obj,0,"003_bread_1","put bread on newspaper",-0.099953,-0.028324,0.887381,-0.024994,0.029566,-0.000180,0.999250
22,4,450560,21,obj,1,"005_7up can_1","put bread on newspaper",-0.234346,0.100185,0.889057,-0.014547,0.644285,-0.764425,-0.018436
22,4,450560,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.073309,-0.074745,0.869490,0.998940,0.000220,0.000865,-0.046025
22,4,450560,21,recep,1,"003_carpet_1","put bread on newspaper",-0.234089,0.077782,0.870429,0.999852,-0.003077,-0.002612,0.016694
22,4,450560,21,gripper,0,"","put bread on newspaper",-0.175717,-0.029209,0.914780,-0.067377,-0.775121,-0.067953,0.624524
22,4,450560,22,obj,0,"003_bread_1","put bread on newspaper",-0.194134,-0.041737,0.886088,-0.384626,-0.027492,-0.003377,-0.922657
22,4,450560,22,obj,1,"005_7up can_1","put bread on newspaper",-0.228046,0.042953,0.888592,0.785890,-0.133025,0.193933,0.571901
22,4,450560,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.200317,-0.039787,0.869490,0.999392,0.000151,0.000885,0.034867
22,4,450560,22,recep,1,"003_carpet_1","put bread on newspaper",-0.235149,0.074978,0.870462,1.000000,0.000036,-0.000159,-0.000862
22,4,450560,22,gripper,0,"","put bread on newspaper",-0.162863,0.022526,1.020793,0.069816,-0.705049,0.029267,0.705106
22,4,450560,23,obj,0,"003_bread_1","put bread on newspaper",-0.139896,0.083260,0.886192,0.994939,0.004819,-0.100313,0.003124
22,4,450560,23,obj,1,"005_7up can_1","put bread on newspaper",-0.088730,-0.086544,0.972580,-0.810562,-0.117633,-0.227757,0.526571
22,4,450560,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.031052,-0.107098,0.869490,0.991434,0.000064,0.000890,0.130604
22,4,450560,23,recep,1,"003_carpet_1","put bread on newspaper",-0.084927,0.073761,0.870448,0.999987,-0.000914,-0.000851,0.004862
22,4,450560,23,gripper,0,"","put bread on newspaper",-0.116404,-0.101397,1.004583,-0.164363,-0.693166,-0.194340,0.674342
22,4,450560,24,obj,0,"003_bread_1","put bread on carpet",-0.225822,0.066114,0.886607,0.774331,0.008911,-0.005902,0.632691
22,4,450560,24,obj,1,"005_7up can_1","put bread on carpet",-0.166252,-0.025944,0.887860,0.825391,0.131005,-0.185652,0.516818
22,4,450560,24,recep,0,"004_newspaper_1","put bread on carpet",-0.189682,-0.054800,0.869490,0.993772,0.000276,0.000845,-0.111430
22,4,450560,24,recep,1,"003_carpet_1","put bread on carpet",-0.236000,0.074633,0.870429,0.999990,-0.003114,-0.002566,0.001911
22,4,450560,24,gripper,0,"","put bread on carpet",-0.072681,-0.069809,0.928533,0.107277,-0.761013,0.073989,0.635513
22,4,450560,25,obj,0,"003_bread_1","put bread on carpet",-0.238632,-0.063488,0.886850,0.529359,0.011806,-0.000581,0.848315
22,4,450560,25,obj,1,"005_7up can_1","put bread on carpet",-0.179268,-0.040749,0.888957,0.090078,-0.635782,0.763242,0.071612
22,4,450560,25,recep,0,"004_newspaper_1","put bread on carpet",-0.074173,0.081930,0.869490,0.999993,0.000176,0.000874,0.003689
22,4,450560,25,recep,1,"003_carpet_1","put bread on carpet",-0.199020,-0.077627,0.870448,0.999229,-0.000887,-0.000879,0.039238
22,4,450560,25,gripper,0,"","put bread on carpet",-0.067389,0.090051,0.920773,0.121088,-0.799415,0.124067,0.575222
22,4,450560,26,obj,0,"003_bread_1","put bread on carpet",-0.197044,0.017849,0.883814,0.983863,-0.007563,-0.009358,-0.178515
22,4,450560,26,obj,1,"005_7up can_1","put bread on carpet",-0.092991,-0.193232,0.885945,-0.369666,-0.561866,-0.674834,0.303732
22,4,450560,26,recep,0,"004_newspaper_1","put bread on carpet",-0.116360,-0.083454,0.869489,0.999959,0.000188,0.000873,-0.009067
22,4,450560,26,recep,1,"003_carpet_1","put bread on carpet",-0.235008,-0.045008,0.870446,0.999999,-0.000727,-0.001047,-0.000134
22,4,450560,26,gripper,0,"","put bread on carpet",-0.181095,-0.056669,0.951502,-0.107776,-0.723196,-0.012314,0.682070
22,4,450560,27,obj,0,"003_bread_1","put bread on carpet",-0.104538,-0.103764,0.886712,0.385628,0.016842,-0.002979,0.922496
22,4,450560,27,obj,1,"005_7up can_1","put bread on carpet",-0.210661,0.116898,0.888658,0.406084,-0.572146,0.571007,0.426257
22,4,450560,27,recep,0,"004_newspaper_1","put bread on carpet",-0.211433,0.075853,0.869489,0.999876,0.000166,0.000877,0.015726
22,4,450560,27,recep,1,"003_carpet_1","put bread on carpet",-0.085011,-0.074959,0.870448,1.000000,-0.000126,-0.000157,-0.000115
22,4,450560,27,gripper,0,"","put bread on carpet",-0.181165,-0.136399,0.938225,0.073181,-0.714047,-0.003982,0.696251
22,4,450560,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.205795,-0.044031,0.886504,0.999765,0.002993,-0.009953,0.019006
22,4,450560,28,obj,1,"005_7up can_1","put 7up can on newspaper",0.119747,0.013401,0.016872,-0.695494,0.192481,-0.206764,-0.660673
22,4,450560,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
22,4,450560,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.227298,-0.051588,0.870452,0.997526,-0.000905,-0.000770,-0.070291
22,4,450560,28,gripper,0,"","put 7up can on newspaper",-0.104676,-0.117046,0.922927,-0.045752,-0.781491,-0.076416,0.617526
22,4,450560,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.213097,0.011246,0.883985,0.013708,0.412998,-0.881022,-0.230314
22,4,450560,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.225267,0.095161,0.889232,-0.111654,0.693865,-0.703208,-0.107626
22,4,450560,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084824,0.075615,0.869490,1.000000,0.000180,0.000874,0.000414
22,4,450560,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204380,0.074913,0.870440,0.999999,-0.000223,-0.000166,0.001447
22,4,450560,29,gripper,0,"","put 7up can on newspaper",-0.210995,0.010604,0.948747,-0.036491,-0.774010,-0.030172,0.631400
22,4,450560,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.215328,0.094595,0.886503,0.494407,0.014239,-0.003593,0.869106
22,4,450560,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.218678,0.015604,0.885830,-0.539988,0.456687,-0.516764,-0.482499
22,4,450560,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235683,-0.074589,0.869489,0.999960,0.000209,0.000924,0.008893
22,4,450560,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075068,0.870452,0.999999,-0.000928,-0.000893,-0.000068
22,4,450560,30,gripper,0,"","put 7up can on newspaper",-0.131716,0.046167,1.134132,0.117341,-0.751191,0.193963,0.619936
22,4,450560,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.199310,-0.148289,0.883615,-0.047670,0.141202,-0.985961,-0.075307
22,4,450560,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.177727,0.017773,0.885951,0.268634,0.686874,-0.604686,0.300656
22,4,450560,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000090
22,4,450560,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.190670,-0.053392,0.870369,0.999996,0.000180,-0.001138,0.002645
22,4,450560,31,gripper,0,"","put 7up can on newspaper",-0.245327,-0.180122,0.916394,-0.136005,-0.761191,-0.094658,0.627001
22,4,450560,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087517,-0.070386,0.887562,0.996798,-0.004288,0.037968,0.070244
22,4,450560,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234970,0.074574,0.878547,0.999910,0.013294,0.002049,-0.000100
22,4,450560,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000021
22,4,450560,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
22,4,450560,32,gripper,0,"","put banana on flat bowl",-0.219597,0.056803,0.971400,0.056789,-0.762935,-0.028285,0.643354
22,4,450560,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.100639,0.096480,0.887527,0.919449,-0.016855,0.039750,0.390832
22,4,450560,33,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011501,0.006989,0.383091
22,4,450560,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001164,0.000000
22,4,450560,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
22,4,450560,33,gripper,0,"","put banana on flat bowl",-0.185059,-0.066308,1.000080,-0.171254,-0.704027,-0.145544,0.673672
22,4,450560,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.138371,-0.069205,0.887527,0.578290,-0.021272,0.012257,0.815462
22,4,450560,34,obj,1,"013_banana_1","put banana on flat bowl",-0.234554,-0.044995,0.878547,0.706793,0.007952,0.010856,0.707293
22,4,450560,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
22,4,450560,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
22,4,450560,34,gripper,0,"","put banana on flat bowl",-0.210009,-0.062322,1.009411,-0.000744,-0.671398,0.084676,0.736244
22,4,450560,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243826,-0.075130,0.887529,0.568407,-0.035549,0.024594,0.821611
22,4,450560,35,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,0.045007,0.878547,0.706769,0.007934,0.010839,0.707317
22,4,450560,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
22,4,450560,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
22,4,450560,35,gripper,0,"","put banana on flat bowl",-0.074271,0.088770,0.963459,0.109161,-0.727691,0.024306,0.676727
22,4,450560,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.082189,-0.062386,0.887264,0.436630,-0.032724,0.008221,0.899008
22,4,450560,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084725,0.075273,0.878548,0.549649,0.005603,0.012243,0.835287
22,4,450560,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074999,0.871344,0.999999,-0.000158,0.001164,-0.000001
22,4,450560,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000001,0.000001
22,4,450560,36,gripper,0,"","put carrot on sheet metal",-0.076470,-0.016170,0.997123,0.096991,-0.750317,0.098528,0.646459
22,4,450560,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.204113,0.081317,0.887239,0.370851,-0.026860,0.019039,0.928109
22,4,450560,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084890,-0.073981,0.878547,0.375035,0.003084,0.013087,0.926913
22,4,450560,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,4,450560,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
22,4,450560,37,gripper,0,"","put carrot on sheet metal",-0.185265,0.067666,0.965716,-0.036941,-0.697079,-0.093318,0.709935
22,4,450560,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097176,0.083348,0.887239,0.935812,-0.003741,0.031450,0.351072
22,4,450560,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.074693,0.878547,0.923629,0.011496,0.006986,0.383053
22,4,450560,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
22,4,450560,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874363,1.000000,0.000000,-0.000000,0.000000
22,4,450560,38,gripper,0,"","put carrot on sheet metal",-0.074900,0.089500,0.990264,0.037392,-0.697708,0.045095,0.713983
22,4,450560,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088707,0.080049,0.887304,0.996977,0.003597,0.034827,0.069357
22,4,450560,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.235001,0.074567,0.878547,0.999909,0.013309,0.002046,-0.000081
22,4,450560,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
22,4,450560,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
22,4,450560,39,gripper,0,"","put carrot on sheet metal",-0.108530,0.089210,1.024983,0.035053,-0.777283,0.021350,0.627810
22,4,450560,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.202400,0.086367,0.887235,0.373547,-0.026649,0.019151,0.927030
22,4,450560,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.074654,0.878548,0.384845,0.003226,0.013063,0.922883
22,4,450560,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
22,4,450560,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000002,-0.000001,0.000509
22,4,450560,40,gripper,0,"","put carrot on flat bowl",-0.164158,0.097773,1.016063,0.256812,-0.728169,0.204372,0.601706
22,4,450560,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.229809,-0.097448,0.887404,0.933260,-0.010564,0.037008,0.357133
22,4,450560,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.114548,0.075018,0.878547,0.708162,0.007962,0.010829,0.705922
22,4,450560,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
22,4,450560,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
22,4,450560,41,gripper,0,"","put carrot on flat bowl",-0.169144,-0.063663,1.037535,-0.230687,-0.725685,-0.079005,0.643368
22,4,450560,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.253651,-0.079697,0.887220,0.999024,-0.007090,0.031573,-0.030062
22,4,450560,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.130772,-0.094778,0.878547,0.910483,0.011242,0.007351,0.413328
22,4,450560,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045008,0.871344,0.999999,-0.000157,0.001164,0.000005
22,4,450560,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
22,4,450560,42,gripper,0,"","put carrot on flat bowl",-0.170370,-0.062817,0.973340,-0.046567,-0.724167,0.024040,0.687630
22,4,450560,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.073153,-0.048241,0.998488,0.989702,-0.040565,0.061067,0.122946
22,4,450560,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084976,0.074558,0.878547,0.999909,0.013314,0.002044,-0.000314
22,4,450560,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234983,0.044998,0.871345,0.999999,-0.000158,0.001164,-0.000010
22,4,450560,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
22,4,450560,43,gripper,0,"","put carrot on flat bowl",-0.070620,-0.044313,1.031789,-0.122864,-0.708855,-0.040922,0.693364
22,4,450560,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.091406,0.063429,0.887383,0.109641,-0.030445,0.000375,0.993505
22,4,450560,44,obj,1,"013_banana_1","put banana on sheet metal",-0.114692,-0.074682,0.878548,0.382209,0.003190,0.013075,0.923978
22,4,450560,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001163,0.000003
22,4,450560,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000001
22,4,450560,44,gripper,0,"","put banana on sheet metal",-0.081790,-0.054609,0.957258,0.085499,-0.832123,0.201506,0.509564
22,4,450560,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.251841,-0.087523,0.887381,0.140493,-0.028612,0.007037,0.989643
22,4,450560,45,obj,1,"013_banana_1","put banana on sheet metal",-0.192947,0.080997,0.878652,0.365499,0.005794,0.023159,0.930505
22,4,450560,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
22,4,450560,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000000
22,4,450560,45,gripper,0,"","put banana on sheet metal",-0.196523,0.058229,1.008616,0.214936,-0.648407,0.084720,0.725392
22,4,450560,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206806,0.076990,0.887529,0.717622,-0.030073,0.031045,0.695090
22,4,450560,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084518,-0.074951,0.878547,0.708130,0.007955,0.010822,0.705954
22,4,450560,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
22,4,450560,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000002,-0.000002,0.000508
22,4,450560,46,gripper,0,"","put banana on sheet metal",-0.063412,-0.046364,0.961643,-0.038978,-0.722245,-0.045021,0.689069
22,4,450560,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097416,-0.047398,0.887406,0.765033,-0.017481,0.018376,0.643491
22,4,450560,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234451,0.045021,0.878546,0.707755,0.007955,0.010833,0.706330
22,4,450560,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
22,4,450560,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000606
22,4,450560,47,gripper,0,"","put banana on sheet metal",-0.208561,0.046271,0.973951,0.039219,-0.717663,-0.000409,0.695285
22,4,450560,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.057289,-0.052074,0.888112,0.445756,-0.023464,-0.014418,0.894731
22,4,450560,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.204117,0.072983,0.889703,0.495676,-0.515334,0.487965,0.500626
22,4,450560,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234917,-0.075573,0.872199,0.999993,-0.000000,-0.000001,-0.003752
22,4,450560,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205124,0.075195,0.870870,0.999999,0.000011,0.000012,-0.001542
22,4,450560,48,gripper,0,"","put plastic bottle on cutting board",-0.184010,0.032560,1.102750,-0.039798,-0.769299,-0.007293,0.637606
22,4,450560,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.168461,-0.068962,0.894107,0.361208,-0.120739,0.838387,0.389947
22,4,450560,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.114647,-0.036076,0.018227,0.429592,-0.572016,0.420100,0.558359
22,4,450560,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205051,0.075020,0.872199,1.000000,-0.000000,-0.000001,-0.000795
22,4,450560,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205566,-0.075180,0.870873,0.999990,0.000184,0.000185,-0.004549
22,4,450560,49,gripper,0,"","put plastic bottle on cutting board",-0.181091,-0.031834,0.976684,0.055221,-0.761875,0.095199,0.638306
22,4,450560,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.049305,0.099255,0.890456,0.978554,-0.028031,0.010789,0.203789
22,4,450560,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.035648,-0.086964,0.886313,0.996907,-0.008593,0.033693,-0.070478
22,4,450560,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",0.059837,-0.090916,0.003399,-0.999644,-0.000000,-0.000000,0.026680
22,4,450560,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,0.074989,0.870870,1.000000,0.000000,-0.000000,0.000042
22,4,450560,50,gripper,0,"","put plastic bottle on cutting board",-0.071915,-0.103205,0.915434,0.060236,-0.735776,-0.030170,0.673866
22,4,450560,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.172134,0.064678,0.892456,-0.503436,-0.722087,0.423364,-0.214256
22,4,450560,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.276371,0.051666,0.885720,-0.334552,-0.615897,0.314361,-0.640252
22,4,450560,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
22,4,450560,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234957,-0.075024,0.870870,1.000000,0.000001,-0.000000,-0.000179
22,4,450560,51,gripper,0,"","put plastic bottle on cutting board",-0.220720,-0.007545,0.984931,0.002861,-0.760528,0.090850,0.642911
22,4,450560,52,obj,0,"014_hamburger_1","put hamburger on frying pan",0.016602,-0.122936,0.022382,-0.297534,-0.380551,-0.794055,0.368960
22,4,450560,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.151687,0.003349,0.886092,0.814394,-0.020294,0.009572,0.579878
22,4,450560,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.227106,-0.072620,0.872200,0.996021,0.000000,-0.000000,-0.089114
22,4,450560,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.073651,-0.081440,0.870870,0.999917,-0.000000,-0.000001,-0.012909
22,4,450560,52,gripper,0,"","put hamburger on frying pan",-0.115741,-0.101608,0.980104,0.030479,-0.764102,-0.035337,0.643405
22,4,450560,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.012987,0.105957,0.890773,0.728835,-0.007255,0.027452,-0.684100
22,4,450560,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.125992,-0.026314,0.895404,0.487019,-0.523915,0.478235,0.509526
22,4,450560,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.111614,-0.058060,0.872199,0.999898,-0.000001,-0.000001,-0.014264
22,4,450560,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.017733,0.105537,0.870861,0.999092,0.000459,0.000728,0.042607
22,4,450560,53,gripper,0,"","put hamburger on frying pan",-0.171679,-0.051342,0.998157,0.074059,-0.756779,0.035184,0.648508
22,4,450560,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.027054,0.031792,0.888112,0.715520,-0.026906,-0.005894,0.698049
22,4,450560,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.200577,0.073303,0.947839,0.522448,-0.474834,0.517279,0.483738
22,4,450560,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
22,4,450560,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085293,-0.077980,0.870870,0.999962,0.000000,-0.000000,0.008682
22,4,450560,54,gripper,0,"","put hamburger on frying pan",-0.194492,0.071857,0.973008,0.075067,-0.696505,-0.001070,0.713613
22,4,450560,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.082504,-0.094097,0.894333,0.584414,-0.057055,-0.001211,0.809446
22,4,450560,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.193924,0.098656,0.888128,-0.426334,-0.564695,0.398324,-0.583693
22,4,450560,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.079880,-0.088833,0.872199,0.999567,-0.000001,-0.000001,0.029434
22,4,450560,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235008,0.076153,0.870885,0.999995,0.000712,0.000731,-0.003037
22,4,450560,55,gripper,0,"","put hamburger on frying pan",-0.132500,-0.109928,0.997716,-0.192568,-0.712003,-0.027715,0.674685
22,4,450560,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205795,0.020130,0.888631,0.811629,-0.005183,0.013812,0.583987
22,4,450560,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.203033,-0.061607,1.005749,0.515212,0.503245,-0.348781,0.599710
22,4,450560,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.229233,-0.047348,0.872199,0.968054,0.000000,-0.000001,0.250741
22,4,450560,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235023,0.088047,0.870883,0.997659,0.000650,0.000759,0.068375
22,4,450560,56,gripper,0,"","put hamburger on cutting board",-0.188004,-0.056780,1.029938,-0.117684,-0.731716,-0.061954,0.668509
22,4,450560,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.230824,-0.078674,0.888112,0.927269,-0.027124,0.004783,0.373380
22,4,450560,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107388,-0.077503,0.889703,0.337002,-0.630641,0.325482,0.618695
22,4,450560,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.240757,0.069695,0.872199,0.999810,-0.000000,-0.000001,-0.019487
22,4,450560,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.080780,-0.093391,0.870871,0.999864,0.000000,-0.000002,0.016463
22,4,450560,57,gripper,0,"","put hamburger on cutting board",-0.168560,-0.099846,0.971370,-0.117804,-0.705964,-0.117069,0.688499
22,4,450560,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.056171,0.030735,0.019312,0.956175,-0.026603,0.007132,0.291499
22,4,450560,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.104038,0.053631,0.017292,-0.979490,0.006837,-0.021372,0.200240
22,4,450560,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083313,-0.061604,0.872199,0.942793,-0.000001,-0.000000,-0.333379
22,4,450560,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
22,4,450560,58,gripper,0,"","put hamburger on cutting board",-0.094753,-0.066851,1.001621,0.118794,-0.724354,0.113119,0.669629
22,4,450560,59,obj,0,"014_hamburger_1","put hamburger on cutting board",0.158970,0.067501,0.019312,-0.369631,0.022181,0.016307,-0.928770
22,4,450560,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.094814,-0.058674,0.888400,0.470459,0.529026,-0.445403,0.548103
22,4,450560,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235014,0.075005,0.872199,1.000000,0.000000,-0.000001,0.000151
22,4,450560,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.059612,-0.091721,0.870870,0.998317,-0.000001,0.000010,0.057986
22,4,450560,59,gripper,0,"","put hamburger on cutting board",-0.079209,-0.018579,1.098352,-0.138307,-0.766633,-0.016072,0.626806
22,4,450560,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.057031,0.006596,0.888112,0.928662,-0.027106,0.004885,0.369902
22,4,450560,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.000317,-0.038952,0.887255,0.983446,-0.031783,0.013784,0.177857
22,4,450560,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000000
22,4,450560,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.068063,-0.106422,0.871173,0.977181,-0.000742,-0.003418,-0.212382
22,4,450560,60,gripper,0,"","put plastic bottle on frying pan",-0.117703,-0.053015,0.917139,0.175999,-0.621828,-0.010844,0.763044
22,4,450560,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.129128,-0.036316,0.888213,0.991056,0.011502,0.041367,0.126355
22,4,450560,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.028006,-0.091202,0.887026,0.685548,0.148025,0.694100,-0.162289
22,4,450560,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
22,4,450560,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205372,-0.075195,0.870870,0.999997,0.000000,-0.000001,0.002434
22,4,450560,61,gripper,0,"","put plastic bottle on frying pan",-0.055573,-0.107044,0.968286,-0.197303,-0.714507,-0.231235,0.630144
22,4,450560,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.177399,-0.042667,0.890549,0.396749,-0.021385,-0.012570,0.917592
22,4,450560,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.187824,0.204136,0.020984,-0.194579,-0.793020,-0.337517,0.468339
22,4,450560,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084961,-0.072300,0.872199,0.999995,0.000000,-0.000001,-0.003221
22,4,450560,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075008,0.870870,1.000000,-0.000000,-0.000000,0.000020
22,4,450560,62,gripper,0,"","put plastic bottle on frying pan",-0.026005,0.091021,0.940330,0.164186,-0.814832,0.132688,0.539893
22,4,450560,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.075321,-0.075577,0.888113,0.987393,-0.025355,0.010750,0.155871
22,4,450560,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.169765,-0.020279,0.892170,0.579949,-0.500500,0.478660,0.429004
22,4,450560,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.248199,-0.080189,0.872199,0.989089,-0.000001,-0.000001,-0.147320
22,4,450560,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.059494,0.067436,0.870870,0.998125,0.000000,-0.000001,0.061207
22,4,450560,63,gripper,0,"","put plastic bottle on frying pan",-0.186075,-0.017897,0.915187,0.067119,-0.769473,0.028201,0.634517
23,1,455680,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.092697,-0.008987,0.879105,0.465637,0.398677,-0.248755,0.749907
23,1,455680,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234398,0.044258,0.881638,0.382405,0.034407,-0.019065,0.923157
23,1,455680,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084274,-0.074684,0.877203,0.993229,-0.060869,-0.098944,0.000592
23,1,455680,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000028
23,1,455680,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.142189,-0.035656,0.915197,-0.020278,-0.802858,-0.069838,0.591719
23,1,455680,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.091888,-0.081955,0.879089,0.818590,0.176041,-0.428302,0.339818
23,1,455680,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.109535,0.049164,0.890061,0.736515,0.091118,0.038499,0.669149
23,1,455680,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
23,1,455680,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.237637,0.075577,0.871288,0.999983,-0.000159,-0.001018,-0.005727
23,1,455680,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.091288,0.042492,0.915312,0.089273,-0.701999,-0.020266,0.706269
23,1,455680,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.184101,-0.069084,0.885119,0.460182,0.531588,-0.560744,0.437279
23,1,455680,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204407,0.074257,0.881638,0.382524,0.034435,-0.019085,0.923106
23,1,455680,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234016,-0.047142,0.869532,0.999629,-0.000001,-0.000000,-0.027222
23,1,455680,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
23,1,455680,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.191893,-0.163406,0.925046,0.133394,-0.768359,0.114441,0.615414
23,1,455680,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.178713,0.072189,0.885122,0.443810,0.551709,-0.541934,0.452722
23,1,455680,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084406,0.074249,0.881638,0.382434,0.034428,-0.019071,0.923144
23,1,455680,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205000,0.074997,0.869532,1.000000,0.000001,-0.000001,0.000024
23,1,455680,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114992,-0.074997,0.871289,0.999999,-0.000158,-0.001019,-0.000020
23,1,455680,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.209180,0.058071,1.044193,-0.009212,-0.807660,0.047792,0.587637
23,1,455680,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.199187,-0.068695,0.888392,0.682133,-0.190038,0.191685,0.679586
23,1,455680,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.083255,0.070930,0.881638,0.353464,0.035011,-0.017992,0.934619
23,1,455680,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
23,1,455680,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.196312,-0.076653,0.871289,0.999860,-0.000185,-0.001036,0.016716
23,1,455680,4,gripper,0,"","put ketchup bottle on cloth",-0.259596,-0.067032,0.917454,0.066123,-0.827376,-0.037170,0.556502
23,1,455680,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.205410,0.053749,0.879126,0.465722,0.524124,-0.568692,0.430100
23,1,455680,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085112,-0.075974,0.881638,0.706804,0.024507,-0.030811,0.706313
23,1,455680,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
23,1,455680,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
23,1,455680,5,gripper,0,"","put ketchup bottle on cloth",-0.316526,0.035778,0.913431,0.019162,-0.519139,0.011599,0.854396
23,1,455680,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.138233,0.140053,0.879089,0.545043,-0.366156,-0.283484,-0.698924
23,1,455680,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.207264,0.073792,0.881638,0.920365,0.011128,-0.037742,0.389075
23,1,455680,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.063118,-0.044434,0.869532,0.999280,0.000001,-0.000001,-0.037938
23,1,455680,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074974,0.871288,1.000000,-0.000154,-0.001019,0.000119
23,1,455680,6,gripper,0,"","put ketchup bottle on cloth",-0.175617,-0.001328,0.960069,0.160482,-0.723926,0.221303,0.633405
23,1,455680,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.020275,0.007881,0.879543,-0.209684,-0.386597,0.893393,-0.091787
23,1,455680,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235775,-0.045509,0.883218,0.998927,0.023123,-0.040115,-0.000241
23,1,455680,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204987,0.074875,0.869532,0.999998,-0.000001,-0.000001,0.002055
23,1,455680,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
23,1,455680,7,gripper,0,"","put ketchup bottle on cloth",-0.051640,0.025135,0.915984,0.319493,-0.718165,0.303416,0.538612
23,1,455680,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.106430,-0.002022,0.879651,0.294184,-0.329615,0.108486,0.890528
23,1,455680,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235115,0.074047,0.881638,0.706727,0.024509,-0.030810,0.706391
23,1,455680,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.030937,-0.087326,0.869532,0.988045,0.000000,-0.000001,-0.154168
23,1,455680,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234993,-0.074993,0.871288,1.000000,-0.000155,-0.001019,0.000073
23,1,455680,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.096489,-0.053282,0.921751,0.025038,-0.749333,-0.084507,0.656301
23,1,455680,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094707,-0.075012,0.879089,0.886323,-0.001391,-0.463065,0.000444
23,1,455680,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.219231,-0.089775,0.887416,0.925491,0.006085,-0.041743,0.376412
23,1,455680,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000042
23,1,455680,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000066
23,1,455680,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.249514,-0.128180,0.957800,0.307397,-0.705586,0.193222,0.608539
23,1,455680,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235023,-0.084805,0.879088,0.627135,0.326076,-0.328802,0.626311
23,1,455680,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235401,0.063305,0.887458,0.800279,-0.028178,0.021967,0.598563
23,1,455680,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234791,0.074821,0.869532,0.999989,-0.000000,-0.000000,0.004665
23,1,455680,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
23,1,455680,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.233595,0.086803,0.937137,0.063880,-0.724193,0.068885,0.683168
23,1,455680,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228067,-0.081886,0.879088,0.338524,0.427338,-0.178364,0.819128
23,1,455680,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.109646,-0.047325,0.886988,0.599893,-0.023451,-0.010198,0.799671
23,1,455680,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.082876,-0.080246,0.869532,0.999764,-0.000001,-0.000001,0.021724
23,1,455680,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235014,0.075031,0.871211,0.999984,-0.003908,-0.004129,0.000152
23,1,455680,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.135807,-0.073704,0.930736,-0.055126,-0.752969,-0.057185,0.653245
23,1,455680,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211903,0.038090,0.879090,0.819783,0.174591,-0.428172,0.337849
23,1,455680,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.152410,-0.090553,0.887834,0.607527,0.037084,-0.035439,0.792641
23,1,455680,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.283521,-0.092396,0.869531,0.980866,0.000001,0.000001,-0.194685
23,1,455680,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.074993,0.871289,0.999999,-0.000159,-0.001020,-0.000014
23,1,455680,12,gripper,0,"","put kitchen shovel on cloth",-0.198904,-0.104387,0.912753,-0.100076,-0.697664,-0.099193,0.702432
23,1,455680,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.206034,-0.018425,0.879426,0.762550,-0.160455,0.216581,0.588103
23,1,455680,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.086178,-0.006889,0.881638,0.633917,0.027392,-0.028235,0.772400
23,1,455680,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234453,0.074451,0.869532,0.999934,-0.000000,-0.000000,-0.011519
23,1,455680,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.085009,-0.075119,0.871289,0.999999,-0.000158,-0.001019,-0.000680
23,1,455680,13,gripper,0,"","put kitchen shovel on cloth",-0.261094,-0.045443,0.912905,-0.240464,-0.658288,-0.235134,0.673459
23,1,455680,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.074821,0.062477,0.879375,0.488879,0.079126,-0.038961,0.867882
23,1,455680,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.074913,-0.039635,0.918733,0.591048,-0.033506,0.022274,0.805632
23,1,455680,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.259537,0.007046,0.871707,0.997892,0.019608,-0.030144,0.054013
23,1,455680,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,0.075012,0.871282,0.999999,-0.000451,-0.001265,0.000023
23,1,455680,14,gripper,0,"","put kitchen shovel on cloth",-0.098249,-0.043480,0.952974,-0.135447,-0.747850,-0.082178,0.644687
23,1,455680,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.077267,-0.057934,0.879089,0.737957,0.255126,-0.386454,0.490901
23,1,455680,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.114876,0.046452,0.881638,0.927928,0.010380,-0.037971,0.370674
23,1,455680,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.248737,-0.071114,0.869532,0.999974,-0.000000,-0.000001,-0.007180
23,1,455680,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075016,0.871288,0.999999,-0.000153,-0.001020,0.000224
23,1,455680,15,gripper,0,"","put kitchen shovel on cloth",-0.212645,-0.155094,0.913749,0.023843,-0.718644,-0.002759,0.694963
23,1,455680,16,obj,0,"003_bread_1","put bread on newspaper",-0.148460,-0.138348,0.949772,0.353568,0.079290,0.027132,0.931647
23,1,455680,16,obj,1,"005_7up can_1","put bread on newspaper",-0.218437,-0.057682,0.888623,0.606698,0.091220,-0.063049,0.787160
23,1,455680,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
23,1,455680,16,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.075008,0.870460,1.000000,0.000019,-0.000160,0.000014
23,1,455680,16,gripper,0,"","put bread on newspaper",-0.147606,-0.137453,0.981046,-0.002051,-0.715220,0.027891,0.698339
23,1,455680,17,obj,0,"003_bread_1","put bread on newspaper",-0.084480,0.074528,0.883544,0.383856,0.012261,-0.003132,0.923306
23,1,455680,17,obj,1,"005_7up can_1","put bread on newspaper",-0.164597,-0.101067,0.885669,-0.568285,0.064344,-0.041791,-0.819247
23,1,455680,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235027,-0.075016,0.869490,1.000000,0.000180,0.000874,0.000166
23,1,455680,17,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,-0.000068
23,1,455680,17,gripper,0,"","put bread on newspaper",-0.182981,-0.108303,0.915634,-0.134993,-0.756080,-0.103235,0.632030
23,1,455680,18,obj,0,"003_bread_1","put bread on newspaper",-0.192345,-0.028133,0.883820,0.999835,0.003644,-0.000495,0.017808
23,1,455680,18,obj,1,"005_7up can_1","put bread on newspaper",-0.242615,-0.044823,0.885627,0.972473,-0.005196,-0.232958,0.000611
23,1,455680,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
23,1,455680,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
23,1,455680,18,gripper,0,"","put bread on newspaper",-0.211178,-0.031950,0.915492,-0.105232,-0.782390,-0.099407,0.605731
23,1,455680,19,obj,0,"003_bread_1","put bread on newspaper",-0.096022,-0.090881,0.886625,0.996429,0.005895,0.002100,0.084205
23,1,455680,19,obj,1,"005_7up can_1","put bread on newspaper",-0.242596,-0.074837,0.885626,0.972477,-0.005065,-0.232942,0.001153
23,1,455680,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084644,-0.075172,0.869490,0.999990,0.000176,0.000875,0.004405
23,1,455680,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
23,1,455680,19,gripper,0,"","put bread on newspaper",-0.150701,-0.091560,0.942774,0.099998,-0.765010,0.104876,0.627503
23,1,455680,20,obj,0,"003_bread_1","put bread on carpet",-0.234994,0.045605,0.955646,0.730016,0.060187,0.054789,0.678566
23,1,455680,20,obj,1,"005_7up can_1","put bread on carpet",-0.189994,0.099655,0.888652,0.831696,-0.087203,0.130873,0.532494
23,1,455680,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
23,1,455680,20,recep,1,"003_carpet_1","put bread on carpet",-0.203532,0.077194,0.870466,0.999976,-0.000947,-0.001031,-0.006821
23,1,455680,20,gripper,0,"","put bread on carpet",-0.235293,0.046045,0.986676,0.045622,-0.692303,0.051247,0.718338
23,1,455680,21,obj,0,"003_bread_1","put bread on carpet",-0.116690,-0.023281,0.889731,0.401370,0.017964,-0.025605,0.915382
23,1,455680,21,obj,1,"005_7up can_1","put bread on carpet",-0.081444,-0.078461,0.885637,0.378072,0.141994,-0.055793,0.913119
23,1,455680,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204962,-0.075104,0.869490,1.000000,0.000180,0.000874,-0.000320
23,1,455680,21,recep,1,"003_carpet_1","put bread on carpet",-0.083477,0.075348,0.870448,0.999919,-0.000810,-0.000768,0.012651
23,1,455680,21,gripper,0,"","put bread on carpet",-0.139254,-0.031054,0.920327,-0.094779,-0.775932,-0.139634,0.607823
23,1,455680,22,obj,0,"003_bread_1","put bread on carpet",-0.234474,0.074520,0.883544,0.383807,0.012273,-0.003119,0.923327
23,1,455680,22,obj,1,"005_7up can_1","put bread on carpet",-0.243668,0.004498,0.886127,0.042947,-0.683554,0.727471,0.041175
23,1,455680,22,recep,0,"004_newspaper_1","put bread on carpet",-0.068153,-0.073471,0.869490,0.997142,0.000113,0.000886,0.075545
23,1,455680,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
23,1,455680,22,gripper,0,"","put bread on carpet",-0.246481,-0.037178,0.935751,-0.102040,-0.779952,-0.047487,0.615636
23,1,455680,23,obj,0,"003_bread_1","put bread on carpet",-0.213051,-0.029507,0.886118,0.994455,-0.075174,0.000766,0.073542
23,1,455680,23,obj,1,"005_7up can_1","put bread on carpet",-0.071293,0.044094,0.885615,0.941368,-0.051982,0.146005,0.299679
23,1,455680,23,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
23,1,455680,23,recep,1,"003_carpet_1","put bread on carpet",-0.204914,-0.075672,0.870447,0.999981,-0.000915,-0.000828,-0.006050
23,1,455680,23,gripper,0,"","put bread on carpet",-0.230862,-0.027052,0.966152,0.114754,-0.743222,0.071517,0.655239
23,1,455680,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.218613,0.065310,0.886778,0.942793,0.006173,-0.008703,0.333207
23,1,455680,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184944,-0.084757,0.925860,0.746110,0.098693,-0.100035,0.650825
23,1,455680,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
23,1,455680,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.194580,0.072315,0.870466,0.996790,-0.000855,-0.001114,0.080042
23,1,455680,24,gripper,0,"","put 7up can on newspaper",-0.182934,-0.084433,0.952947,0.036150,-0.702888,0.052919,0.708407
23,1,455680,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085541,0.075125,0.883544,0.999916,0.001783,-0.012535,-0.002815
23,1,455680,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.173813,-0.045275,0.885935,0.391954,-0.242521,0.881569,0.101938
23,1,455680,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
23,1,455680,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
23,1,455680,25,gripper,0,"","put 7up can on newspaper",-0.287931,-0.118523,0.916937,-0.253509,-0.744345,-0.149179,0.599524
23,1,455680,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205540,-0.044870,0.883544,0.999915,0.001780,-0.012531,-0.002934
23,1,455680,26,obj,1,"005_7up can_1","put 7up can on newspaper",0.115452,0.020802,0.017129,0.489932,-0.286036,0.804102,0.177680
23,1,455680,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
23,1,455680,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
23,1,455680,26,gripper,0,"","put 7up can on newspaper",-0.043171,0.092622,0.936296,0.256240,-0.759206,0.207030,0.561324
23,1,455680,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.235901,0.077154,0.883544,0.917074,0.006670,-0.010769,0.398517
23,1,455680,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.180817,-0.167974,0.885919,-0.342646,-0.616553,0.615430,-0.351713
23,1,455680,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
23,1,455680,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204844,-0.074993,0.870448,0.999999,-0.000908,-0.000833,0.000462
23,1,455680,27,gripper,0,"","put 7up can on newspaper",-0.151342,-0.066274,0.991625,-0.032585,-0.750897,-0.012364,0.659499
23,1,455680,28,obj,0,"003_bread_1","put 7up can on carpet",-0.235125,0.044455,0.883544,0.709235,0.010127,-0.007598,0.704858
23,1,455680,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.104464,-0.025354,0.885984,0.310919,0.627993,-0.645713,0.303330
23,1,455680,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000875,-0.000004
23,1,455680,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.082796,-0.081049,0.870350,0.999654,-0.000317,-0.001713,0.026249
23,1,455680,28,gripper,0,"","put 7up can on carpet",-0.114379,-0.030110,0.945294,0.056535,-0.716046,-0.026985,0.695237
23,1,455680,29,obj,0,"003_bread_1","put 7up can on carpet",-0.205545,0.074459,0.883544,0.924016,0.006476,-0.010882,0.382145
23,1,455680,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.072010,-0.002142,0.885987,0.114772,-0.686783,0.710216,0.103676
23,1,455680,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234989,-0.075001,0.869489,1.000000,0.000180,0.000875,0.000016
23,1,455680,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000031
23,1,455680,29,gripper,0,"","put 7up can on carpet",-0.103887,0.009717,0.914287,0.096197,-0.738449,0.091259,0.661144
23,1,455680,30,obj,0,"003_bread_1","put 7up can on carpet",-0.196274,-0.051294,0.883544,0.433216,0.012069,-0.003793,0.901201
23,1,455680,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.220840,0.044781,0.925148,-0.708968,0.176061,-0.218919,-0.646870
23,1,455680,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
23,1,455680,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.234726,0.074871,0.870461,0.999999,-0.000080,-0.000247,0.001334
23,1,455680,30,gripper,0,"","put 7up can on carpet",-0.241917,0.045845,0.954639,0.009542,-0.738402,0.000727,0.674293
23,1,455680,31,obj,0,"003_bread_1","put 7up can on carpet",-0.205227,0.074594,0.883544,0.702214,0.010188,-0.007507,0.711853
23,1,455680,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.136238,-0.009117,0.889022,-0.434937,0.546733,-0.419629,-0.579503
23,1,455680,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
23,1,455680,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.114918,-0.044868,0.870448,0.999999,-0.000923,-0.000844,-0.000482
23,1,455680,31,gripper,0,"","put 7up can on carpet",-0.165865,-0.013748,0.941488,-0.025338,-0.766140,-0.025306,0.641675
23,1,455680,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.084488,0.075256,0.887344,0.724485,-0.021214,0.029525,0.688331
23,1,455680,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204559,-0.044991,0.878547,0.706796,0.007938,0.010844,0.707290
23,1,455680,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
23,1,455680,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
23,1,455680,32,gripper,0,"","put carrot on sheet metal",-0.068859,0.075296,0.955430,0.190385,-0.760922,0.130869,0.606321
23,1,455680,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086945,-0.072216,0.887246,0.996811,0.005162,0.032742,0.072586
23,1,455680,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.235001,0.074566,0.878547,0.999909,0.013315,0.002046,-0.000081
23,1,455680,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
23,1,455680,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
23,1,455680,33,gripper,0,"","put carrot on sheet metal",-0.086391,-0.073870,0.967731,-0.363845,-0.706633,-0.278138,0.539374
23,1,455680,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087620,0.078994,0.887367,0.996697,-0.005231,0.027580,0.076197
23,1,455680,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013258,0.002051,0.000262
23,1,455680,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
23,1,455680,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,1,455680,34,gripper,0,"","put carrot on sheet metal",-0.062296,0.061450,0.949308,0.305808,-0.786603,0.243970,0.477719
23,1,455680,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.134544,0.060258,0.885932,0.238853,0.209695,0.675299,0.665544
23,1,455680,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.122494,-0.062962,0.878547,0.568647,0.005871,0.012094,0.822472
23,1,455680,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,1,455680,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,1,455680,35,gripper,0,"","put carrot on sheet metal",-0.097898,0.081114,0.996833,0.136026,-0.700140,0.109406,0.692338
23,1,455680,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.231621,0.009119,0.897590,0.995283,-0.067505,-0.012982,0.068450
23,1,455680,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.114993,0.074561,0.878547,0.999910,0.013265,0.002053,0.000314
23,1,455680,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
23,1,455680,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235036,0.045002,0.874362,1.000000,0.000101,0.000102,0.000644
23,1,455680,36,gripper,0,"","put carrot on flat bowl",-0.139382,-0.034997,1.048400,-0.100511,-0.792816,-0.043901,0.599510
23,1,455680,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.029049,-0.102623,0.885406,0.689494,-0.686175,-0.171271,0.156294
23,1,455680,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204567,0.045007,0.878547,0.706769,0.007931,0.010834,0.707317
23,1,455680,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,1,455680,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
23,1,455680,37,gripper,0,"","put carrot on flat bowl",-0.014709,-0.048057,0.995791,0.098692,-0.768606,0.139533,0.616470
23,1,455680,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.243427,0.070298,0.887559,0.250108,-0.029265,0.004863,0.967763
23,1,455680,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204693,-0.074686,0.878547,0.382300,0.003190,0.013071,0.923940
23,1,455680,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,1,455680,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,1,455680,38,gripper,0,"","put carrot on flat bowl",-0.174086,0.013444,1.013523,0.055789,-0.673304,0.039052,0.736223
23,1,455680,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.239273,-0.066486,0.887389,0.317184,-0.011508,0.003848,0.948286
23,1,455680,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204723,0.045293,0.878546,0.382390,0.003181,0.013045,0.923903
23,1,455680,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,1,455680,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,1,455680,39,gripper,0,"","put carrot on flat bowl",-0.214874,-0.072887,0.969221,-0.073057,-0.709263,-0.064200,0.698202
23,1,455680,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207855,-0.077404,0.887559,0.356834,-0.025403,0.012362,0.933741
23,1,455680,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084671,-0.074675,0.878548,0.382899,0.003198,0.013067,0.923692
23,1,455680,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
23,1,455680,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000000,-0.000002
23,1,455680,40,gripper,0,"","put banana on sheet metal",-0.052013,-0.032833,1.001698,0.041037,-0.729113,0.003493,0.683152
23,1,455680,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086510,0.074554,0.887481,0.741599,-0.020850,0.022992,0.670125
23,1,455680,41,obj,1,"013_banana_1","put banana on sheet metal",-0.200275,0.073040,0.878546,0.679247,0.007511,0.011127,0.733787
23,1,455680,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
23,1,455680,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
23,1,455680,41,gripper,0,"","put banana on sheet metal",-0.181051,0.041405,0.958341,0.056641,-0.759070,0.065499,0.645224
23,1,455680,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241131,-0.079845,0.887267,0.994426,0.009068,0.027036,-0.101507
23,1,455680,42,obj,1,"013_banana_1","put banana on sheet metal",-0.114990,-0.045443,0.878547,0.999909,0.013341,0.002056,0.000137
23,1,455680,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
23,1,455680,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
23,1,455680,42,gripper,0,"","put banana on sheet metal",-0.078194,-0.039680,0.937654,-0.130911,-0.727718,-0.115419,0.663300
23,1,455680,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206982,-0.072067,0.887416,0.909468,-0.014570,0.027132,0.414633
23,1,455680,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114677,0.074694,0.878547,0.923860,0.011497,0.006976,0.382493
23,1,455680,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
23,1,455680,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000001,0.000021
23,1,455680,43,gripper,0,"","put banana on sheet metal",-0.106645,0.039445,0.940228,0.024482,-0.782187,0.055350,0.620097
23,1,455680,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.206972,-0.042862,0.887219,0.908327,-0.010821,0.010359,0.417992
23,1,455680,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234689,0.074694,0.878547,0.923689,0.011525,0.006999,0.382906
23,1,455680,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
23,1,455680,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
23,1,455680,44,gripper,0,"","put banana on flat bowl",-0.107594,0.131618,1.005507,0.414633,-0.617990,0.455169,0.488865
23,1,455680,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203850,0.076551,0.887529,0.920995,-0.016752,0.039844,0.387170
23,1,455680,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234674,-0.045313,0.878547,0.923736,0.011492,0.006980,0.382793
23,1,455680,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
23,1,455680,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
23,1,455680,45,gripper,0,"","put banana on flat bowl",-0.198526,-0.030516,0.951924,-0.202781,-0.679197,-0.150132,0.689225
23,1,455680,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203415,0.075573,0.887529,0.999053,-0.000214,0.043220,0.004929
23,1,455680,46,obj,1,"013_banana_1","put banana on flat bowl",-0.114986,-0.075443,0.878547,0.999909,0.013312,0.002048,-0.000026
23,1,455680,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
23,1,455680,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
23,1,455680,46,gripper,0,"","put banana on flat bowl",-0.024004,-0.052216,0.961641,-0.032031,-0.766874,-0.015600,0.640808
23,1,455680,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
23,1,455680,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
23,1,455680,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
23,1,455680,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
23,1,455680,47,gripper,0,"","put banana on flat bowl",-0.043390,0.105038,0.994481,0.156260,-0.789707,0.109063,0.583140
23,1,455680,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.118134,0.014923,0.978588,0.970722,-0.018851,0.019531,0.238665
23,1,455680,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.095093,-0.023582,0.887026,0.649582,-0.289254,0.648086,0.272691
23,1,455680,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
23,1,455680,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.044991,0.870870,1.000000,-0.000002,-0.000002,0.000020
23,1,455680,48,gripper,0,"","put hamburger on frying pan",-0.124928,0.017548,1.023402,0.084385,-0.736125,0.118991,0.660939
23,1,455680,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.213570,0.079506,0.915779,0.996463,0.020548,-0.017784,0.079520
23,1,455680,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055626,-0.074207,0.887026,0.704494,-0.016918,0.709507,0.001060
23,1,455680,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
23,1,455680,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
23,1,455680,49,gripper,0,"","put hamburger on frying pan",-0.217222,0.075705,0.943080,-0.047080,-0.695701,-0.098516,0.709985
23,1,455680,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085213,0.076092,0.888113,0.925473,-0.027144,0.004655,0.377810
23,1,455680,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.088200,-0.044952,0.988819,0.404730,-0.534036,0.541381,0.507845
23,1,455680,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
23,1,455680,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000004
23,1,455680,50,gripper,0,"","put hamburger on frying pan",-0.078386,-0.040451,1.015787,-0.048761,-0.727630,0.000713,0.684235
23,1,455680,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085966,0.075611,0.888112,0.712718,-0.026882,-0.006001,0.700910
23,1,455680,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.203751,0.023090,0.890088,0.291077,-0.690971,0.567152,0.340839
23,1,455680,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.192019,0.117886,0.872199,0.996158,0.000000,-0.000001,0.087572
23,1,455680,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000005
23,1,455680,51,gripper,0,"","put hamburger on frying pan",-0.215855,0.015436,0.914287,-0.030107,-0.758531,-0.042747,0.649536
23,1,455680,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.183067,-0.059071,0.890534,0.761676,-0.027574,-0.001764,0.647369
23,1,455680,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205927,0.104210,0.887026,0.496537,-0.514509,0.488839,0.499768
23,1,455680,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,0.075001,0.872199,1.000000,0.000001,-0.000001,-0.000000
23,1,455680,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.045006,0.870883,0.999999,0.000700,0.000712,0.000009
23,1,455680,52,gripper,0,"","put hamburger on cutting board",-0.157750,-0.021709,1.041896,0.039943,-0.751289,0.083777,0.653415
23,1,455680,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.087219,0.079327,0.890778,0.989407,-0.020935,0.018749,-0.142422
23,1,455680,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.174723,0.079468,0.887026,0.704481,-0.020490,0.709412,0.004607
23,1,455680,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,-0.044998,0.872199,1.000000,-0.000001,-0.000001,0.000001
23,1,455680,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085020,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000023
23,1,455680,53,gripper,0,"","put hamburger on cutting board",-0.194619,-0.045002,0.956897,-0.004749,-0.709801,0.014086,0.704245
23,1,455680,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
23,1,455680,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.113316,-0.056061,0.894100,0.336283,-0.692157,0.177575,0.613433
23,1,455680,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.214912,-0.072861,0.872199,0.998840,-0.000000,-0.000001,0.048160
23,1,455680,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
23,1,455680,54,gripper,0,"","put hamburger on cutting board",-0.121685,-0.052374,0.941396,-0.093241,-0.711604,-0.033834,0.695543
23,1,455680,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115685,0.007874,0.890175,0.975112,0.080726,-0.083983,0.188645
23,1,455680,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055626,-0.074207,0.887026,0.704494,-0.016918,0.709507,0.001060
23,1,455680,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
23,1,455680,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.077805,0.070908,0.870870,0.998088,0.000000,-0.000001,0.061812
23,1,455680,55,gripper,0,"","put hamburger on cutting board",-0.106846,0.064341,0.984743,0.108547,-0.715997,0.010555,0.689532
23,1,455680,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.134338,0.024509,0.911893,0.893202,-0.095304,-0.044494,0.437181
23,1,455680,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215172,-0.053761,0.887026,0.649497,-0.289459,0.647992,0.272899
23,1,455680,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085037,-0.075035,0.872199,1.000000,-0.000001,-0.000001,0.000502
23,1,455680,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
23,1,455680,56,gripper,0,"","put plastic bottle on frying pan",-0.153069,0.016262,0.934086,-0.007473,-0.737955,-0.116347,0.664703
23,1,455680,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235222,0.076099,0.888112,0.925436,-0.027144,0.004652,0.377901
23,1,455680,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.279095,-0.039051,0.893955,0.506133,-0.572210,0.524396,0.376051
23,1,455680,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234982,-0.074997,0.872199,1.000000,0.000000,-0.000000,0.000189
23,1,455680,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
23,1,455680,57,gripper,0,"","put plastic bottle on frying pan",-0.244511,-0.048231,0.957161,0.130087,-0.735104,0.101245,0.657608
23,1,455680,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086105,-0.075253,0.888112,0.387303,-0.022486,-0.015901,0.921541
23,1,455680,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055981,0.056595,0.885720,0.251978,0.650332,-0.234985,0.677021
23,1,455680,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.403687,0.704865,0.003399,-0.510961,-0.000000,-0.000000,0.859604
23,1,455680,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
23,1,455680,58,gripper,0,"","put plastic bottle on frying pan",-0.176947,0.003374,1.021703,-0.138774,-0.654035,-0.236328,0.705074
23,1,455680,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.227674,0.053574,0.888245,0.348197,-0.032446,0.027603,0.936453
23,1,455680,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.256102,-0.055088,0.887026,0.267377,-0.662462,0.254623,0.651783
23,1,455680,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
23,1,455680,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
23,1,455680,59,gripper,0,"","put plastic bottle on frying pan",-0.243613,0.057713,0.912711,0.094349,-0.698572,0.094533,0.702965
23,1,455680,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235428,-0.043922,0.888112,0.932485,-0.027051,0.005169,0.360158
23,1,455680,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.108008,0.024864,0.919398,0.433740,-0.428130,0.534544,0.585524
23,1,455680,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.081133,-0.087196,0.872199,0.991870,0.000000,-0.000001,-0.127258
23,1,455680,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082444,0.070213,0.870870,0.999419,-0.000000,-0.000001,0.034095
23,1,455680,60,gripper,0,"","put plastic bottle on cutting board",-0.139060,0.021942,0.954875,0.048709,-0.779781,-0.053615,0.621847
23,1,455680,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236000,-0.045170,0.888112,0.387773,-0.022502,-0.015887,0.921343
23,1,455680,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.169014,0.109188,0.888417,0.667767,-0.010975,0.028983,0.743725
23,1,455680,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000001
23,1,455680,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.230307,0.092194,0.870882,0.983137,0.000547,0.000816,0.182865
23,1,455680,61,gripper,0,"","put plastic bottle on cutting board",-0.192688,0.076725,1.076974,0.051818,-0.762498,-0.145794,0.628217
23,1,455680,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085972,-0.044373,0.888112,0.712159,-0.026874,-0.006023,0.701478
23,1,455680,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.145824,0.098907,0.887809,-0.487507,-0.495574,0.516690,-0.499775
23,1,455680,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
23,1,455680,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.111443,0.027431,0.870870,0.989991,0.000000,-0.000001,0.141131
23,1,455680,62,gripper,0,"","put plastic bottle on cutting board",-0.155487,0.093487,0.915999,0.040733,-0.815269,-0.049319,0.575539
23,1,455680,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
23,1,455680,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.127140,-0.107738,0.886361,0.999612,-0.008818,-0.008052,0.025179
23,1,455680,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
23,1,455680,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.003803,0.022484,0.870713,0.821851,0.001796,0.000668,0.569699
23,1,455680,63,gripper,0,"","put plastic bottle on cutting board",-0.169712,-0.140341,0.914118,0.012094,-0.778364,0.018493,0.627424
23,2,460800,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.092384,0.013657,0.882932,0.148223,-0.845811,0.178088,0.480539
23,2,460800,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234398,0.044258,0.881638,0.382322,0.034433,-0.019071,0.923190
23,2,460800,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078552,-0.076088,0.869532,0.999605,-0.000136,-0.000176,-0.028092
23,2,460800,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084885,0.075279,0.871282,0.999998,-0.000450,-0.001267,0.001310
23,2,460800,0,gripper,0,"","put ketchup bottle on cloth",-0.141506,-0.022762,0.914400,-0.021984,-0.809025,-0.018319,0.587077
23,2,460800,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.198563,-0.079033,0.885122,0.453764,0.539506,-0.554123,0.442695
23,2,460800,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.119446,0.048790,0.884110,0.724989,0.046514,0.003519,0.687180
23,2,460800,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.190933,-0.075737,0.869532,0.998456,0.000000,-0.000000,-0.055552
23,2,460800,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.237637,0.075577,0.871288,0.999982,-0.000160,-0.001018,-0.005854
23,2,460800,1,gripper,0,"","put ketchup bottle on cloth",-0.201508,-0.090984,0.948612,0.039392,-0.736844,-0.026664,0.674387
23,2,460800,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.180882,-0.107658,0.879373,-0.863156,0.116889,-0.252504,-0.421354
23,2,460800,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204407,0.074257,0.881638,0.382483,0.034426,-0.019080,0.923124
23,2,460800,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.199539,-0.019157,0.869532,0.989465,0.000000,-0.000001,-0.144775
23,2,460800,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
23,2,460800,2,gripper,0,"","put ketchup bottle on cloth",-0.248232,-0.139484,0.914052,0.064262,-0.763928,0.078856,0.637233
23,2,460800,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.209246,0.063202,0.885372,-0.730307,0.176142,-0.214927,-0.624045
23,2,460800,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084408,0.074249,0.881638,0.382357,0.034407,-0.019060,0.923177
23,2,460800,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.202250,0.070831,0.869532,0.997778,0.000001,-0.000001,-0.066619
23,2,460800,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,-0.074997,0.871288,0.999999,-0.000154,-0.001020,-0.000028
23,2,460800,3,gripper,0,"","put ketchup bottle on cloth",-0.185005,0.041882,1.044021,-0.007866,-0.755349,0.008075,0.655226
23,2,460800,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.197207,-0.194283,0.879373,0.671074,-0.195035,0.198461,0.687193
23,2,460800,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083255,0.070930,0.881638,0.353464,0.035012,-0.017993,0.934619
23,2,460800,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000000
23,2,460800,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.196091,-0.076668,0.871288,0.999850,-0.000140,-0.001022,0.017276
23,2,460800,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.276300,-0.133942,0.914354,-0.042071,-0.623895,-0.056773,0.778307
23,2,460800,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.205410,0.053749,0.879125,0.465716,0.524127,-0.568716,0.430071
23,2,460800,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.227541,-0.090607,0.888408,0.833066,0.005492,-0.034672,0.552059
23,2,460800,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.239588,-0.074806,0.870266,0.999923,0.005653,-0.011076,0.000239
23,2,460800,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
23,2,460800,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.261131,-0.064754,0.919788,0.111855,-0.708952,0.081733,0.691517
23,2,460800,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.138233,0.140053,0.879089,0.545037,-0.366160,-0.283483,-0.698927
23,2,460800,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.187817,0.054253,0.979133,0.798509,0.045505,0.074579,0.595610
23,2,460800,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.063118,-0.044434,0.869532,0.999281,-0.000000,-0.000001,-0.037924
23,2,460800,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000178
23,2,460800,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.197817,0.059273,1.014260,0.086312,-0.672193,0.120532,0.725382
23,2,460800,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.020428,0.007751,0.879213,-0.255393,-0.378733,0.882667,-0.110611
23,2,460800,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.256760,-0.050842,0.881638,0.988593,0.001291,-0.039340,0.145375
23,2,460800,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.200775,0.058403,0.869532,0.979341,-0.000000,-0.000000,-0.202213
23,2,460800,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
23,2,460800,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.219128,-0.064590,0.967970,0.015298,-0.706336,0.014279,0.707567
23,2,460800,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.076698,0.012123,0.879373,0.237772,-0.268114,0.074413,0.930614
23,2,460800,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235115,0.074043,0.881638,0.706740,0.024506,-0.030808,0.706377
23,2,460800,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.030945,-0.087330,0.869532,0.988051,-0.000000,-0.000001,-0.154126
23,2,460800,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234993,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000109
23,2,460800,8,gripper,0,"","put kitchen shovel on cloth",-0.128567,-0.053877,0.914729,0.024023,-0.783171,-0.076662,0.616595
23,2,460800,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.071564,-0.113804,0.879125,0.631275,-0.071216,-0.770121,-0.057738
23,2,460800,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219200,-0.089676,0.887415,0.924923,0.005998,-0.041443,0.377841
23,2,460800,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000025
23,2,460800,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000073
23,2,460800,9,gripper,0,"","put kitchen shovel on cloth",-0.201305,-0.104824,0.962808,0.050779,-0.748958,-0.077020,0.656164
23,2,460800,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.239792,-0.075138,0.879769,0.616341,0.329012,-0.326775,0.636469
23,2,460800,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.194019,-0.057678,0.881663,0.712322,-0.017164,0.011134,0.701555
23,2,460800,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.217113,0.071342,0.869532,0.996092,-0.000000,-0.000001,0.088319
23,2,460800,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084846,-0.075653,0.871289,0.999935,-0.000146,-0.001021,0.011367
23,2,460800,10,gripper,0,"","put kitchen shovel on cloth",-0.213554,-0.070759,0.914550,0.053219,-0.712922,-0.010802,0.699138
23,2,460800,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228065,-0.081886,0.879088,0.338526,0.427343,-0.178367,0.819124
23,2,460800,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.200148,0.064953,0.889819,0.863832,0.005939,-0.011483,0.503614
23,2,460800,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.075323,-0.086269,0.869532,0.999880,0.000000,-0.000000,-0.015474
23,2,460800,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.232035,0.074158,0.871304,0.999704,0.000767,-0.000276,0.024309
23,2,460800,11,gripper,0,"","put kitchen shovel on cloth",-0.252045,0.007607,0.916887,0.016176,-0.747647,-0.034312,0.663012
23,2,460800,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.186257,0.031384,0.879212,0.277685,0.061455,-0.958521,0.018750
23,2,460800,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.170011,-0.087074,0.889498,0.632923,-0.024951,0.019134,0.773576
23,2,460800,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.294956,-0.091259,0.869537,0.987241,0.000027,0.000072,-0.159230
23,2,460800,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.074993,0.871288,0.999999,-0.000154,-0.001020,-0.000014
23,2,460800,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.231938,-0.096859,0.917167,-0.098352,-0.757062,-0.038939,0.644723
23,2,460800,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.227671,0.052357,0.912379,0.768656,0.257528,-0.326822,0.485834
23,2,460800,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.075956,-0.009716,0.881659,0.702144,0.015616,-0.021667,0.711533
23,2,460800,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234451,0.074451,0.869532,0.999934,0.000000,-0.000000,-0.011520
23,2,460800,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.080549,-0.083271,0.871288,0.999496,-0.000121,-0.001023,0.031726
23,2,460800,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.242378,0.059629,0.951831,0.122050,-0.749307,0.157561,0.631520
23,2,460800,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.201710,0.003700,0.885919,0.435908,0.572726,-0.530124,0.448260
23,2,460800,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.210808,-0.028877,0.879302,-0.036129,0.740312,-0.653485,-0.153592
23,2,460800,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.259552,0.006462,0.872005,0.997763,0.036706,0.012689,0.054410
23,2,460800,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075012,0.871282,0.999999,-0.000452,-0.001266,0.000070
23,2,460800,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.264624,-0.004692,0.983420,-0.059190,-0.726988,-0.065072,0.680992
23,2,460800,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.262901,-0.069408,0.885371,0.771286,0.059524,-0.065117,0.630344
23,2,460800,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.114925,0.046467,0.881638,0.928004,0.010363,-0.037948,0.370488
23,2,460800,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.248737,-0.071110,0.869532,0.999974,0.000000,-0.000001,-0.007198
23,2,460800,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075016,0.871288,1.000000,-0.000153,-0.001019,0.000177
23,2,460800,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.229191,-0.054632,0.956960,0.117327,-0.697495,0.152821,0.690203
23,2,460800,16,obj,0,"003_bread_1","put bread on carpet",-0.157143,-0.148323,0.883544,0.255590,0.012578,-0.001442,0.966702
23,2,460800,16,obj,1,"005_7up can_1","put bread on carpet",-0.218452,-0.057468,0.888623,0.617874,0.090106,-0.064108,0.778462
23,2,460800,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
23,2,460800,16,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.075008,0.870460,1.000000,0.000019,-0.000160,-0.000003
23,2,460800,16,gripper,0,"","put bread on carpet",-0.063511,0.025749,0.929365,0.246085,-0.736438,0.150018,0.612042
23,2,460800,17,obj,0,"003_bread_1","put bread on carpet",-0.081966,0.077713,0.883603,0.326474,0.017792,-0.003737,0.945031
23,2,460800,17,obj,1,"005_7up can_1","put bread on carpet",-0.188023,0.036880,0.888611,-0.701988,-0.263183,0.303432,-0.588113
23,2,460800,17,recep,0,"004_newspaper_1","put bread on carpet",-0.235031,-0.075016,0.869490,1.000000,0.000180,0.000875,0.000183
23,2,460800,17,recep,1,"003_carpet_1","put bread on carpet",-0.205235,0.044991,0.870460,1.000000,0.000019,-0.000158,-0.000026
23,2,460800,17,gripper,0,"","put bread on carpet",-0.082592,0.066660,0.935261,0.126567,-0.746900,0.009616,0.652709
23,2,460800,18,obj,0,"003_bread_1","put bread on carpet",-0.123615,-0.018581,0.883570,0.915042,-0.005323,-0.015571,-0.403022
23,2,460800,18,obj,1,"005_7up can_1","put bread on carpet",-0.248848,-0.046089,0.885675,0.931918,0.011014,-0.361902,0.020833
23,2,460800,18,recep,0,"004_newspaper_1","put bread on carpet",-0.071056,-0.072628,0.869490,0.995513,0.000262,0.000854,-0.094620
23,2,460800,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
23,2,460800,18,gripper,0,"","put bread on carpet",-0.127943,-0.027233,0.925257,-0.113986,-0.783655,-0.142190,0.593863
23,2,460800,19,obj,0,"003_bread_1","put bread on carpet",-0.075994,-0.083893,0.886608,0.995032,0.008177,-0.000757,0.099211
23,2,460800,19,obj,1,"005_7up can_1","put bread on carpet",-0.120438,-0.103271,0.886548,0.518867,0.165732,0.834264,-0.085521
23,2,460800,19,recep,0,"004_newspaper_1","put bread on carpet",-0.066805,-0.067829,0.869490,0.999779,0.000162,0.000875,0.021014
23,2,460800,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000071
23,2,460800,19,gripper,0,"","put bread on carpet",-0.164603,-0.112780,0.916784,-0.055678,-0.805465,0.111684,0.579355
23,2,460800,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.285981,0.117954,0.883615,-0.086580,-0.889481,-0.448195,0.021162
23,2,460800,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.173037,0.112766,0.888838,0.522539,-0.469922,0.530566,0.473947
23,2,460800,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.068863,0.049850,0.869490,0.999467,0.000208,0.000869,-0.032647
23,2,460800,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.175919,0.071568,0.870430,0.980859,-0.000287,-0.000217,0.194719
23,2,460800,20,gripper,0,"","put 7up can on newspaper",-0.161162,-0.041834,0.973499,-0.098790,-0.733510,-0.026601,0.671934
23,2,460800,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.141796,-0.020435,0.883544,0.431863,0.012096,-0.003758,0.901850
23,2,460800,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.190508,-0.047684,0.888139,0.292461,0.717416,-0.384602,0.501858
23,2,460800,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205292,-0.075302,0.869490,0.999997,0.000178,0.000876,0.002133
23,2,460800,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081499,0.078762,0.870418,0.999773,-0.000202,-0.000848,0.021306
23,2,460800,21,gripper,0,"","put 7up can on newspaper",-0.163085,-0.033821,0.945974,-0.021190,-0.765037,-0.096141,0.636417
23,2,460800,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.234474,0.074520,0.883544,0.383760,0.012272,-0.003117,0.923346
23,2,460800,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132565,-0.150524,0.897522,0.390083,0.556346,-0.568591,0.463702
23,2,460800,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.068153,-0.073471,0.869490,0.997144,0.000113,0.000886,0.075512
23,2,460800,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
23,2,460800,22,gripper,0,"","put 7up can on newspaper",-0.150776,-0.151802,0.924427,-0.009244,-0.811798,-0.024069,0.583369
23,2,460800,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.211910,-0.027092,0.885879,0.993150,-0.067613,-0.001032,0.095292
23,2,460800,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.306915,-0.024784,0.885994,-0.087520,0.810077,0.568100,0.115663
23,2,460800,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084988,-0.075008,0.869490,1.000000,0.000179,0.000874,-0.000110
23,2,460800,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204861,-0.075722,0.870367,0.999993,0.000098,-0.001093,-0.003483
23,2,460800,23,gripper,0,"","put 7up can on newspaper",-0.271086,-0.048788,0.962215,0.018306,-0.678617,-0.020840,0.733969
23,2,460800,24,obj,0,"003_bread_1","put 7up can on carpet",-0.218613,0.065310,0.886778,0.942839,0.006169,-0.008705,0.333078
23,2,460800,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.083511,-0.059958,0.885765,0.404410,-0.540035,0.320694,0.664808
23,2,460800,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000036
23,2,460800,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.194580,0.072315,0.870466,0.996791,-0.000856,-0.001115,0.080034
23,2,460800,24,gripper,0,"","put 7up can on carpet",-0.136780,-0.086279,0.914866,-0.125642,-0.776050,-0.063213,0.614789
23,2,460800,25,obj,0,"003_bread_1","put 7up can on carpet",-0.215714,0.085310,0.886596,0.999577,0.002244,-0.009640,-0.027344
23,2,460800,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.173813,-0.045282,0.885935,0.391947,-0.242590,0.881550,0.101968
23,2,460800,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
23,2,460800,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.224701,0.074402,0.870457,0.998544,-0.000443,-0.000481,-0.053948
23,2,460800,25,gripper,0,"","put 7up can on carpet",-0.096657,-0.079206,0.997636,0.073392,-0.761527,0.171882,0.620602
23,2,460800,26,obj,0,"003_bread_1","put 7up can on carpet",-0.186008,-0.021486,0.963217,0.960290,-0.041446,-0.081070,-0.263729
23,2,460800,26,obj,1,"005_7up can_1","put 7up can on carpet",0.115452,0.020784,0.017129,0.489913,-0.286132,0.804066,0.177740
23,2,460800,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
23,2,460800,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235058,0.075193,0.870429,0.999990,-0.003116,-0.002565,0.001585
23,2,460800,26,gripper,0,"","put 7up can on carpet",-0.193090,-0.017580,0.992755,-0.172526,-0.737368,-0.049322,0.651223
23,2,460800,27,obj,0,"003_bread_1","put 7up can on carpet",-0.234015,0.075302,0.883544,0.895355,0.007204,-0.010616,0.445167
23,2,460800,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.180815,-0.168518,0.885903,-0.332470,-0.622189,0.621124,-0.341393
23,2,460800,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
23,2,460800,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.204844,-0.074978,0.870448,0.999999,-0.000908,-0.000833,0.000438
23,2,460800,27,gripper,0,"","put 7up can on carpet",-0.242914,0.043567,0.940079,0.024950,-0.697422,-0.002661,0.716221
23,2,460800,28,obj,0,"003_bread_1","put bread on newspaper",-0.195538,-0.043404,0.886026,0.652093,0.024758,0.003947,0.757724
23,2,460800,28,obj,1,"005_7up can_1","put bread on newspaper",-0.104711,-0.024364,0.885904,0.337655,0.612628,-0.630543,0.336290
23,2,460800,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204925,-0.075293,0.869489,1.000000,0.000180,0.000874,-0.000519
23,2,460800,28,recep,1,"003_carpet_1","put bread on newspaper",-0.082612,-0.081110,0.870448,0.999632,-0.000903,-0.000876,0.027085
23,2,460800,28,gripper,0,"","put bread on newspaper",-0.180171,-0.023035,1.033681,0.068349,-0.763001,0.105125,0.634119
23,2,460800,29,obj,0,"003_bread_1","put bread on newspaper",-0.151127,-0.063623,0.883615,0.087153,0.605588,0.790772,0.018637
23,2,460800,29,obj,1,"005_7up can_1","put bread on newspaper",-0.072010,-0.002142,0.885987,0.114766,-0.686781,0.710221,0.103670
23,2,460800,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234940,-0.075014,0.869490,1.000000,0.000180,0.000874,0.000082
23,2,460800,29,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000063
23,2,460800,29,gripper,0,"","put bread on newspaper",-0.161331,0.027289,0.994134,0.132421,-0.790673,0.012218,0.597621
23,2,460800,30,obj,0,"003_bread_1","put bread on newspaper",-0.320282,0.046576,0.883615,-0.070065,-0.995214,-0.040047,0.055095
23,2,460800,30,obj,1,"005_7up can_1","put bread on newspaper",-0.266056,0.059574,0.889057,0.574328,-0.416569,0.551937,0.438159
23,2,460800,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
23,2,460800,30,recep,1,"003_carpet_1","put bread on newspaper",-0.234699,0.074862,0.870478,0.999986,-0.003085,-0.003027,0.003084
23,2,460800,30,gripper,0,"","put bread on newspaper",-0.197266,0.060446,1.015065,0.005011,-0.763760,0.017373,0.645247
23,2,460800,31,obj,0,"003_bread_1","put bread on newspaper",-0.192623,-0.020515,0.884537,0.696697,0.022569,0.029519,0.716403
23,2,460800,31,obj,1,"005_7up can_1","put bread on newspaper",-0.136230,-0.009081,0.889022,-0.434939,0.546760,-0.419757,-0.579384
23,2,460800,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.234646,-0.074745,0.869489,0.999995,0.000182,0.000875,-0.003202
23,2,460800,31,recep,1,"003_carpet_1","put bread on newspaper",-0.114918,-0.044840,0.870448,0.999999,-0.000923,-0.000844,-0.000560
23,2,460800,31,gripper,0,"","put bread on newspaper",-0.196445,0.011541,0.981122,0.114719,-0.723870,0.111621,0.671113
23,2,460800,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.085037,0.082702,0.887302,0.602158,-0.027962,0.014201,0.797761
23,2,460800,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204559,-0.044991,0.878546,0.706803,0.007938,0.010845,0.707283
23,2,460800,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
23,2,460800,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000000
23,2,460800,32,gripper,0,"","put carrot on flat bowl",-0.068371,0.102185,0.971850,0.111350,-0.742259,0.115773,0.650577
23,2,460800,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.089008,-0.072297,0.887457,0.998632,-0.002014,0.017813,0.049112
23,2,460800,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.235001,0.074567,0.878547,0.999910,0.013289,0.002044,-0.000081
23,2,460800,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
23,2,460800,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
23,2,460800,33,gripper,0,"","put carrot on flat bowl",-0.041386,-0.063419,0.963897,0.202048,-0.674048,0.024400,0.710099
23,2,460800,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087887,0.080307,0.887426,0.997081,-0.003999,0.031310,0.069515
23,2,460800,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013278,0.002053,0.000262
23,2,460800,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
23,2,460800,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
23,2,460800,34,gripper,0,"","put carrot on flat bowl",-0.065523,0.075839,1.022125,0.152426,-0.700638,0.038240,0.695995
23,2,460800,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.134544,0.060258,0.885932,0.238853,0.209696,0.675298,0.665545
23,2,460800,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.122494,-0.062962,0.878547,0.568647,0.005867,0.012087,0.822472
23,2,460800,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,2,460800,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
23,2,460800,35,gripper,0,"","put carrot on flat bowl",-0.113203,0.065844,0.950746,0.017907,-0.731059,0.040576,0.680871
23,2,460800,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.231621,0.009119,0.897589,0.995283,-0.067505,-0.012982,0.068450
23,2,460800,36,obj,1,"013_banana_1","put banana on sheet metal",-0.114993,0.074561,0.878547,0.999910,0.013291,0.002055,0.000314
23,2,460800,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
23,2,460800,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235036,0.045002,0.874362,1.000000,0.000101,0.000102,0.000644
23,2,460800,36,gripper,0,"","put banana on sheet metal",-0.146782,0.028540,0.996439,-0.031794,-0.802968,-0.099386,0.586817
23,2,460800,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.042110,-0.225637,0.885235,0.618369,-0.640100,0.299242,-0.344016
23,2,460800,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204567,0.045007,0.878547,0.706768,0.007958,0.010867,0.707317
23,2,460800,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,2,460800,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
23,2,460800,37,gripper,0,"","put banana on sheet metal",-0.166389,0.054462,0.998132,0.084075,-0.754911,0.045220,0.648842
23,2,460800,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242565,0.065433,0.887494,0.254453,-0.029826,0.008252,0.966590
23,2,460800,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,-0.074686,0.878547,0.382301,0.003180,0.013040,0.923940
23,2,460800,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,2,460800,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
23,2,460800,38,gripper,0,"","put banana on sheet metal",-0.185083,-0.046144,0.939518,0.054429,-0.745672,0.049690,0.662225
23,2,460800,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241280,-0.063589,0.887963,0.306996,-0.050100,0.016184,0.950253
23,2,460800,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204723,0.045293,0.878547,0.382390,0.003186,0.013055,0.923903
23,2,460800,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,2,460800,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
23,2,460800,39,gripper,0,"","put banana on sheet metal",-0.172779,-0.000828,1.001899,0.103858,-0.665579,0.119949,0.729267
23,2,460800,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208992,-0.079872,0.887432,0.368815,-0.032116,0.015012,0.928827
23,2,460800,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084671,-0.074667,0.878547,0.383540,0.003201,0.013044,0.923427
23,2,460800,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
23,2,460800,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000005
23,2,460800,40,gripper,0,"","put banana on flat bowl",-0.045200,-0.029598,0.934763,0.042137,-0.781318,-0.011641,0.622601
23,2,460800,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090992,0.073957,0.887540,0.751665,-0.018019,0.023542,0.658879
23,2,460800,41,obj,1,"013_banana_1","put banana on flat bowl",-0.200272,0.073042,0.878547,0.679470,0.007527,0.011141,0.733580
23,2,460800,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
23,2,460800,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
23,2,460800,41,gripper,0,"","put banana on flat bowl",-0.170349,0.065621,0.968031,0.099344,-0.788163,0.090638,0.600595
23,2,460800,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244858,-0.074532,0.887208,0.997977,-0.006633,0.031298,-0.054937
23,2,460800,42,obj,1,"013_banana_1","put banana on flat bowl",-0.114990,-0.045444,0.878547,0.999909,0.013353,0.002055,-0.000017
23,2,460800,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
23,2,460800,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
23,2,460800,42,gripper,0,"","put banana on flat bowl",-0.124985,-0.017890,0.990085,-0.049171,-0.784504,0.015673,0.617973
23,2,460800,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210106,-0.069811,0.887515,0.914195,-0.016881,0.039205,0.403019
23,2,460800,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114674,0.074694,0.878547,0.924035,0.011485,0.006964,0.382072
23,2,460800,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
23,2,460800,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000001,0.000109
23,2,460800,43,gripper,0,"","put banana on flat bowl",-0.082178,0.114284,0.986195,-0.396170,-0.702872,-0.300274,0.508779
23,2,460800,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.212888,-0.033724,0.887335,0.937840,-0.014870,0.027378,0.345666
23,2,460800,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234689,0.074694,0.878547,0.923689,0.011517,0.006995,0.382906
23,2,460800,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
23,2,460800,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
23,2,460800,44,gripper,0,"","put carrot on sheet metal",-0.184308,-0.051415,1.012242,0.133425,-0.712859,0.180886,0.664312
23,2,460800,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.201838,0.076389,0.887529,0.941366,-0.014477,0.040726,0.334607
23,2,460800,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,-0.045313,0.878547,0.923848,0.011509,0.006985,0.382522
23,2,460800,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
23,2,460800,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
23,2,460800,45,gripper,0,"","put carrot on sheet metal",-0.176378,0.077148,0.951522,-0.159646,-0.736097,-0.132900,0.644214
23,2,460800,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.068855,0.173172,0.887334,0.984085,0.011335,0.034206,-0.174003
23,2,460800,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.114983,-0.075445,0.878547,0.999910,0.013284,0.002042,-0.000349
23,2,460800,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
23,2,460800,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.074995,0.874363,1.000000,-0.000002,-0.000001,0.000234
23,2,460800,46,gripper,0,"","put carrot on sheet metal",-0.041687,0.110233,0.974777,0.338379,-0.748714,0.068678,0.565872
23,2,460800,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205143,0.076708,0.887529,0.706080,-0.030582,0.030548,0.706812
23,2,460800,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
23,2,460800,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
23,2,460800,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
23,2,460800,47,gripper,0,"","put carrot on sheet metal",-0.165335,0.079150,0.997353,0.042935,-0.727106,0.045094,0.683696
23,2,460800,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.088631,0.114277,0.900392,-0.564134,-0.732396,0.380385,0.025627
23,2,460800,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.167274,0.068722,0.891632,0.785425,-0.045901,-0.032602,0.616392
23,2,460800,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085007,0.075005,0.872199,1.000000,-0.000000,-0.000001,-0.000181
23,2,460800,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.208260,0.046982,0.870871,0.999681,-0.000012,-0.000015,0.025240
23,2,460800,48,gripper,0,"","put hamburger on cutting board",-0.127716,0.043619,1.040514,0.009377,-0.694678,0.055328,0.717128
23,2,460800,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.200382,0.045696,0.909500,0.988797,-0.109372,-0.092672,0.041596
23,2,460800,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055626,-0.074207,0.887026,0.704494,-0.016897,0.709508,0.001039
23,2,460800,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
23,2,460800,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000063
23,2,460800,49,gripper,0,"","put hamburger on cutting board",-0.205160,0.041212,0.937376,0.064047,-0.673417,-0.015631,0.736317
23,2,460800,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.063942,0.041626,0.888112,0.450127,-0.023534,-0.014308,0.892540
23,2,460800,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.096672,-0.047607,0.887027,0.488507,-0.522238,0.480576,0.507617
23,2,460800,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000219
23,2,460800,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205006,-0.045002,0.870870,1.000000,0.000001,-0.000000,0.000010
23,2,460800,50,gripper,0,"","put hamburger on cutting board",-0.073200,-0.029474,0.970418,-0.073598,-0.728797,-0.126754,0.668859
23,2,460800,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085966,0.075611,0.888112,0.713326,-0.026887,-0.005978,0.700291
23,2,460800,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.133156,-0.070461,0.889705,0.478374,-0.531657,0.470160,0.517154
23,2,460800,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.192019,0.117886,0.872199,0.996156,-0.000000,-0.000001,0.087595
23,2,460800,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115009,-0.074913,0.870871,1.000000,0.000000,-0.000015,-0.000521
23,2,460800,51,gripper,0,"","put hamburger on cutting board",-0.196730,-0.026773,0.942250,-0.076296,-0.756886,-0.052676,0.646938
23,2,460800,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.183067,-0.059071,0.890534,0.761676,-0.027574,-0.001764,0.647369
23,2,460800,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.035662,0.136143,0.898342,-0.861562,-0.041767,0.021085,-0.505491
23,2,460800,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.070567,0.068672,0.872199,0.997379,-0.000000,-0.000001,0.072355
23,2,460800,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,-0.045006,0.870883,1.000000,0.000700,0.000713,0.000009
23,2,460800,52,gripper,0,"","put plastic bottle on frying pan",-0.044746,0.136984,0.928299,0.217026,-0.757997,0.147454,0.597158
23,2,460800,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.069469,0.076397,0.890772,0.998365,-0.022556,0.017424,-0.049548
23,2,460800,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.150705,0.024261,0.917179,0.496409,-0.481749,0.467719,0.550214
23,2,460800,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.110765,-0.055080,0.872199,0.990787,-0.000002,-0.000000,-0.135432
23,2,460800,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.069353,0.070118,0.870871,0.996995,-0.000000,-0.000000,0.077468
23,2,460800,53,gripper,0,"","put plastic bottle on frying pan",-0.179494,0.018633,0.947307,0.011166,-0.715188,-0.121639,0.688175
23,2,460800,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086124,0.074833,0.888112,0.388121,-0.022500,-0.015881,0.921197
23,2,460800,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.190796,-0.066433,0.895348,0.480037,-0.533026,0.466994,0.517073
23,2,460800,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.221916,-0.073399,0.872199,0.989957,0.000000,-0.000001,0.141371
23,2,460800,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000001,-0.000001,0.000020
23,2,460800,54,gripper,0,"","put plastic bottle on frying pan",-0.155073,0.013807,0.994470,-0.021427,-0.700509,-0.020540,0.713026
23,2,460800,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115971,0.007370,0.889951,0.979677,0.073858,-0.080763,0.168096
23,2,460800,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.022003,-0.052647,0.887100,0.960445,-0.004682,-0.278355,-0.006554
23,2,460800,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000015
23,2,460800,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.077660,0.071121,0.870870,0.998146,-0.000000,-0.000002,0.060867
23,2,460800,55,gripper,0,"","put plastic bottle on frying pan",-0.032778,-0.097862,0.950756,-0.024846,-0.764814,-0.004166,0.643759
23,2,460800,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.117790,-0.005577,0.916190,0.789877,0.000991,0.065055,0.609805
23,2,460800,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.215172,-0.053761,0.887026,0.649530,-0.289378,0.648030,0.272816
23,2,460800,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085037,-0.075035,0.872199,1.000000,-0.000000,-0.000000,0.000502
23,2,460800,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000047
23,2,460800,56,gripper,0,"","put plastic bottle on cutting board",-0.135334,-0.016142,0.945254,-0.081715,-0.730219,-0.171204,0.656348
23,2,460800,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.238091,0.082676,0.888411,0.848273,0.002073,0.024651,0.528981
23,2,460800,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.279095,-0.039032,0.893949,0.506485,-0.571840,0.524462,0.376047
23,2,460800,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234982,-0.074997,0.872199,1.000000,-0.000000,-0.000000,0.000638
23,2,460800,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
23,2,460800,57,gripper,0,"","put plastic bottle on cutting board",-0.234171,0.083960,0.915209,0.027961,-0.669947,0.070756,0.738500
23,2,460800,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.033478,-0.081341,0.888112,0.877462,-0.027496,0.001593,0.478856
23,2,460800,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.051258,0.080204,0.691519,0.560134,0.563303,-0.090783,-0.600582
23,2,460800,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.403687,0.704865,0.003399,-0.510960,0.000000,-0.000000,0.859604
23,2,460800,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000025
23,2,460800,58,gripper,0,"","put plastic bottle on cutting board",-0.025444,0.000572,0.933921,-0.079997,-0.816460,-0.093564,0.564126
23,2,460800,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.092083,-0.081085,0.890788,0.282094,-0.020589,-0.018308,0.958991
23,2,460800,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.256067,-0.055088,0.887026,0.267304,-0.662489,0.254548,0.651814
23,2,460800,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
23,2,460800,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085011,-0.074997,0.870870,1.000000,0.000000,-0.000000,-0.000014
23,2,460800,59,gripper,0,"","put plastic bottle on cutting board",-0.101120,-0.020029,1.001889,-0.083756,-0.755072,-0.148164,0.633166
23,2,460800,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.189581,-0.056259,0.898447,0.304376,-0.058218,0.039393,0.949955
23,2,460800,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.112560,0.020836,0.889706,0.508858,-0.502123,0.501529,0.487243
23,2,460800,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.081133,-0.087196,0.872199,0.991870,0.000000,-0.000001,-0.127258
23,2,460800,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082356,0.070240,0.870871,0.999401,0.000002,-0.000017,0.034593
23,2,460800,60,gripper,0,"","put hamburger on frying pan",-0.195786,-0.063850,0.937332,-0.053189,-0.677622,-0.094076,0.727426
23,2,460800,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236000,-0.045170,0.888112,0.387760,-0.022501,-0.015887,0.921349
23,2,460800,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.111017,-0.088928,0.894047,0.452696,0.542372,-0.427690,0.563897
23,2,460800,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115004,-0.075012,0.872199,1.000000,0.000001,-0.000001,0.000059
23,2,460800,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.199322,0.084297,0.870865,0.991409,0.000053,0.000006,0.130795
23,2,460800,61,gripper,0,"","put hamburger on frying pan",-0.164288,-0.068987,1.012481,-0.119477,-0.706534,-0.097915,0.690614
23,2,460800,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.270695,0.044540,0.897957,0.401990,-0.613843,-0.533855,0.420238
23,2,460800,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.143303,0.100384,0.885720,-0.488539,-0.513829,0.462746,-0.532142
23,2,460800,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234985,0.045002,0.872199,1.000000,-0.000001,-0.000001,-0.000138
23,2,460800,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.111412,0.027824,0.870870,0.989894,-0.000000,-0.000000,0.141810
23,2,460800,62,gripper,0,"","put hamburger on frying pan",-0.227835,0.018211,0.993252,0.004225,-0.740605,-0.000985,0.671926
23,2,460800,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.011143,0.030571,0.890639,0.188414,0.008151,0.025080,-0.981736
23,2,460800,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.129681,-0.107605,0.887624,0.996187,-0.013736,-0.082410,0.025122
23,2,460800,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
23,2,460800,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.003796,0.022484,0.870713,0.821858,0.001796,0.000668,0.569689
23,2,460800,63,gripper,0,"","put hamburger on frying pan",-0.122520,-0.091969,0.950916,0.054602,-0.732708,0.082082,0.673364
23,3,465920,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.092064,0.013977,0.882846,0.138630,-0.867293,0.169387,0.447093
23,3,465920,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205544,-1.075089,0.822173,-0.485569,-0.429802,0.255986,-0.716913
23,3,465920,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.077682,-0.077126,0.869532,0.999008,0.000000,-0.000001,-0.044535
23,3,465920,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084885,0.075279,0.871282,0.999998,-0.000447,-0.001263,0.001320
23,3,465920,0,gripper,0,"","put kitchen shovel on yellow_plate",0.070183,0.120274,0.980618,-0.144994,0.376561,0.471353,-0.784223
23,3,465920,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199860,-0.084595,0.885122,0.464304,0.525997,-0.566922,0.431680
23,3,465920,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.112331,-0.005562,0.881637,0.632379,0.036266,-0.034634,0.773035
23,3,465920,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.192131,-0.082329,0.869532,0.996586,-0.000017,0.000000,-0.082561
23,3,465920,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.255413,0.075821,0.871288,0.999808,-0.000174,-0.001016,-0.019586
23,3,465920,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.128334,-0.018944,0.915054,-0.073284,-0.785851,-0.054522,0.611633
23,3,465920,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.144947,-0.159836,0.879464,-0.794619,0.163441,-0.535527,-0.234689
23,3,465920,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.172195,-0.025238,0.878805,0.121958,0.921715,-0.368192,0.001773
23,3,465920,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.160824,-0.064468,0.869532,0.999290,-0.000001,-0.000001,-0.037683
23,3,465920,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000069
23,3,465920,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.215347,-0.056831,0.950562,-0.250257,-0.736051,-0.193796,0.598368
23,3,465920,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.208040,0.071579,0.885370,-0.655804,0.199451,-0.194199,-0.701732
23,3,465920,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084410,0.074257,0.881638,0.382285,0.034402,-0.019055,0.923207
23,3,465920,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.202730,0.080383,0.869532,0.998890,-0.000000,-0.000000,0.047112
23,3,465920,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114988,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000002
23,3,465920,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.198284,-0.060528,0.914026,-0.027928,-0.737064,-0.047320,0.673585
23,3,465920,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.197207,-0.194283,0.879373,0.671075,-0.195029,0.198455,0.687196
23,3,465920,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.074220,0.065605,0.881638,0.270980,0.036419,-0.014877,0.961781
23,3,465920,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085000,-0.074997,0.869532,1.000000,-0.000000,-0.000000,-0.000000
23,3,465920,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.196091,-0.076668,0.871288,0.999850,-0.000140,-0.001022,0.017276
23,3,465920,4,gripper,0,"","put kitchen shovel on cloth",-0.233412,-0.042171,0.944287,0.148522,-0.711554,0.142462,0.671816
23,3,465920,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.172031,0.010368,0.879116,0.089043,-0.438764,0.893140,0.043118
23,3,465920,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.227322,-0.090797,0.887550,0.833347,0.017077,-0.037697,0.551198
23,3,465920,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.239597,-0.074799,0.869532,1.000000,-0.000000,-0.000001,0.000692
23,3,465920,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000001
23,3,465920,5,gripper,0,"","put kitchen shovel on cloth",-0.197754,0.028877,0.948478,0.222649,-0.741050,0.227269,0.591288
23,3,465920,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.138233,0.140053,0.879089,0.545025,-0.366166,-0.283479,-0.698935
23,3,465920,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.128044,-0.043045,0.883928,0.709428,-0.035293,0.048026,0.702253
23,3,465920,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.014175,-0.065857,0.869532,-0.612953,0.000001,0.000001,-0.790119
23,3,465920,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.249767,-0.101112,0.871288,0.999907,-0.000139,-0.001021,0.013589
23,3,465920,6,gripper,0,"","put kitchen shovel on cloth",-0.109085,-0.042900,0.915346,-0.026397,-0.760464,0.006664,0.648808
23,3,465920,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.020428,0.007751,0.879213,-0.255386,-0.378785,0.882644,-0.110626
23,3,465920,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.096340,-0.083054,0.885587,0.994053,-0.025235,-0.004134,0.105850
23,3,465920,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.188381,0.079231,0.869532,0.994356,-0.000000,-0.000001,0.106099
23,3,465920,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.040886,-0.079124,0.871288,0.974148,0.000077,-0.001030,0.225909
23,3,465920,7,gripper,0,"","put kitchen shovel on cloth",-0.133259,-0.100784,0.915050,0.058096,-0.805733,0.132454,0.574347
23,3,465920,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.040894,0.020756,0.879126,0.155654,0.749528,-0.190657,0.614516
23,3,465920,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235115,0.074043,0.881638,0.706750,0.024502,-0.030805,0.706367
23,3,465920,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.030434,-0.088188,0.869532,0.987641,-0.000000,0.000000,-0.156732
23,3,465920,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234993,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000129
23,3,465920,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.068058,-0.027174,0.971322,-0.056891,-0.759040,-0.145514,0.632018
23,3,465920,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.066505,-0.114723,0.879125,0.633332,-0.033658,-0.772678,-0.026952
23,3,465920,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.216454,-0.088711,0.881638,0.932580,0.009892,-0.038095,0.358811
23,3,465920,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.270473,-0.066315,0.820078,0.991380,0.001204,-0.009090,-0.130698
23,3,465920,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.045013,0.871288,1.000000,-0.000153,-0.001019,0.000078
23,3,465920,9,gripper,0,"","put ketchup bottle on yellow_plate",0.028593,0.066929,1.106659,0.318019,-0.111235,-0.930815,0.141682
23,3,465920,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.189285,-0.099735,0.879351,0.596507,0.339975,-0.316491,0.654545
23,3,465920,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.148300,-0.078995,0.887006,0.679712,-0.008194,-0.040366,0.732321
23,3,465920,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.217113,0.071342,0.869532,0.996092,0.000001,-0.000000,0.088322
23,3,465920,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.082336,-0.076015,0.871288,0.999904,-0.000140,-0.001021,0.013835
23,3,465920,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.217468,-0.093367,0.914479,-0.033363,-0.804014,-0.036296,0.592563
23,3,465920,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.106144,-0.095566,0.883750,-0.342758,0.693216,-0.531430,-0.345761
23,3,465920,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.200628,0.064217,0.889802,0.862869,0.025818,-0.047607,0.502517
23,3,465920,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.050411,-0.056034,0.869743,0.976424,0.002424,-0.003806,-0.215814
23,3,465920,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.232037,0.074162,0.871288,0.999706,-0.000132,-0.001023,0.024213
23,3,465920,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.154346,-0.094229,0.915285,-0.163318,-0.741099,0.030855,0.650498
23,3,465920,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.120322,0.074715,0.879386,0.609249,-0.256731,0.715574,0.225517
23,3,465920,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.173401,-0.089230,0.885969,0.645190,0.019808,-0.009910,0.763701
23,3,465920,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.298651,-0.091057,0.869532,0.989188,0.000001,0.000001,-0.146650
23,3,465920,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.083661,-0.078232,0.871288,0.999894,-0.000139,-0.001022,0.014552
23,3,465920,12,gripper,0,"","put ketchup bottle on cloth",-0.160084,0.065159,0.929444,0.104037,-0.753898,0.138442,0.633757
23,3,465920,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.231274,0.042587,0.885122,0.524997,0.432875,-0.640847,0.355404
23,3,465920,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.075954,-0.009716,0.881657,0.701994,0.016392,-0.022425,0.711641
23,3,465920,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.230577,0.074078,0.869532,0.999986,0.000001,-0.000001,-0.005355
23,3,465920,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.080549,-0.083271,0.871288,0.999495,-0.000121,-0.001024,0.031749
23,3,465920,13,gripper,0,"","put ketchup bottle on cloth",-0.278415,-0.002872,0.915132,0.346219,-0.653820,0.167123,0.651707
23,3,465920,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.206127,-0.037739,0.879124,0.596885,0.334784,-0.302165,0.663584
23,3,465920,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.214207,-0.081749,0.873649,0.066818,0.710513,-0.697368,-0.066212
23,3,465920,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.283825,0.014130,0.870573,0.999726,0.003312,-0.021967,-0.007415
23,3,465920,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.207195,0.077465,0.871210,0.999750,-0.003997,-0.004042,-0.021625
23,3,465920,14,gripper,0,"","put ketchup bottle on cloth",-0.243093,0.018457,0.996434,-0.031657,-0.769752,0.046080,0.635890
23,3,465920,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.262890,-0.069382,0.885371,0.770112,0.059615,-0.064986,0.631783
23,3,465920,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.118328,0.043987,0.881638,0.945393,0.008459,-0.038444,0.323547
23,3,465920,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.248734,-0.071110,0.869532,0.999974,-0.000000,-0.000001,-0.007189
23,3,465920,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.075016,0.871288,0.999999,-0.000153,-0.001019,0.000129
23,3,465920,15,gripper,0,"","put ketchup bottle on cloth",-0.250902,0.071871,0.951951,0.190801,-0.741795,0.147800,0.625692
23,3,465920,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.147827,-0.147190,0.883544,0.198033,0.012644,-0.000687,0.980114
23,3,465920,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.218452,-0.057289,0.888624,0.627815,0.089337,-0.065234,0.770462
23,3,465920,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
23,3,465920,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.075008,0.870461,1.000000,0.000019,-0.000158,-0.000004
23,3,465920,16,gripper,0,"","put 7up can on newspaper",-0.190117,-0.187763,0.915266,-0.025158,-0.790036,0.085015,0.606615
23,3,465920,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.184841,-0.040112,0.949958,0.221488,0.101590,0.396690,0.885020
23,3,465920,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.201851,-0.020966,0.887501,0.450112,-0.503487,0.634383,0.376110
23,3,465920,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235016,-0.075020,0.869490,1.000000,0.000180,0.000873,0.000096
23,3,465920,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.206169,0.044922,0.870461,0.999996,0.000019,-0.000158,-0.002751
23,3,465920,17,gripper,0,"","put 7up can on newspaper",-0.193953,-0.043076,0.973225,0.061311,-0.782497,0.042061,0.618199
23,3,465920,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.099247,0.001915,0.883561,0.711046,-0.009458,-0.011777,-0.702983
23,3,465920,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.147209,0.015709,0.886226,-0.238133,-0.047492,0.969997,-0.011975
23,3,465920,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.060547,-0.069824,0.869491,0.985406,0.000326,0.000831,-0.170219
23,3,465920,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082520,0.077782,0.870448,0.999959,-0.000325,-0.000325,-0.009066
23,3,465920,18,gripper,0,"","put 7up can on newspaper",-0.173981,-0.011721,0.939438,0.064042,-0.733630,0.004538,0.676510
23,3,465920,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.072922,-0.082092,0.886478,0.995407,0.007176,0.001979,0.095439
23,3,465920,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.121361,-0.092873,0.885683,0.961256,0.014160,0.272383,-0.039925
23,3,465920,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.065449,-0.066830,0.869490,0.999957,0.000171,0.000876,0.009264
23,3,465920,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084963,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000109
23,3,465920,19,gripper,0,"","put 7up can on newspaper",-0.161853,-0.119974,0.920417,-0.101513,-0.783056,-0.101942,0.605084
23,3,465920,20,obj,0,"003_bread_1","put 7up can on carpet",-0.285981,0.117954,0.883615,-0.086577,-0.889482,-0.448195,0.021161
23,3,465920,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.173165,0.113605,0.888840,0.509999,-0.481456,0.541595,0.463439
23,3,465920,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.068601,0.050621,0.869450,0.999560,0.000213,0.001395,-0.029618
23,3,465920,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.176198,0.071651,0.870388,0.980782,0.000247,-0.000845,0.195106
23,3,465920,20,gripper,0,"","put 7up can on carpet",-0.074461,0.010616,0.916800,0.086213,-0.738731,0.073205,0.664443
23,3,465920,21,obj,0,"003_bread_1","put 7up can on carpet",-0.145992,-0.045124,0.922482,0.377848,0.021319,-0.006595,0.925599
23,3,465920,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.098001,-0.166313,0.885766,0.345344,-0.565775,0.272750,0.697312
23,3,465920,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205242,-0.075306,0.869490,0.999998,0.000178,0.000875,0.001996
23,3,465920,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.082735,0.109272,0.870352,0.988759,-0.000078,-0.001239,-0.149515
23,3,465920,21,gripper,0,"","put 7up can on carpet",-0.146579,-0.045805,0.953293,-0.027175,-0.802393,-0.055453,0.593592
23,3,465920,22,obj,0,"003_bread_1","put 7up can on carpet",-0.224972,0.082977,0.883544,0.483232,0.011847,-0.004460,0.875401
23,3,465920,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.131931,-0.151920,0.885876,0.428430,0.559003,-0.581583,0.407093
23,3,465920,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.068153,-0.073475,0.869490,0.997146,0.000113,0.000886,0.075489
23,3,465920,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
23,3,465920,22,gripper,0,"","put 7up can on carpet",-0.143503,-0.050066,0.922344,0.054428,-0.754380,0.057500,0.651645
23,3,465920,23,obj,0,"003_bread_1","put 7up can on carpet",-0.145275,-0.052723,0.886456,0.996254,-0.085207,0.001878,0.014666
23,3,465920,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.214821,-0.024517,0.885922,0.067523,0.832905,0.536430,-0.118123
23,3,465920,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.059097,-0.086895,0.869490,0.994793,0.000090,0.000881,0.101916
23,3,465920,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.163181,-0.104252,0.872253,0.984058,-0.006063,-0.019294,-0.176692
23,3,465920,23,gripper,0,"","put 7up can on carpet",-0.207888,-0.033268,0.915588,0.168263,-0.742731,0.121813,0.636553
23,3,465920,24,obj,0,"003_bread_1","put bread on newspaper",-0.218613,0.065308,0.886778,0.942893,0.006171,-0.008703,0.332925
23,3,465920,24,obj,1,"005_7up can_1","put bread on newspaper",0.119217,-0.127506,0.016827,0.896079,0.085579,-0.216714,0.377828
23,3,465920,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000058
23,3,465920,24,recep,1,"003_carpet_1","put bread on newspaper",-0.194580,0.072315,0.870466,0.996792,-0.000853,-0.001112,0.080023
23,3,465920,24,gripper,0,"","put bread on newspaper",-0.166286,-0.102056,0.943548,-0.003140,-0.751208,-0.001430,0.660057
23,3,465920,25,obj,0,"003_bread_1","put bread on newspaper",-0.136089,0.104090,0.885479,0.988254,0.020443,0.049523,0.143118
23,3,465920,25,obj,1,"005_7up can_1","put bread on newspaper",-0.220573,0.074968,0.888924,0.646076,0.347475,-0.508715,0.450617
23,3,465920,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
23,3,465920,25,recep,1,"003_carpet_1","put bread on newspaper",-0.198658,0.081614,0.870447,0.997098,-0.003304,-0.002484,-0.076018
23,3,465920,25,gripper,0,"","put bread on newspaper",-0.139639,0.030604,1.005769,0.140177,-0.751888,0.109672,0.634812
23,3,465920,26,obj,0,"003_bread_1","put bread on newspaper",-0.243393,0.085663,0.886585,0.905802,-0.006267,-0.012312,-0.423475
23,3,465920,26,obj,1,"005_7up can_1","put bread on newspaper",0.115452,0.020767,0.017129,0.489888,-0.286239,0.804029,0.177804
23,3,465920,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
23,3,465920,26,recep,1,"003_carpet_1","put bread on newspaper",-0.233345,0.075195,0.870429,0.999935,-0.003092,-0.002593,0.010649
23,3,465920,26,gripper,0,"","put bread on newspaper",-0.162003,0.048264,0.915265,0.052989,-0.806770,0.043347,0.586885
23,3,465920,27,obj,0,"003_bread_1","put bread on newspaper",-0.200874,-0.053904,0.886600,0.909835,0.007971,-0.008084,0.414816
23,3,465920,27,obj,1,"005_7up can_1","put bread on newspaper",-0.180403,-0.177139,0.886222,-0.183759,-0.725068,0.628907,-0.212099
23,3,465920,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000875,0.000012
23,3,465920,27,recep,1,"003_carpet_1","put bread on newspaper",-0.204844,-0.074995,0.870448,0.999999,-0.000908,-0.000834,0.000540
23,3,465920,27,gripper,0,"","put bread on newspaper",-0.174678,-0.173965,0.927632,-0.069959,-0.702596,-0.030031,0.707504
23,3,465920,28,obj,0,"003_bread_1","put bread on carpet",-0.195184,-0.045029,0.886006,0.649309,0.024466,0.004345,0.760119
23,3,465920,28,obj,1,"005_7up can_1","put bread on carpet",-0.104711,-0.024364,0.885904,0.337643,0.612629,-0.630561,0.336269
23,3,465920,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204869,-0.075256,0.869490,0.999996,0.000177,0.000875,0.002675
23,3,465920,28,recep,1,"003_carpet_1","put bread on carpet",-0.082520,-0.081127,0.870418,0.999629,-0.000193,-0.000852,0.027221
23,3,465920,28,gripper,0,"","put bread on carpet",-0.188748,-0.021149,0.946497,-0.004135,-0.762262,-0.007461,0.647212
23,3,465920,29,obj,0,"003_bread_1","put bread on carpet",-0.147961,-0.068111,0.883615,0.078266,0.355888,0.930269,0.042641
23,3,465920,29,obj,1,"005_7up can_1","put bread on carpet",-0.072010,-0.002142,0.885987,0.114763,-0.686784,0.710218,0.103669
23,3,465920,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234774,-0.075098,0.869489,1.000000,0.000180,0.000875,-0.000057
23,3,465920,29,recep,1,"003_carpet_1","put bread on carpet",-0.083065,-0.074802,0.870350,0.999978,-0.000161,-0.001523,0.006471
23,3,465920,29,gripper,0,"","put bread on carpet",-0.160903,-0.063986,0.956926,0.049248,-0.763680,0.051917,0.641616
23,3,465920,30,obj,0,"003_bread_1","put bread on carpet",-0.320282,0.046545,0.883615,-0.069958,-0.995290,-0.038126,0.055229
23,3,465920,30,obj,1,"005_7up can_1","put bread on carpet",-0.265957,0.059580,0.889099,0.575025,-0.413153,0.553187,0.438903
23,3,465920,30,recep,0,"004_newspaper_1","put bread on carpet",-0.085720,0.074747,0.869490,1.000000,0.000179,0.000874,0.000471
23,3,465920,30,recep,1,"003_carpet_1","put bread on carpet",-0.234711,0.074865,0.870452,0.999995,-0.000926,-0.000895,0.003013
23,3,465920,30,gripper,0,"","put bread on carpet",-0.071648,0.066323,0.928175,0.083563,-0.722978,0.008053,0.685751
23,3,465920,31,obj,0,"003_bread_1","put bread on carpet",-0.192623,-0.020514,0.884536,0.696883,0.022561,0.029480,0.716223
23,3,465920,31,obj,1,"005_7up can_1","put bread on carpet",-0.122639,-0.006294,0.889016,-0.462032,0.526245,-0.445324,-0.557923
23,3,465920,31,recep,0,"004_newspaper_1","put bread on carpet",-0.234646,-0.074741,0.869489,0.999995,0.000182,0.000874,-0.002974
23,3,465920,31,recep,1,"003_carpet_1","put bread on carpet",-0.106430,-0.044437,0.870448,0.998627,-0.000959,-0.000793,-0.052365
23,3,465920,31,gripper,0,"","put bread on carpet",-0.233658,-0.049232,0.989480,0.077327,-0.753968,0.193667,0.622933
23,3,465920,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088951,0.081558,0.887329,0.608005,-0.024871,0.025811,0.793123
23,3,465920,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204567,-0.044971,0.878547,0.706780,0.007944,0.010846,0.707305
23,3,465920,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000025
23,3,465920,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
23,3,465920,32,gripper,0,"","put banana on sheet metal",-0.163624,-0.013490,0.946317,0.096286,-0.739732,0.244869,0.619326
23,3,465920,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088947,-0.073710,0.887551,0.997855,0.000402,0.030185,0.058082
23,3,465920,33,obj,1,"013_banana_1","put banana on sheet metal",-0.235001,0.074567,0.878547,0.999909,0.013311,0.002046,-0.000081
23,3,465920,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001163,-0.000009
23,3,465920,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
23,3,465920,33,gripper,0,"","put banana on sheet metal",-0.162891,0.012429,1.037690,-0.009144,-0.637019,-0.025852,0.770360
23,3,465920,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088478,0.080948,0.887260,0.997045,0.004754,0.031615,0.069856
23,3,465920,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075439,0.878547,0.999910,0.013262,0.002052,0.000263
23,3,465920,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
23,3,465920,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
23,3,465920,34,gripper,0,"","put banana on sheet metal",-0.034792,-0.053429,0.959112,-0.001645,-0.742481,-0.004045,0.669852
23,3,465920,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.134544,0.060258,0.885932,0.238852,0.209696,0.675297,0.665545
23,3,465920,35,obj,1,"013_banana_1","put banana on sheet metal",-0.122494,-0.062962,0.878547,0.568647,0.005866,0.012085,0.822472
23,3,465920,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,3,465920,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
23,3,465920,35,gripper,0,"","put banana on sheet metal",-0.049534,-0.029868,0.967505,0.044388,-0.762340,0.065187,0.642354
23,3,465920,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.231621,0.009119,0.897590,0.995283,-0.067504,-0.012982,0.068450
23,3,465920,36,obj,1,"013_banana_1","put banana on flat bowl",-0.114993,0.074561,0.878547,0.999910,0.013289,0.002055,0.000314
23,3,465920,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000016
23,3,465920,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235036,0.045002,0.874362,1.000000,0.000102,0.000102,0.000644
23,3,465920,36,gripper,0,"","put banana on flat bowl",-0.134555,0.035528,1.024364,0.012305,-0.774743,-0.082132,0.626798
23,3,465920,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.166100,-0.245624,0.885470,0.325024,-0.333729,0.622448,-0.628921
23,3,465920,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,0.045007,0.878547,0.706769,0.007949,0.010856,0.707317
23,3,465920,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,3,465920,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
23,3,465920,37,gripper,0,"","put banana on flat bowl",-0.144769,0.036094,1.022124,0.065533,-0.709400,-0.014023,0.701613
23,3,465920,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242596,0.064358,0.887538,0.251806,-0.038308,0.009888,0.966969
23,3,465920,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,-0.074686,0.878547,0.382300,0.003189,0.013069,0.923940
23,3,465920,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,3,465920,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
23,3,465920,38,gripper,0,"","put banana on flat bowl",-0.168301,-0.057078,0.918529,0.205464,-0.730201,0.234356,0.608003
23,3,465920,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242573,-0.062102,0.887930,0.297071,-0.047773,0.016882,0.953510
23,3,465920,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204723,0.045293,0.878546,0.382390,0.003179,0.013037,0.923903
23,3,465920,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,3,465920,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
23,3,465920,39,gripper,0,"","put banana on flat bowl",-0.158167,0.068829,0.998641,0.032746,-0.705414,0.000830,0.708039
23,3,465920,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210999,-0.082973,0.887374,0.382133,-0.035958,0.010493,0.923348
23,3,465920,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.074661,0.878548,0.384200,0.003218,0.013070,0.923152
23,3,465920,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
23,3,465920,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,0.000001,-0.000006
23,3,465920,40,gripper,0,"","put carrot on sheet metal",-0.164124,-0.032426,1.009004,-0.075958,-0.682106,-0.036134,0.726400
23,3,465920,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094391,0.072933,0.887298,0.757837,-0.023879,0.019292,0.651721
23,3,465920,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.200272,0.073044,0.878547,0.679712,0.007536,0.011145,0.733356
23,3,465920,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
23,3,465920,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
23,3,465920,41,gripper,0,"","put carrot on sheet metal",-0.099936,0.031598,0.979098,0.503958,-0.533859,0.390793,0.555250
23,3,465920,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.217396,0.110479,0.896374,0.985169,0.067975,-0.054583,-0.147790
23,3,465920,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.114990,-0.045444,0.878547,0.999909,0.013347,0.002052,-0.000216
23,3,465920,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
23,3,465920,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.236759,0.098171,0.874362,0.998564,0.000000,-0.000001,0.053565
23,3,465920,42,gripper,0,"","put carrot on sheet metal",-0.195923,0.113317,0.984725,0.076013,-0.761547,0.092261,0.636989
23,3,465920,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.194523,-0.097876,0.887422,0.919600,-0.008201,0.018468,0.392337
23,3,465920,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114670,0.074694,0.878547,0.924209,0.011510,0.006970,0.381649
23,3,465920,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
23,3,465920,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000001,0.000197
23,3,465920,43,gripper,0,"","put carrot on sheet metal",-0.195393,-0.055219,1.012940,0.034409,-0.719903,0.119351,0.682870
23,3,465920,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.216661,-0.030394,0.887244,0.930604,-0.004716,0.032768,0.364526
23,3,465920,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234689,0.074694,0.878547,0.923689,0.011516,0.006995,0.382906
23,3,465920,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
23,3,465920,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
23,3,465920,44,gripper,0,"","put carrot on flat bowl",-0.058159,0.080855,1.004605,-0.042134,-0.690304,-0.023810,0.721899
23,3,465920,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.201838,0.076389,0.887529,0.941365,-0.014476,0.040725,0.334609
23,3,465920,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234669,-0.045313,0.878547,0.923964,0.011527,0.006989,0.382241
23,3,465920,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
23,3,465920,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
23,3,465920,45,gripper,0,"","put carrot on flat bowl",-0.042807,0.091839,0.931705,0.156355,-0.711438,0.120076,0.674530
23,3,465920,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.043266,0.165665,0.887288,0.896109,0.020761,0.027548,-0.442492
23,3,465920,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.114983,-0.075447,0.878547,0.999909,0.013283,0.002037,-0.000693
23,3,465920,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
23,3,465920,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.074995,0.874363,1.000000,-0.000001,-0.000001,0.000339
23,3,465920,46,gripper,0,"","put carrot on flat bowl",-0.018820,0.044747,0.935332,0.345207,-0.812944,0.256717,0.392493
23,3,465920,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205143,0.076704,0.887529,0.706060,-0.030583,0.030547,0.706832
23,3,465920,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
23,3,465920,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
23,3,465920,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
23,3,465920,47,gripper,0,"","put carrot on flat bowl",-0.162033,0.062524,0.996300,-0.019855,-0.651016,-0.040839,0.757705
23,3,465920,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.118134,0.132900,0.894391,-0.561760,-0.353520,0.457909,-0.591412
23,3,465920,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.125633,0.076897,0.894323,0.821353,-0.014644,0.008585,0.570168
23,3,465920,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.082237,0.073387,0.872200,0.996531,-0.000001,-0.000001,0.083220
23,3,465920,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205826,0.039299,0.870870,0.999935,0.000001,0.000000,-0.011404
23,3,465920,48,gripper,0,"","put plastic bottle on frying pan",-0.194855,0.018650,0.998188,0.206474,-0.708979,0.205923,0.642116
23,3,465920,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.077660,0.079323,0.895226,0.980122,0.000652,-0.103926,0.168996
23,3,465920,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055626,-0.074207,0.887026,0.704495,-0.016874,0.709507,0.001017
23,3,465920,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
23,3,465920,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000068
23,3,465920,49,gripper,0,"","put plastic bottle on frying pan",-0.107035,-0.052626,1.012465,0.172618,-0.756578,0.062136,0.627639
23,3,465920,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.075924,-0.002369,0.890393,0.391658,-0.057690,0.035134,0.917628
23,3,465920,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.092842,-0.068268,0.888511,0.651250,-0.341480,0.382703,0.559288
23,3,465920,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000321
23,3,465920,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205006,-0.045002,0.870870,1.000000,0.000001,0.000000,0.000016
23,3,465920,50,gripper,0,"","put plastic bottle on frying pan",-0.093645,-0.011362,0.914087,-0.109832,-0.806300,-0.160156,0.558719
23,3,465920,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085964,0.075615,0.888112,0.713894,-0.026892,-0.005955,0.699712
23,3,465920,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.202135,0.122566,0.895329,0.568202,-0.433027,0.559534,0.420186
23,3,465920,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.192089,0.117912,0.872199,0.996073,-0.000000,-0.000001,0.088534
23,3,465920,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114780,-0.075405,0.870871,0.999999,0.000000,-0.000000,0.001001
23,3,465920,51,gripper,0,"","put plastic bottle on frying pan",-0.152461,0.031006,1.039400,0.110219,-0.711814,0.202654,0.663403
23,3,465920,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.183067,-0.059071,0.890534,0.761676,-0.027573,-0.001763,0.647369
23,3,465920,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.036840,0.140675,0.886607,-0.929827,0.007117,0.001372,-0.367924
23,3,465920,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.070567,0.068672,0.872199,0.997379,-0.000000,-0.000001,0.072355
23,3,465920,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234993,-0.045006,0.870883,1.000000,0.000700,0.000713,0.000009
23,3,465920,52,gripper,0,"","put plastic bottle on cutting board",-0.047208,0.141176,0.917006,0.314109,-0.798343,0.260296,0.442978
23,3,465920,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.068850,0.076443,0.890789,0.998544,-0.022670,0.015598,-0.046389
23,3,465920,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.153515,0.025967,0.888402,0.489545,-0.541017,0.460680,0.505391
23,3,465920,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.110765,-0.055080,0.872199,0.990805,-0.000001,-0.000001,-0.135297
23,3,465920,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.069136,0.070194,0.870871,0.997003,0.000001,-0.000005,0.077359
23,3,465920,53,gripper,0,"","put plastic bottle on cutting board",-0.127364,0.072868,1.135741,0.218559,-0.713444,0.250347,0.616892
23,3,465920,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086124,0.074833,0.888112,0.387001,-0.022481,-0.015909,0.921668
23,3,465920,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186699,0.080589,0.889648,0.386210,-0.601742,0.374937,0.590060
23,3,465920,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.227123,-0.068558,0.872199,0.973643,0.000000,-0.000000,0.228079
23,3,465920,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.200912,0.109783,0.870882,0.984319,0.000804,0.000564,-0.176394
23,3,465920,54,gripper,0,"","put plastic bottle on cutting board",-0.204145,0.069468,1.024029,0.149930,-0.724061,0.141943,0.658111
23,3,465920,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.073608,0.018932,0.889965,0.962878,-0.046131,-0.111211,0.241598
23,3,465920,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.037785,-0.052986,0.885696,0.729805,-0.005059,-0.683467,-0.015240
23,3,465920,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
23,3,465920,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.052658,0.098808,0.870870,0.991238,-0.000000,-0.000000,0.132090
23,3,465920,55,gripper,0,"","put plastic bottle on cutting board",-0.109409,-0.044464,0.914001,0.011123,-0.760835,0.014758,0.648682
23,3,465920,56,obj,0,"014_hamburger_1","put hamburger on frying pan",6.200546,-1.995609,0.023300,-0.368012,-0.558128,-0.605227,-0.432158
23,3,465920,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215172,-0.053757,0.887026,0.649566,-0.289292,0.648068,0.272729
23,3,465920,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.047401,-0.102177,0.872199,0.999869,-0.000001,-0.000001,-0.016206
23,3,465920,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000067
23,3,465920,56,gripper,0,"","put hamburger on frying pan",-0.088314,-0.043869,0.959965,-0.045110,-0.763092,0.028111,0.644100
23,3,465920,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.239578,0.086433,0.889392,0.848610,0.078933,-0.049527,0.520747
23,3,465920,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.279099,-0.039028,0.893945,0.506748,-0.571588,0.524471,0.376063
23,3,465920,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234982,-0.074997,0.872199,0.999999,-0.000001,-0.000001,0.001086
23,3,465920,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
23,3,465920,57,gripper,0,"","put hamburger on frying pan",-0.236782,0.082081,0.915947,0.113264,-0.706311,0.023729,0.698379
23,3,465920,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.021759,-0.119766,0.895173,0.641723,0.272172,0.492114,0.521477
23,3,465920,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.102196,0.069481,0.017292,0.492662,0.011625,0.019203,-0.869931
23,3,465920,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.403687,0.704865,0.003399,-0.510957,-0.000000,0.000000,0.859606
23,3,465920,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000039
23,3,465920,58,gripper,0,"","put hamburger on frying pan",-0.045244,-0.123789,0.919498,-0.124235,-0.802639,-0.073200,0.578773
23,3,465920,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.092085,-0.081085,0.890788,0.282067,-0.020587,-0.018320,0.958999
23,3,465920,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.227173,-0.116566,0.885720,0.714120,-0.097823,-0.684525,-0.109038
23,3,465920,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
23,3,465920,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085012,-0.074997,0.870870,1.000000,-0.000000,-0.000000,-0.000029
23,3,465920,59,gripper,0,"","put hamburger on frying pan",-0.306504,-0.034451,0.913289,0.055864,-0.619857,0.297171,0.724117
23,3,465920,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.131214,-0.047054,0.895679,0.459465,0.452839,0.539368,0.541213
23,3,465920,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.112559,0.020840,0.889706,0.508854,-0.502119,0.501525,0.487253
23,3,465920,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.080124,-0.087242,0.872200,0.990426,-0.000000,-0.000001,-0.138044
23,3,465920,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.082356,0.070240,0.870872,0.999402,0.000016,-0.000004,0.034593
23,3,465920,60,gripper,0,"","put hamburger on cutting board",-0.168449,-0.062307,0.966140,-0.016072,-0.715277,-0.024433,0.698228
23,3,465920,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.230026,-0.098370,0.888510,0.203641,-0.024727,-0.017125,0.978584
23,3,465920,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.110882,-0.088863,0.894110,0.451555,0.544163,-0.429463,0.561735
23,3,465920,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115004,-0.075012,0.872199,1.000000,0.000000,-0.000000,-0.000006
23,3,465920,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.199337,0.084297,0.870865,0.991411,0.000053,0.000006,0.130781
23,3,465920,61,gripper,0,"","put hamburger on cutting board",-0.247632,-0.094240,0.915820,-0.036580,-0.717899,0.042696,0.693873
23,3,465920,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.312450,0.039360,0.898675,0.329794,-0.604872,-0.569750,0.448053
23,3,465920,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.143303,0.100384,0.885720,-0.488509,-0.513856,0.462711,-0.532175
23,3,465920,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.264069,0.046974,0.872210,0.997411,-0.000188,-0.000083,0.071914
23,3,465920,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.111412,0.027824,0.870870,0.989894,-0.000000,-0.000000,0.141810
23,3,465920,62,gripper,0,"","put hamburger on cutting board",-0.275122,0.015928,0.916166,-0.001680,-0.712460,-0.074387,0.697757
23,3,465920,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.010361,0.039238,0.892009,0.161041,0.025181,0.026215,-0.986278
23,3,465920,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064152,-0.137589,0.887026,0.688705,0.133895,0.696962,-0.148330
23,3,465920,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000018
23,3,465920,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.001438,0.035065,0.872061,0.841981,0.006797,-0.011382,0.539344
23,3,465920,63,gripper,0,"","put hamburger on cutting board",-0.049454,-0.024427,0.915747,-0.025035,-0.768002,0.085377,0.634237
23,4,471040,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.092033,0.013962,0.882842,0.139508,-0.866940,0.171207,0.446812
23,4,471040,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.247513,-1.023994,0.006246,0.096466,0.891843,-0.437082,0.065342
23,4,471040,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.075249,-0.077812,0.869532,0.998844,0.000000,-0.000001,-0.048060
23,4,471040,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084885,0.075279,0.871282,0.999998,-0.000449,-0.001266,0.001340
23,4,471040,0,gripper,0,"","put kitchen shovel on cloth",-0.222820,-0.060452,0.922068,0.088245,-0.753698,-0.008879,0.651209
23,4,471040,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.287960,-0.000702,0.879420,0.804994,0.060666,-0.076603,0.585180
23,4,471040,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.112709,-0.005432,0.881638,0.657250,0.026535,-0.029071,0.752644
23,4,471040,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.191494,-0.084381,0.869532,0.999279,0.000000,-0.000000,-0.037964
23,4,471040,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.255413,0.075821,0.871288,0.999807,-0.000174,-0.001016,-0.019606
23,4,471040,1,gripper,0,"","put kitchen shovel on cloth",-0.279625,-0.009907,0.915124,0.038507,-0.791458,0.008280,0.609953
23,4,471040,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.135872,-0.169243,0.878982,-0.735359,0.153820,-0.632680,-0.187892
23,4,471040,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.097301,0.064796,0.885513,-0.119655,0.799131,-0.579369,-0.106792
23,4,471040,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.119961,-0.077927,0.869532,0.998048,0.000000,-0.000000,-0.062456
23,4,471040,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000066
23,4,471040,2,gripper,0,"","put kitchen shovel on cloth",-0.164562,0.042725,0.914870,0.027492,-0.768965,-0.008665,0.638640
23,4,471040,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.139057,-0.067772,0.886118,0.634449,0.255831,-0.406442,0.605665
23,4,471040,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.078140,0.068329,0.881638,0.297629,0.036014,-0.015896,0.953870
23,4,471040,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.180887,0.076408,0.869532,0.955859,0.000000,-0.000000,0.293824
23,4,471040,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.089705,-0.106834,0.871288,0.999334,-0.000117,-0.001025,0.036468
23,4,471040,3,gripper,0,"","put kitchen shovel on cloth",-0.153407,-0.063923,0.987684,0.032601,-0.763478,-0.011291,0.644911
23,4,471040,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.197207,-0.194283,0.879373,0.671075,-0.195029,0.198455,0.687195
23,4,471040,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.047683,0.089035,0.881636,0.127237,0.049102,-0.010181,0.990604
23,4,471040,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082404,-0.087051,0.869621,0.999989,-0.001464,-0.000603,0.004448
23,4,471040,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.196091,-0.076668,0.871288,0.999850,-0.000139,-0.001022,0.017276
23,4,471040,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.098202,-0.002895,0.915783,-0.044260,-0.802556,0.000425,0.594932
23,4,471040,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205923,0.033585,0.879263,-0.580154,0.413233,-0.440346,-0.546584
23,4,471040,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.207199,-0.077225,0.887560,0.786535,-0.028643,0.025922,0.616336
23,4,471040,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.223480,-0.076340,0.869532,0.998751,0.000000,-0.000000,0.049974
23,4,471040,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000010
23,4,471040,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.259766,0.026550,0.914225,0.006835,-0.801620,0.004588,0.597777
23,4,471040,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.064423,0.037132,0.879213,-0.186515,0.715067,0.641265,0.206568
23,4,471040,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.069637,-0.050240,0.885354,0.675615,-0.052546,0.013157,0.735262
23,4,471040,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",0.007339,-0.077995,0.872395,-0.784925,0.021299,0.042839,-0.617741
23,4,471040,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.249733,-0.101097,0.871288,0.999913,-0.000140,-0.001020,0.013179
23,4,471040,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.057333,-0.045212,0.914850,-0.021411,-0.786158,-0.008836,0.617591
23,4,471040,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.020428,0.007751,0.879213,-0.255382,-0.378860,0.882610,-0.110650
23,4,471040,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084637,-0.067917,0.888221,0.843402,-0.013820,-0.057409,0.534028
23,4,471040,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.188381,0.079231,0.869532,0.994352,0.000000,-0.000001,0.106127
23,4,471040,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.035545,-0.075867,0.871289,0.977134,0.000060,-0.001031,0.212623
23,4,471040,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.114464,-0.057003,0.914700,0.088611,-0.751154,0.041224,0.652852
23,4,471040,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.020432,0.036633,0.879126,0.103359,0.762916,-0.126869,0.625445
23,4,471040,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235115,0.074043,0.881638,0.706759,0.024508,-0.030811,0.706358
23,4,471040,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.030434,-0.088188,0.869532,0.987641,-0.000000,0.000000,-0.156729
23,4,471040,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000162
23,4,471040,8,gripper,0,"","put ketchup bottle on cloth",-0.062767,0.013603,0.914605,0.189539,-0.760564,0.146376,0.603482
23,4,471040,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.007736,-0.124763,0.879754,0.564523,-0.017775,0.825149,0.011290
23,4,471040,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.216454,-0.088711,0.881638,0.932585,0.009885,-0.038080,0.358800
23,4,471040,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.270466,-0.066315,0.820058,0.991377,0.001289,-0.009735,-0.130672
23,4,471040,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.045013,0.871288,1.000000,-0.000153,-0.001019,0.000072
23,4,471040,9,gripper,0,"","put ketchup bottle on cloth",-0.037930,-0.073387,0.935098,-0.017652,-0.809236,0.021383,0.586829
23,4,471040,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.218494,-0.199173,0.880655,0.385436,0.575582,-0.612590,0.380628
23,4,471040,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.174015,-0.182667,0.886590,0.724256,-0.065121,0.025841,0.685963
23,4,471040,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.217113,0.071342,0.869532,0.996092,-0.000000,-0.000001,0.088325
23,4,471040,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082275,-0.075958,0.871283,0.999895,-0.000433,-0.001272,0.014394
23,4,471040,10,gripper,0,"","put ketchup bottle on cloth",-0.248741,-0.183680,0.916411,-0.035436,-0.769427,0.078682,0.632879
23,4,471040,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.187054,-0.014740,0.879089,-0.727229,-0.263377,0.380874,-0.506662
23,4,471040,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.200626,0.064220,0.889801,0.862861,0.025721,-0.047449,0.502551
23,4,471040,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.048590,-0.054203,0.869532,0.980670,0.000000,-0.000000,-0.195669
23,4,471040,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.232038,0.074162,0.871288,0.999708,-0.000132,-0.001023,0.024127
23,4,471040,11,gripper,0,"","put ketchup bottle on cloth",-0.254747,-0.047157,0.915438,0.126813,-0.774884,0.080915,0.613943
23,4,471040,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.122758,0.072784,0.878981,0.711756,-0.218968,0.613179,0.263568
23,4,471040,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.161935,-0.110870,0.881638,0.726062,0.023491,-0.031313,0.686514
23,4,471040,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.318875,0.060486,0.006728,-0.000000,0.494744,-0.869039,-0.000000
23,4,471040,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.052369,-0.075848,0.871288,0.998503,-0.000097,-0.001026,0.054697
23,4,471040,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.224495,-0.117834,0.914044,0.141642,-0.726848,0.167014,0.650950
23,4,471040,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.218294,0.061287,0.885125,0.508640,0.461173,-0.620738,0.378535
23,4,471040,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.195467,0.077553,0.887621,0.871352,0.012496,-0.032486,0.489423
23,4,471040,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.225161,0.084633,0.869532,0.996285,0.000000,-0.000000,0.086115
23,4,471040,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.080549,-0.083271,0.871288,0.999496,-0.000121,-0.001024,0.031741
23,4,471040,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.229810,-0.031797,1.000651,0.098733,-0.707672,0.116065,0.689914
23,4,471040,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191383,-0.009514,0.879373,0.796805,-0.150598,0.233980,0.536354
23,4,471040,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.229355,-0.079731,0.875043,-0.020617,0.758572,-0.641090,-0.114664
23,4,471040,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.285728,0.024002,0.870863,0.996375,0.021626,-0.018406,0.080184
23,4,471040,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.207195,0.077469,0.871210,0.999749,-0.003997,-0.004042,-0.021673
23,4,471040,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.275536,-0.096451,0.915793,-0.063250,-0.710312,0.033093,0.700258
23,4,471040,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.262859,-0.069408,0.885369,0.768869,0.059700,-0.064860,0.633300
23,4,471040,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.191002,-0.004868,0.881638,0.699716,0.024812,-0.030558,0.713335
23,4,471040,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.248718,-0.071136,0.869532,0.999976,-0.000000,-0.000001,-0.006897
23,4,471040,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235119,0.075020,0.871282,0.999999,-0.000451,-0.001265,-0.000377
23,4,471040,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.105724,-0.003962,0.913817,-0.051202,-0.674261,-0.063545,0.733970
23,4,471040,16,obj,0,"003_bread_1","put 7up can on carpet",-0.147827,-0.147179,0.883544,0.198079,0.012643,-0.000686,0.980104
23,4,471040,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.218452,-0.057091,0.888625,0.636711,0.088327,-0.066016,0.763177
23,4,471040,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000001
23,4,471040,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.075008,0.870461,1.000000,0.000018,-0.000158,-0.000014
23,4,471040,16,gripper,0,"","put 7up can on carpet",-0.122517,0.033424,1.005341,0.222907,-0.681892,0.241755,0.653369
23,4,471040,17,obj,0,"003_bread_1","put 7up can on carpet",-0.155846,-0.082001,0.883615,-0.028401,0.371565,-0.924116,-0.084512
23,4,471040,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.189079,0.005783,0.885946,0.306094,-0.671231,0.566151,0.367734
23,4,471040,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234734,-0.074345,0.869490,0.999997,0.000182,0.000874,-0.002382
23,4,471040,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.204594,0.060104,0.870447,0.997371,-0.002908,-0.002952,0.072344
23,4,471040,17,gripper,0,"","put 7up can on carpet",-0.154390,-0.084774,0.945669,-0.050905,-0.713253,-0.000519,0.699056
23,4,471040,18,obj,0,"003_bread_1","put 7up can on carpet",-0.025440,-0.061779,0.885915,0.825999,-0.036317,-0.093703,-0.554640
23,4,471040,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.186031,0.012123,0.885747,0.807231,-0.032343,0.588276,0.035553
23,4,471040,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.025490,-0.119026,0.869473,0.883779,0.000715,0.000874,-0.467903
23,4,471040,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.082516,0.077808,0.870448,0.999960,-0.000924,-0.000830,-0.008888
23,4,471040,18,gripper,0,"","put 7up can on carpet",-0.040857,-0.068724,0.917565,-0.110527,-0.726458,-0.131440,0.665407
23,4,471040,19,obj,0,"003_bread_1","put 7up can on carpet",0.010220,-0.061733,0.885454,0.990683,0.010172,0.004734,0.135723
23,4,471040,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.023794,-0.045464,0.889015,0.674235,0.088501,0.729329,-0.075185
23,4,471040,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.011127,-0.046936,0.869472,0.993354,0.000550,0.001373,-0.115094
23,4,471040,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.083549,0.077812,0.870448,0.999991,-0.000818,-0.000763,0.004022
23,4,471040,19,gripper,0,"","put 7up can on carpet",-0.048832,-0.068871,0.952824,0.013189,-0.748343,0.063461,0.660137
23,4,471040,20,obj,0,"003_bread_1","put bread on newspaper",-0.285981,0.117954,0.883615,-0.086579,-0.889481,-0.448196,0.021161
23,4,471040,20,obj,1,"005_7up can_1","put bread on newspaper",-0.173160,0.113590,0.888839,0.510444,-0.480936,0.542096,0.462904
23,4,471040,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.068601,0.050621,0.869490,0.999562,0.000206,0.000869,-0.029593
23,4,471040,20,recep,1,"003_carpet_1","put bread on newspaper",-0.176198,0.071651,0.870388,0.980782,0.000248,-0.000846,0.195106
23,4,471040,20,gripper,0,"","put bread on newspaper",-0.267989,-0.092794,0.945162,0.115540,-0.651632,0.059257,0.747338
23,4,471040,21,obj,0,"003_bread_1","put bread on newspaper",-0.177689,-0.074524,0.885336,0.311881,0.030048,0.003604,0.949639
23,4,471040,21,obj,1,"005_7up can_1","put bread on newspaper",-0.098000,-0.166313,0.885766,0.345320,-0.565779,0.272726,0.697329
23,4,471040,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.205278,-0.075325,0.869489,0.999996,0.000543,0.001422,0.002208
23,4,471040,21,recep,1,"003_carpet_1","put bread on newspaper",-0.084436,0.109276,0.870448,0.989048,-0.000925,-0.000631,-0.147586
23,4,471040,21,gripper,0,"","put bread on newspaper",-0.160865,-0.087852,0.988927,-0.016655,-0.686230,-0.029341,0.726602
23,4,471040,22,obj,0,"003_bread_1","put bread on newspaper",-0.116760,-0.051342,0.885764,-0.000619,-0.073703,-0.012931,0.997196
23,4,471040,22,obj,1,"005_7up can_1","put bread on newspaper",-0.131931,-0.151920,0.885876,0.428388,0.559026,-0.581633,0.407035
23,4,471040,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.064568,-0.074448,0.869490,0.997200,0.000114,0.000886,0.074774
23,4,471040,22,recep,1,"003_carpet_1","put bread on newspaper",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
23,4,471040,22,gripper,0,"","put bread on newspaper",-0.151972,-0.074133,0.914316,-0.018985,-0.737992,-0.112992,0.665011
23,4,471040,23,obj,0,"003_bread_1","put bread on newspaper",-0.142517,-0.053757,0.886359,0.996300,-0.082509,0.003379,0.023794
23,4,471040,23,obj,1,"005_7up can_1","put bread on newspaper",-0.216278,0.001934,0.964645,-0.594565,0.533042,0.401432,0.448566
23,4,471040,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.056610,-0.088097,0.869490,0.992901,0.000075,0.000888,0.118942
23,4,471040,23,recep,1,"003_carpet_1","put bread on newspaper",-0.161243,-0.105808,0.872254,0.982504,-0.006231,-0.019250,-0.185140
23,4,471040,23,gripper,0,"","put bread on newspaper",-0.227222,0.004585,0.998003,-0.050562,-0.662752,0.019917,0.746864
23,4,471040,24,obj,0,"003_bread_1","put bread on carpet",-0.218613,0.065308,0.886778,0.942947,0.006158,-0.008712,0.332772
23,4,471040,24,obj,1,"005_7up can_1","put bread on carpet",0.119217,-0.127541,0.016827,0.895991,0.085630,-0.216695,0.378036
23,4,471040,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000075
23,4,471040,24,recep,1,"003_carpet_1","put bread on carpet",-0.194580,0.072315,0.870466,0.996793,-0.000860,-0.001119,0.080014
23,4,471040,24,gripper,0,"","put bread on carpet",-0.115696,-0.113585,0.944220,0.003760,-0.766981,-0.014642,0.641491
23,4,471040,25,obj,0,"003_bread_1","put bread on carpet",-0.136078,0.104099,0.885486,0.989076,0.019593,0.050235,0.137189
23,4,471040,25,obj,1,"005_7up can_1","put bread on carpet",-0.220474,0.074932,0.888875,0.643459,0.350106,-0.509378,0.451577
23,4,471040,25,recep,0,"004_newspaper_1","put bread on carpet",-0.088490,-0.076544,0.869450,0.999890,0.000197,0.001408,-0.014750
23,4,471040,25,recep,1,"003_carpet_1","put bread on carpet",-0.198658,0.081614,0.870447,0.997097,-0.003315,-0.002489,-0.076030
23,4,471040,25,gripper,0,"","put bread on carpet",-0.086540,-0.110725,0.917824,-0.145000,-0.727727,-0.125013,0.658604
23,4,471040,26,obj,0,"003_bread_1","put bread on carpet",-0.240379,0.087782,0.886648,0.921329,-0.003866,-0.010049,-0.388634
23,4,471040,26,obj,1,"005_7up can_1","put bread on carpet",0.115452,0.020750,0.017129,0.489866,-0.286339,0.803993,0.177865
23,4,471040,26,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
23,4,471040,26,recep,1,"003_carpet_1","put bread on carpet",-0.233341,0.075520,0.870447,0.999951,-0.000895,-0.000861,0.009820
23,4,471040,26,gripper,0,"","put bread on carpet",-0.110189,-0.013527,0.943008,0.068183,-0.723576,0.050822,0.684986
23,4,471040,27,obj,0,"003_bread_1","put bread on carpet",-0.201479,-0.053165,0.886605,0.911777,0.008390,-0.008096,0.410521
23,4,471040,27,obj,1,"005_7up can_1","put bread on carpet",-0.181084,-0.172861,0.885951,-0.266278,-0.691567,0.599320,-0.302732
23,4,471040,27,recep,0,"004_newspaper_1","put bread on carpet",-0.103029,0.089581,0.869445,0.999990,0.000149,0.001430,0.004216
23,4,471040,27,recep,1,"003_carpet_1","put bread on carpet",-0.204834,-0.074987,0.870421,0.999999,-0.000296,-0.000881,0.000624
23,4,471040,27,gripper,0,"","put bread on carpet",-0.084632,0.073688,0.916779,0.187560,-0.737695,0.168481,0.626292
23,4,471040,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.195184,-0.045029,0.886007,0.649308,0.024461,0.004342,0.760119
23,4,471040,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.105887,-0.063875,0.889113,-0.384606,0.568055,-0.637023,-0.351559
23,4,471040,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204869,-0.075256,0.869490,0.999996,0.000177,0.000875,0.002675
23,4,471040,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082117,-0.082607,0.870448,0.999708,-0.000902,-0.000868,0.024136
23,4,471040,28,gripper,0,"","put 7up can on newspaper",-0.104854,-0.055775,0.978190,0.045571,-0.734839,0.078996,0.672082
23,4,471040,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.045912,-0.068895,0.887124,-0.054098,0.414951,0.908171,0.010674
23,4,471040,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.072008,-0.002153,0.885987,0.114759,-0.686867,0.710135,0.103689
23,4,471040,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234091,-0.075377,0.869490,1.000000,0.000180,0.000870,-0.000327
23,4,471040,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.014074,-0.073162,0.870431,0.999214,-0.000860,-0.000562,-0.039620
23,4,471040,29,gripper,0,"","put 7up can on newspaper",-0.079516,-0.081265,0.915167,-0.021817,-0.784765,-0.058272,0.616662
23,4,471040,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.320282,0.046541,0.883615,-0.069852,-0.995356,-0.036363,0.055352
23,4,471040,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.265892,0.059561,0.889099,0.575041,-0.413190,0.552958,0.439135
23,4,471040,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085720,0.074747,0.869490,1.000000,0.000179,0.000874,0.000515
23,4,471040,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234711,0.074865,0.870452,0.999995,-0.000925,-0.000895,0.003020
23,4,471040,30,gripper,0,"","put 7up can on newspaper",-0.086802,-0.107458,0.948844,-0.058497,-0.772460,-0.106596,0.623315
23,4,471040,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.201153,-0.013691,0.884481,0.544117,0.016028,0.031185,0.838276
23,4,471040,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.112629,-0.005033,0.888968,-0.482620,0.509656,-0.464214,-0.540217
23,4,471040,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.243885,-0.075838,0.869490,0.999246,0.000146,0.000877,0.038828
23,4,471040,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.099716,-0.044228,0.870417,0.995522,-0.000960,-0.001362,-0.094512
23,4,471040,31,gripper,0,"","put 7up can on newspaper",-0.188414,-0.011156,0.926087,0.071186,-0.767132,0.014670,0.637359
23,4,471040,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.091827,0.079525,0.887495,0.615551,-0.024155,0.019374,0.787488
23,4,471040,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,-0.044971,0.878547,0.706780,0.007945,0.010849,0.707305
23,4,471040,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
23,4,471040,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
23,4,471040,32,gripper,0,"","put banana on flat bowl",-0.169899,-0.013316,0.997274,0.199898,-0.732881,0.170577,0.627558
23,4,471040,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089760,-0.073928,0.887501,0.997434,0.000592,0.020885,0.068466
23,4,471040,33,obj,1,"013_banana_1","put banana on flat bowl",-0.235001,0.074567,0.878547,0.999909,0.013309,0.002046,-0.000081
23,4,471040,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
23,4,471040,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
23,4,471040,33,gripper,0,"","put banana on flat bowl",-0.132145,-0.000610,0.993779,0.149895,-0.681362,0.127150,0.705060
23,4,471040,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088184,0.082572,0.887445,0.996816,-0.004980,0.039682,0.068977
23,4,471040,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075440,0.878547,0.999910,0.013282,0.002053,0.000263
23,4,471040,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
23,4,471040,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
23,4,471040,34,gripper,0,"","put banana on flat bowl",-0.042603,-0.025334,0.979559,0.031957,-0.762697,0.133632,0.631992
23,4,471040,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.134544,0.060258,0.885932,0.238855,0.209693,0.675299,0.665544
23,4,471040,35,obj,1,"013_banana_1","put banana on flat bowl",-0.122494,-0.062962,0.878547,0.568647,0.005878,0.012106,0.822472
23,4,471040,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
23,4,471040,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
23,4,471040,35,gripper,0,"","put banana on flat bowl",-0.067184,-0.027769,0.955174,0.137864,-0.791903,0.186991,0.564727
23,4,471040,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.231621,0.009119,0.897589,0.995284,-0.067504,-0.012982,0.068450
23,4,471040,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.114993,0.074561,0.878547,0.999910,0.013265,0.002053,0.000314
23,4,471040,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
23,4,471040,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235036,0.045002,0.874362,1.000000,0.000102,0.000103,0.000644
23,4,471040,36,gripper,0,"","put carrot on sheet metal",-0.225156,-0.051292,0.971550,0.017189,-0.737380,-0.002732,0.675254
23,4,471040,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.220980,-0.141626,0.885487,-0.082047,0.071519,0.702309,-0.703502
23,4,471040,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204567,0.045007,0.878547,0.706769,0.007934,0.010839,0.707317
23,4,471040,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234953,-0.074763,0.871356,0.999999,-0.000686,0.000810,-0.000943
23,4,471040,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
23,4,471040,37,gripper,0,"","put carrot on sheet metal",-0.173710,-0.129039,0.980833,-0.229453,-0.740024,-0.058967,0.629474
23,4,471040,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.241310,0.060689,0.887560,0.253657,-0.030305,0.009937,0.966768
23,4,471040,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,-0.074686,0.878547,0.382300,0.003184,0.013052,0.923940
23,4,471040,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,4,471040,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,4,471040,38,gripper,0,"","put carrot on sheet metal",-0.180958,-0.012741,0.949290,0.118396,-0.709002,0.058801,0.692706
23,4,471040,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208569,-0.081316,0.887471,0.144201,-0.040273,0.007469,0.988700
23,4,471040,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204723,0.045293,0.878547,0.382390,0.003188,0.013062,0.923903
23,4,471040,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
23,4,471040,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
23,4,471040,39,gripper,0,"","put carrot on sheet metal",-0.181328,-0.068532,0.999415,-0.006644,-0.700891,-0.007842,0.713195
23,4,471040,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.138855,-0.023239,0.897479,0.142028,-0.075188,-0.063887,0.984933
23,4,471040,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.081406,-0.077332,0.878547,0.423210,0.003752,0.012877,0.905932
23,4,471040,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
23,4,471040,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235100,0.045479,0.874362,1.000000,-0.000000,-0.000001,0.000985
23,4,471040,40,gripper,0,"","put carrot on flat bowl",-0.106762,-0.039578,0.946556,0.111371,-0.757561,-0.004947,0.643174
23,4,471040,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093567,0.074789,0.887477,0.737841,-0.028791,0.029510,0.673714
23,4,471040,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.200268,0.073048,0.878546,0.679962,0.007525,0.011123,0.733125
23,4,471040,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
23,4,471040,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
23,4,471040,41,gripper,0,"","put carrot on flat bowl",-0.085358,0.016025,0.972154,0.109842,-0.735114,0.058423,0.666430
23,4,471040,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.217396,0.110477,0.896373,0.985176,0.067990,-0.054582,-0.147737
23,4,471040,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.114986,-0.045446,0.878548,0.999908,0.013372,0.002052,-0.000383
23,4,471040,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
23,4,471040,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.236759,0.098171,0.874362,0.998571,0.000000,-0.000001,0.053451
23,4,471040,42,gripper,0,"","put carrot on flat bowl",-0.188545,-0.097408,1.008935,0.194006,-0.638703,0.258987,0.698102
23,4,471040,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.193968,-0.103638,0.887413,0.932536,-0.011248,0.024664,0.360058
23,4,471040,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114664,0.074696,0.878547,0.924384,0.011485,0.006950,0.381227
23,4,471040,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
23,4,471040,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,0.000001,0.000287
23,4,471040,43,gripper,0,"","put carrot on flat bowl",-0.184858,-0.082434,0.953871,-0.145020,-0.780386,-0.156799,0.587692
23,4,471040,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.224425,-0.028404,0.887426,0.937467,-0.016122,0.035828,0.345849
23,4,471040,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234689,0.074694,0.878547,0.923689,0.011515,0.006994,0.382906
23,4,471040,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
23,4,471040,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000000
23,4,471040,44,gripper,0,"","put banana on sheet metal",-0.190571,0.060320,1.016421,0.009527,-0.675672,-0.011166,0.737056
23,4,471040,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.201839,0.076389,0.887529,0.941365,-0.014476,0.040724,0.334609
23,4,471040,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234667,-0.045313,0.878547,0.924076,0.011509,0.006975,0.381973
23,4,471040,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
23,4,471040,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
23,4,471040,45,gripper,0,"","put banana on sheet metal",-0.202941,-0.067603,0.960990,-0.038603,-0.707866,-0.064523,0.702334
23,4,471040,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.039486,0.169926,0.887210,0.887873,0.012398,0.010651,-0.459797
23,4,471040,46,obj,1,"013_banana_1","put banana on sheet metal",-0.114979,-0.075449,0.878547,0.999909,0.013285,0.002033,-0.001030
23,4,471040,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
23,4,471040,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.074995,0.874363,1.000000,-0.000001,0.000000,0.000443
23,4,471040,46,gripper,0,"","put banana on sheet metal",-0.072264,-0.032737,0.947181,0.138762,-0.761920,0.079224,0.627652
23,4,471040,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205143,0.076702,0.887529,0.706059,-0.030584,0.030549,0.706833
23,4,471040,47,obj,1,"013_banana_1","put banana on sheet metal",-0.121952,0.064087,0.878547,0.516146,0.005120,0.012461,0.856394
23,4,471040,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
23,4,471040,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
23,4,471040,47,gripper,0,"","put banana on sheet metal",-0.085903,0.010573,1.011393,-0.078204,-0.837891,-0.053344,0.537566
23,4,471040,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.118317,0.132313,0.894523,-0.566272,-0.340959,0.452615,-0.598516
23,4,471040,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.136246,0.045414,0.893189,0.503175,0.429982,-0.583505,0.470588
23,4,471040,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.082314,0.071598,0.872206,0.995097,0.000082,-0.000088,0.098899
23,4,471040,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206345,0.039242,0.870887,0.999948,0.000789,0.000804,-0.010103
23,4,471040,48,gripper,0,"","put plastic bottle on cutting board",-0.204887,-0.018181,1.013970,0.209899,-0.687411,0.197505,0.666634
23,4,471040,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.079575,0.090420,0.894565,0.969357,0.034001,-0.016182,0.242755
23,4,471040,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.055626,-0.074207,0.887026,0.704495,-0.016844,0.709508,0.000987
23,4,471040,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.075733,0.081963,0.872210,0.996289,-0.000164,-0.000078,0.086066
23,4,471040,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000081
23,4,471040,49,gripper,0,"","put plastic bottle on cutting board",-0.073158,0.086481,0.938797,0.134498,-0.718321,0.099720,0.675264
23,4,471040,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.075569,0.001717,0.888113,0.106379,-0.016976,-0.021689,0.993944
23,4,471040,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.031765,-0.031898,0.924938,0.472788,-0.596739,0.342126,0.550748
23,4,471040,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000425
23,4,471040,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205006,-0.045002,0.870870,1.000000,0.000001,0.000000,0.000022
23,4,471040,50,gripper,0,"","put plastic bottle on cutting board",-0.017984,-0.028444,0.953769,-0.059277,-0.776923,-0.159827,0.606080
23,4,471040,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085964,0.075615,0.888112,0.714517,-0.026898,-0.005928,0.699076
23,4,471040,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175659,-0.083038,0.889355,0.517916,-0.527018,0.474106,0.478790
23,4,471040,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.191605,0.118237,0.872199,0.996653,0.000001,-0.000001,0.081743
23,4,471040,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.110449,-0.076447,0.870870,0.999939,0.000000,-0.000002,0.011001
23,4,471040,51,gripper,0,"","put plastic bottle on cutting board",-0.175961,-0.100555,0.975585,-0.023767,-0.786613,-0.037530,0.615846
23,4,471040,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206915,-0.030239,0.890520,0.736764,-0.027559,-0.002808,0.675582
23,4,471040,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.037019,0.140392,0.886092,-0.927303,0.017499,-0.014049,-0.373639
23,4,471040,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.070567,0.068672,0.872199,0.997379,-0.000000,-0.000001,0.072355
23,4,471040,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.241715,-0.038399,0.870883,0.998739,0.000651,0.000731,0.050198
23,4,471040,52,gripper,0,"","put hamburger on frying pan",-0.207955,-0.033249,0.927147,0.073826,-0.757004,0.070275,0.645411
23,4,471040,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.068560,0.076622,0.890783,0.998553,-0.023641,0.015076,-0.045900
23,4,471040,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.078112,-0.024940,0.898449,-0.136040,-0.411614,0.899891,-0.047571
23,4,471040,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.087343,-0.069218,0.872199,0.886917,-0.000001,0.000000,-0.461930
23,4,471040,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.068783,0.070278,0.870870,0.997001,-0.000001,-0.000001,0.077385
23,4,471040,53,gripper,0,"","put hamburger on frying pan",-0.148046,-0.037228,0.942753,-0.126173,-0.770603,-0.056306,0.622158
23,4,471040,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.079742,0.013062,0.891344,0.393113,-0.075282,0.056511,0.914659
23,4,471040,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.186619,0.080372,0.889663,0.386947,-0.600444,0.376951,0.589616
23,4,471040,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.227123,-0.068558,0.872199,0.973619,-0.000000,-0.000001,0.228182
23,4,471040,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.200905,0.109711,0.870884,0.984286,0.000817,0.000583,-0.176579
23,4,471040,54,gripper,0,"","put hamburger on frying pan",-0.098772,0.010586,0.915866,0.051157,-0.766665,0.002632,0.640001
23,4,471040,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.110752,-0.014771,0.891291,0.923681,-0.040150,-0.104138,0.366546
23,4,471040,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.036800,-0.053814,0.885720,0.721742,-0.022627,-0.691118,-0.030546
23,4,471040,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
23,4,471040,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.052658,0.098808,0.870870,0.991241,0.000000,-0.000000,0.132067
23,4,471040,55,gripper,0,"","put hamburger on frying pan",-0.128450,-0.014475,0.914612,-0.010305,-0.760571,0.006592,0.649140
23,4,471040,56,obj,0,"014_hamburger_1","put hamburger on cutting board",6.200546,-1.995605,0.023300,-0.367355,-0.557236,-0.606043,-0.432724
23,4,471040,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.248238,0.073536,0.889705,0.549987,-0.455786,0.544074,0.440178
23,4,471040,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.047401,-0.102177,0.872199,0.999868,-0.000000,-0.000001,-0.016242
23,4,471040,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234886,0.075134,0.870871,1.000000,-0.000012,-0.000005,-0.000494
23,4,471040,56,gripper,0,"","put hamburger on cutting board",-0.165749,0.037151,1.070198,0.157534,-0.747164,0.201528,0.613446
23,4,471040,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.224461,0.062500,0.888954,0.910800,0.023742,0.043761,0.409836
23,4,471040,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.279099,-0.039028,0.893943,0.507073,-0.571277,0.524539,0.376004
23,4,471040,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234982,-0.074997,0.872199,0.999999,-0.000000,-0.000000,0.001535
23,4,471040,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
23,4,471040,57,gripper,0,"","put hamburger on cutting board",-0.238600,0.059675,0.915452,0.006060,-0.654284,-0.039530,0.755191
23,4,471040,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.009201,-0.163513,0.888112,0.340504,-0.021661,-0.017013,0.939840
23,4,471040,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.102196,0.069553,0.017292,0.492850,0.011621,0.019206,-0.869825
23,4,471040,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.403687,0.704865,0.003399,-0.510957,-0.000000,-0.000000,0.859606
23,4,471040,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000053
23,4,471040,58,gripper,0,"","put hamburger on cutting board",-0.070547,-0.094114,0.914281,0.025404,-0.781942,0.006157,0.622803
23,4,471040,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.092085,-0.081085,0.890788,0.282061,-0.020604,-0.018288,0.959001
23,4,471040,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.191267,-0.128197,0.886088,0.974252,-0.006256,0.021067,-0.224388
23,4,471040,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
23,4,471040,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085012,-0.074997,0.870870,1.000000,-0.000000,-0.000000,-0.000028
23,4,471040,59,gripper,0,"","put hamburger on cutting board",-0.181183,-0.119745,0.948392,-0.093312,-0.708609,-0.113518,0.690130
23,4,471040,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.134604,-0.070602,0.894822,0.486494,0.444875,0.406592,0.632529
23,4,471040,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.067380,-0.058464,0.903704,0.340521,-0.462908,0.578159,0.579219
23,4,471040,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.073241,-0.100498,0.872200,0.987259,-0.000013,-0.000003,-0.159121
23,4,471040,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.078391,0.070976,0.870870,0.999047,0.000000,-0.000001,0.043647
23,4,471040,60,gripper,0,"","put plastic bottle on frying pan",-0.104708,-0.067524,1.005961,-0.026374,-0.759336,-0.092192,0.643595
23,4,471040,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.230383,-0.098652,0.888112,0.215051,-0.019262,-0.019692,0.976214
23,4,471040,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.110872,-0.088318,0.893989,0.458183,0.537121,-0.423155,0.567899
23,4,471040,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115004,-0.075012,0.872199,1.000000,-0.000000,-0.000001,-0.000040
23,4,471040,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.199350,0.084297,0.870870,0.991414,0.000000,-0.000000,0.130763
23,4,471040,61,gripper,0,"","put plastic bottle on frying pan",-0.201995,-0.094013,0.973967,-0.028902,-0.733960,-0.034018,0.677724
23,4,471040,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.312435,0.039246,0.898673,0.332730,-0.602600,-0.570464,0.448035
23,4,471040,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.098503,0.067413,0.885720,-0.495392,-0.507792,0.469343,-0.525786
23,4,471040,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.264160,0.047001,0.872199,0.997370,-0.000001,-0.000001,0.072484
23,4,471040,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082912,-0.002670,0.870959,0.997160,0.000057,-0.001048,0.075307
23,4,471040,62,gripper,0,"","put plastic bottle on frying pan",-0.120543,0.065508,0.915443,-0.008344,-0.755385,-0.026646,0.654686
23,4,471040,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.010685,0.066151,0.891927,0.261190,-0.027084,0.036618,-0.964212
23,4,471040,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.003506,-0.005054,0.900330,0.450856,0.313532,0.559597,-0.620707
23,4,471040,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000002
23,4,471040,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.003063,0.063568,0.871398,0.781976,0.022540,0.025927,0.622361
23,4,471040,63,gripper,0,"","put plastic bottle on frying pan",-0.061396,-0.002916,0.947372,-0.143116,-0.784369,0.012758,0.603423
24,1,476160,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.071480,0.037804,0.879241,-0.856476,0.132497,-0.250087,-0.431682
24,1,476160,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235985,-0.074883,0.881638,0.999225,-0.004465,-0.039111,-0.000512
24,1,476160,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000028
24,1,476160,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000101
24,1,476160,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.096104,0.019718,0.929935,0.152378,-0.711716,0.154999,0.667995
24,1,476160,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.071777,0.042679,0.879374,-0.664972,-0.068833,0.055153,-0.741642
24,1,476160,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235111,-0.075989,0.881637,0.706896,0.024498,-0.030810,0.706221
24,1,476160,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084988,-0.075020,0.869532,1.000000,-0.000001,-0.000003,-0.000087
24,1,476160,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
24,1,476160,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.125965,0.037178,0.914171,-0.040613,-0.809324,-0.059471,0.582930
24,1,476160,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.155109,0.053413,0.879212,-0.274121,0.169318,0.945448,0.048133
24,1,476160,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085964,-0.074875,0.881638,0.999225,-0.004455,-0.039111,-0.000266
24,1,476160,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
24,1,476160,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000043
24,1,476160,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.237249,0.019421,0.914222,0.044442,-0.623294,0.035109,0.779934
24,1,476160,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.101896,0.108948,0.885701,0.355052,-0.592243,0.653445,0.310156
24,1,476160,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.237698,0.042908,0.883361,0.911145,0.045527,-0.133599,0.387159
24,1,476160,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115000,0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000036
24,1,476160,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000010
24,1,476160,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.230426,0.028545,0.921365,0.067293,-0.721107,-0.032574,0.688779
24,1,476160,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.115181,-0.049248,0.888000,-0.079487,0.681556,-0.724316,-0.067302
24,1,476160,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.245375,-0.076950,0.881638,0.878131,0.014742,-0.036473,0.476801
24,1,476160,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000000
24,1,476160,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114992,-0.044998,0.871288,0.999999,-0.000158,-0.001019,-0.000005
24,1,476160,4,gripper,0,"","put ketchup bottle on cloth",-0.300172,-0.113209,0.914241,0.042016,-0.790610,0.057413,0.608172
24,1,476160,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",2.104654,-1.362656,0.010317,0.098897,0.000552,0.995097,-0.000620
24,1,476160,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.194746,0.164864,0.881638,0.995723,-0.001161,-0.039326,0.083592
24,1,476160,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",1.076447,2.601105,0.000732,0.414280,0.000000,0.000000,-0.910149
24,1,476160,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
24,1,476160,5,gripper,0,"","put ketchup bottle on cloth",0.025555,0.028370,1.113949,-0.321331,-0.000005,0.946967,-0.000000
24,1,476160,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.183502,0.072807,0.885128,0.473556,0.513861,-0.576763,0.423126
24,1,476160,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084381,0.074272,0.881638,0.382591,0.034409,-0.019075,0.923080
24,1,476160,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.203125,0.074432,0.869532,0.999563,0.000000,-0.000000,-0.029566
24,1,476160,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
24,1,476160,6,gripper,0,"","put ketchup bottle on cloth",-0.186081,0.076828,1.102123,0.105330,-0.734377,0.259412,0.618305
24,1,476160,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.224781,-0.012573,0.887726,0.499982,-0.479382,0.445493,0.567227
24,1,476160,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,0.044289,0.881638,0.382434,0.034414,-0.019068,0.923145
24,1,476160,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000007
24,1,476160,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,0.000001
24,1,476160,7,gripper,0,"","put ketchup bottle on cloth",-0.237076,-0.044456,1.018651,0.047528,-0.746965,-0.019881,0.662864
24,1,476160,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235062,0.065258,0.879088,0.626307,0.326506,-0.328365,0.627144
24,1,476160,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.062294,-0.015202,0.883649,0.787921,-0.009275,0.060298,0.612747
24,1,476160,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205666,-0.047318,0.869532,0.964284,0.000001,-0.000001,0.264869
24,1,476160,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075005,0.871288,0.999999,-0.000154,-0.001020,-0.000027
24,1,476160,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.042210,-0.018583,0.914738,0.075963,-0.817606,0.145993,0.551757
24,1,476160,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.237144,-0.076115,0.946041,0.527662,0.531079,-0.515877,0.416413
24,1,476160,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.272686,0.037502,0.881647,0.857475,-0.019516,0.023385,0.513623
24,1,476160,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
24,1,476160,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
24,1,476160,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.257856,-0.068956,0.990506,-0.016071,-0.685056,0.067081,0.725217
24,1,476160,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.253490,-0.088448,0.879137,0.635483,0.033313,-0.770864,0.028644
24,1,476160,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.180386,-0.054893,0.884582,0.783670,0.097610,-0.156757,0.593095
24,1,476160,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084206,0.070473,0.869532,0.991374,0.000000,-0.000001,-0.131062
24,1,476160,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.260296,0.049957,0.871282,0.993469,-0.000591,-0.001205,-0.114090
24,1,476160,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.147367,-0.065317,0.913706,-0.015925,-0.746943,-0.015971,0.664505
24,1,476160,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.173872,-0.091484,0.883087,0.574111,0.319234,-0.344601,0.670624
24,1,476160,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.100334,-0.067013,0.887507,0.405357,0.022291,-0.018643,0.913697
24,1,476160,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.102428,-0.075142,0.869531,0.996720,-0.000084,-0.000024,0.080932
24,1,476160,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.232784,0.110218,0.871288,0.992840,-0.000031,-0.001030,0.119451
24,1,476160,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.218036,-0.097509,0.914422,-0.014719,-0.754830,-0.054890,0.653454
24,1,476160,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094575,0.074989,0.879089,0.886318,-0.000554,-0.463071,0.002045
24,1,476160,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.246685,0.165508,0.881641,0.568306,0.030324,0.026375,-0.821835
24,1,476160,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,-0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000001
24,1,476160,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
24,1,476160,12,gripper,0,"","put kitchen shovel on cloth",-0.097045,0.082138,0.945560,0.135050,-0.785834,0.112911,0.592855
24,1,476160,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.159586,-0.046852,0.885568,0.449817,0.443082,-0.648938,0.424527
24,1,476160,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.237429,-0.042336,0.881638,0.346468,0.035123,-0.017724,0.937236
24,1,476160,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000017
24,1,476160,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.111082,-0.073196,0.871288,0.999775,-0.000175,-0.001015,-0.021194
24,1,476160,13,gripper,0,"","put kitchen shovel on cloth",-0.222284,-0.086309,0.915186,0.028553,-0.757748,0.077039,0.647354
24,1,476160,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085003,0.065285,0.879089,0.626254,0.326531,-0.328333,0.627200
24,1,476160,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.104057,-0.068012,0.883120,0.572270,0.045288,-0.005205,0.818797
24,1,476160,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235054,-0.079929,0.869532,0.998717,-0.000000,-0.000001,-0.050630
24,1,476160,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235008,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000106
24,1,476160,14,gripper,0,"","put kitchen shovel on cloth",-0.204958,-0.056927,0.932175,0.021725,-0.808246,-0.018347,0.588158
24,1,476160,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.124706,-0.044971,0.879089,0.886324,-0.001445,-0.463063,0.000340
24,1,476160,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.221401,-0.000435,0.945559,0.946204,0.018427,-0.074593,0.314315
24,1,476160,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000012
24,1,476160,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
24,1,476160,15,gripper,0,"","put kitchen shovel on cloth",-0.247583,0.024670,0.978991,0.372718,-0.657506,0.266199,0.598252
24,1,476160,16,obj,0,"003_bread_1","put bread on newspaper",-0.235527,0.075115,0.883544,0.999916,0.001786,-0.012533,-0.002785
24,1,476160,16,obj,1,"005_7up can_1","put bread on newspaper",0.101913,-0.111588,0.016946,0.790121,0.096470,-0.589342,0.138125
24,1,476160,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,-0.075001,0.869489,1.000000,0.000179,0.000874,0.000027
24,1,476160,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,0.045010,0.870448,0.999999,-0.000923,-0.000845,-0.000021
24,1,476160,16,gripper,0,"","put bread on newspaper",-0.185081,-0.069126,1.007244,0.120938,-0.746235,0.111134,0.645102
24,1,476160,17,obj,0,"003_bread_1","put bread on newspaper",-0.213909,0.169727,0.883544,-0.634750,-0.010842,0.006543,-0.772614
24,1,476160,17,obj,1,"005_7up can_1","put bread on newspaper",-0.271324,-0.048752,0.885650,-0.772949,-0.089250,0.107023,-0.618975
24,1,476160,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
24,1,476160,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235092,0.075104,0.870461,0.999999,-0.000083,-0.000248,-0.001483
24,1,476160,17,gripper,0,"","put bread on newspaper",-0.189478,-0.000834,0.962213,0.175929,-0.815148,0.064049,0.548161
24,1,476160,18,obj,0,"003_bread_1","put bread on newspaper",-0.162811,-0.110237,0.883544,0.981565,-0.000602,-0.012645,-0.190710
24,1,476160,18,obj,1,"005_7up can_1","put bread on newspaper",-0.214363,0.075153,0.885636,0.958609,-0.005208,-0.284677,0.000707
24,1,476160,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
24,1,476160,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
24,1,476160,18,gripper,0,"","put bread on newspaper",-0.192545,-0.115318,0.944058,0.045138,-0.696063,0.107900,0.708390
24,1,476160,19,obj,0,"003_bread_1","put bread on newspaper",-0.230629,-0.039875,0.886597,0.991300,-0.002190,-0.012232,-0.131034
24,1,476160,19,obj,1,"005_7up can_1","put bread on newspaper",0.181942,0.192478,0.017379,0.283195,0.306413,-0.903710,0.096020
24,1,476160,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.204983,0.075001,0.869490,1.000000,0.000180,0.000874,0.000037
24,1,476160,19,recep,1,"003_carpet_1","put bread on newspaper",-0.235014,-0.044991,0.870447,0.999991,-0.003114,-0.002733,0.000015
24,1,476160,19,gripper,0,"","put bread on newspaper",-0.054766,0.017496,0.923914,0.249456,-0.705317,0.127644,0.651158
24,1,476160,20,obj,0,"003_bread_1","put bread on carpet",-0.087994,-0.045662,0.886591,0.738029,0.011081,-0.005728,0.674654
24,1,476160,20,obj,1,"005_7up can_1","put bread on carpet",-0.198594,0.038189,0.885636,0.364936,0.261164,-0.113380,0.886431
24,1,476160,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
24,1,476160,20,recep,1,"003_carpet_1","put bread on carpet",-0.082465,-0.075642,0.870347,0.999985,-0.000277,-0.001657,-0.005192
24,1,476160,20,gripper,0,"","put bread on carpet",-0.169746,-0.030666,0.968952,0.057548,-0.793880,-0.032322,0.604481
24,1,476160,21,obj,0,"003_bread_1","put bread on carpet",-0.114481,-0.075474,0.883544,0.383800,0.012265,-0.003127,0.923330
24,1,476160,21,obj,1,"005_7up can_1","put bread on carpet",-0.144970,0.221748,0.885998,0.092321,0.565240,-0.816728,0.070250
24,1,476160,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000000
24,1,476160,21,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074997,0.870460,1.000000,0.000019,-0.000159,-0.000045
24,1,476160,21,gripper,0,"","put bread on carpet",-0.119628,-0.086721,0.948854,0.052476,-0.763681,-0.022138,0.643077
24,1,476160,22,obj,0,"003_bread_1","put bread on carpet",-0.098026,0.012897,0.883544,0.949345,0.005658,-0.011326,0.313980
24,1,476160,22,obj,1,"005_7up can_1","put bread on carpet",-0.243851,-0.084126,0.885616,0.854559,0.150416,-0.351901,0.351098
24,1,476160,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085400,-0.085564,0.869489,0.999521,0.000206,0.000868,-0.030927
24,1,476160,22,recep,1,"003_carpet_1","put bread on carpet",-0.086563,0.081951,0.870448,0.999953,-0.000923,-0.000829,-0.009639
24,1,476160,22,gripper,0,"","put bread on carpet",-0.053989,-0.041679,0.918801,0.145256,-0.744670,0.126321,0.639069
24,1,476160,23,obj,0,"003_bread_1","put bread on carpet",-0.099857,0.013065,0.963059,0.432389,0.070660,0.059538,0.896940
24,1,476160,23,obj,1,"005_7up can_1","put bread on carpet",-0.234810,-0.049232,0.885584,0.701929,0.095960,-0.088636,0.700165
24,1,476160,23,recep,0,"004_newspaper_1","put bread on carpet",-0.115002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
24,1,476160,23,recep,1,"003_carpet_1","put bread on carpet",-0.198521,0.073666,0.870447,0.999918,-0.003081,-0.002771,0.012110
24,1,476160,23,gripper,0,"","put bread on carpet",-0.112627,0.016325,0.995786,-0.008279,-0.787267,0.050440,0.614490
24,1,476160,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.137825,-0.087160,0.886771,0.746429,0.007892,-0.001900,0.665415
24,1,476160,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.235207,-0.052713,0.885627,0.686907,0.161130,-0.168335,0.688374
24,1,476160,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.045002,0.869490,1.000000,0.000180,0.000875,0.000046
24,1,476160,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.105682,-0.078623,0.870447,0.999981,-0.003127,-0.002720,-0.004629
24,1,476160,24,gripper,0,"","put 7up can on newspaper",-0.046688,-0.082839,0.958011,0.068233,-0.765195,0.044904,0.638596
24,1,476160,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,-0.075518,0.883544,0.924466,0.006459,-0.010887,0.381055
24,1,476160,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184692,0.156790,0.885782,-0.465779,0.520939,-0.598264,-0.392113
24,1,476160,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234982,-0.075008,0.869489,1.000000,0.000180,0.000874,-0.000116
24,1,476160,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.098827,0.054922,0.871814,0.988888,-0.004904,-0.015205,-0.147803
24,1,476160,25,gripper,0,"","put 7up can on newspaper",-0.132307,0.100569,0.921428,0.176399,-0.724358,0.041446,0.665185
24,1,476160,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.235126,-0.075546,0.883544,0.709128,0.010125,-0.007605,0.704966
24,1,476160,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.253441,0.074772,0.888784,0.742557,0.133714,-0.159747,0.636562
24,1,476160,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
24,1,476160,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,0.075012,0.870429,0.999992,-0.003119,-0.002560,0.000003
24,1,476160,26,gripper,0,"","put 7up can on newspaper",-0.186380,-0.049784,0.943837,0.004111,-0.790930,-0.059353,0.609008
24,1,476160,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.227871,0.063913,0.923955,0.962148,-0.005483,0.142745,-0.232089
24,1,476160,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092607,-0.074833,0.885626,0.972479,-0.004969,-0.232933,0.001557
24,1,476160,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
24,1,476160,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
24,1,476160,27,gripper,0,"","put 7up can on newspaper",-0.225368,0.066143,0.957788,0.094422,-0.677481,0.140894,0.715719
24,1,476160,28,obj,0,"003_bread_1","put 7up can on carpet",-0.205488,-0.075512,0.883544,0.924257,0.006464,-0.010884,0.381560
24,1,476160,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.218417,-0.062534,0.961124,0.703139,0.173713,-0.295286,0.623077
24,1,476160,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000005
24,1,476160,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
24,1,476160,28,gripper,0,"","put 7up can on carpet",-0.193670,-0.062477,0.992718,-0.024451,-0.708356,0.060301,0.702850
24,1,476160,29,obj,0,"003_bread_1","put 7up can on carpet",-0.073727,0.079456,0.886583,0.748303,0.011892,-0.005731,0.663226
24,1,476160,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.235172,-0.082607,0.885626,0.686748,0.161149,-0.168274,0.688543
24,1,476160,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000005
24,1,476160,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.079140,0.074808,0.870448,0.999976,-0.000917,-0.000829,-0.006755
24,1,476160,29,gripper,0,"","put 7up can on carpet",-0.142165,0.099124,0.936122,0.250444,-0.747355,0.159161,0.594479
24,1,476160,30,obj,0,"003_bread_1","put 7up can on carpet",-0.235126,0.044456,0.883544,0.709128,0.010122,-0.007601,0.704966
24,1,476160,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.056736,0.022505,0.889755,0.706475,-0.375534,0.307953,0.514813
24,1,476160,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.063019,-0.047268,0.869490,0.993961,0.000275,0.000849,-0.109728
24,1,476160,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,-0.074997,0.870368,0.999998,0.000182,-0.001148,0.001819
24,1,476160,30,gripper,0,"","put 7up can on carpet",-0.073135,0.006177,0.935930,0.053366,-0.744167,-0.018772,0.665594
24,1,476160,31,obj,0,"003_bread_1","put 7up can on carpet",-0.238430,0.048222,0.883544,0.998351,0.002526,-0.012408,0.055984
24,1,476160,31,obj,1,"005_7up can_1","put 7up can on carpet",0.058456,0.395767,0.017203,0.173932,-0.751454,0.595790,0.223825
24,1,476160,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000020
24,1,476160,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
24,1,476160,31,gripper,0,"","put 7up can on carpet",-0.047354,0.052974,0.914286,0.164566,-0.738201,0.066188,0.650843
24,1,476160,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.212479,-0.000162,0.921428,0.995265,-0.004856,0.038459,0.089139
24,1,476160,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.085007,-0.075436,0.878547,0.999910,0.013270,0.002053,0.000424
24,1,476160,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000025
24,1,476160,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
24,1,476160,32,gripper,0,"","put carrot on sheet metal",-0.211605,0.005063,0.972269,-0.119569,-0.763966,-0.043887,0.632561
24,1,476160,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203156,0.045080,0.887475,0.740821,-0.019659,0.021698,0.671064
24,1,476160,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.114563,-0.044996,0.878547,0.706788,0.007961,0.010865,0.707297
24,1,476160,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
24,1,476160,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
24,1,476160,33,gripper,0,"","put carrot on sheet metal",-0.202486,0.010540,0.987924,0.061228,-0.746281,0.074168,0.658646
24,1,476160,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.241180,-0.079245,0.887524,0.993555,0.004917,0.024052,-0.110661
24,1,476160,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
24,1,476160,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
24,1,476160,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
24,1,476160,34,gripper,0,"","put carrot on sheet metal",-0.191622,-0.078419,0.961868,-0.116406,-0.694147,-0.074104,0.706483
24,1,476160,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240231,-0.076398,0.887393,0.382769,-0.014414,0.005489,0.923715
24,1,476160,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074685,0.878547,0.382231,0.003186,0.013060,0.923969
24,1,476160,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
24,1,476160,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
24,1,476160,35,gripper,0,"","put carrot on sheet metal",-0.194695,-0.066750,0.955001,-0.013604,-0.710526,0.034239,0.702706
24,1,476160,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086946,0.071449,0.887234,0.996959,0.005571,0.032297,0.070701
24,1,476160,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234994,-0.075438,0.878547,0.999909,0.013294,0.002051,0.000314
24,1,476160,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
24,1,476160,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000003
24,1,476160,36,gripper,0,"","put carrot on flat bowl",-0.153135,0.086862,0.989188,0.051762,-0.650017,0.096702,0.751962
24,1,476160,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117765,0.076620,0.887318,0.785799,-0.026135,0.023802,0.617471
24,1,476160,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234468,0.045001,0.878547,0.706525,0.007952,0.010861,0.707560
24,1,476160,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000010
24,1,476160,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
24,1,476160,37,gripper,0,"","put carrot on flat bowl",-0.089093,0.106360,0.970103,0.085026,-0.707100,0.017019,0.701776
24,1,476160,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.257381,0.054263,0.897897,0.957033,-0.090809,0.156099,0.226880
24,1,476160,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
24,1,476160,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
24,1,476160,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.074995,0.874362,1.000000,-0.000001,-0.000000,-0.000363
24,1,476160,38,gripper,0,"","put carrot on flat bowl",-0.229395,0.068392,1.006776,-0.273590,-0.714329,-0.074423,0.639800
24,1,476160,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238800,0.045210,0.887622,0.741815,-0.030305,0.033597,0.669076
24,1,476160,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007940,0.010843,0.707246
24,1,476160,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
24,1,476160,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
24,1,476160,39,gripper,0,"","put carrot on flat bowl",-0.154520,0.053338,0.981985,0.209002,-0.649019,0.168323,0.711871
24,1,476160,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239334,-0.075958,0.887479,0.946055,-0.009140,0.025355,0.322884
24,1,476160,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075304,0.878547,0.923904,0.011489,0.006971,0.382389
24,1,476160,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
24,1,476160,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000062
24,1,476160,40,gripper,0,"","put banana on sheet metal",-0.033363,-0.044887,0.958233,0.064874,-0.787051,0.264058,0.553729
24,1,476160,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204216,0.076744,0.887528,0.919597,-0.016893,0.039783,0.390478
24,1,476160,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
24,1,476160,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
24,1,476160,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
24,1,476160,41,gripper,0,"","put banana on sheet metal",-0.066851,0.090884,0.979068,0.100051,-0.762110,0.085097,0.633985
24,1,476160,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203815,-0.054134,0.887410,0.763878,-0.027276,0.027467,0.644199
24,1,476160,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,-0.075434,0.878546,0.999910,0.013237,0.002048,-0.000197
24,1,476160,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
24,1,476160,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
24,1,476160,42,gripper,0,"","put banana on sheet metal",-0.172312,-0.055506,0.963164,0.021604,-0.771276,0.095559,0.628915
24,1,476160,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
24,1,476160,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234686,-0.074673,0.878547,0.382973,0.003196,0.013060,0.923661
24,1,476160,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
24,1,476160,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000104
24,1,476160,43,gripper,0,"","put banana on sheet metal",-0.175796,-0.042086,0.934376,0.006722,-0.744254,0.048774,0.666079
24,1,476160,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118403,0.042332,0.887526,0.355097,-0.028106,0.009000,0.934364
24,1,476160,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013048,0.923966
24,1,476160,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
24,1,476160,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000000
24,1,476160,44,gripper,0,"","put banana on flat bowl",-0.189325,0.093535,0.950089,0.124664,-0.747217,-0.008396,0.652729
24,1,476160,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086878,-0.073093,0.887265,0.996354,0.004186,0.029482,0.079949
24,1,476160,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234991,-0.075424,0.878547,0.999909,0.013307,0.002062,0.000790
24,1,476160,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
24,1,476160,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000060
24,1,476160,45,gripper,0,"","put banana on flat bowl",-0.216156,-0.064745,0.983763,-0.361791,-0.641076,-0.310708,0.601323
24,1,476160,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
24,1,476160,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
24,1,476160,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
24,1,476160,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
24,1,476160,46,gripper,0,"","put banana on flat bowl",-0.052443,-0.013398,0.952964,0.347540,-0.632013,0.450182,0.526414
24,1,476160,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207439,-0.040222,0.887484,0.995569,-0.001190,0.024055,0.090893
24,1,476160,47,obj,1,"013_banana_1","put banana on flat bowl",-0.114986,0.044563,0.878547,0.999910,0.013289,0.002050,0.000003
24,1,476160,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
24,1,476160,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
24,1,476160,47,gripper,0,"","put banana on flat bowl",-0.065027,0.053385,1.002712,0.072821,-0.763237,0.085032,0.636346
24,1,476160,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.181602,-0.129524,0.892243,0.880657,-0.218281,-0.020830,0.419955
24,1,476160,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085632,0.045830,0.887027,0.704493,-0.017237,0.709500,0.001377
24,1,476160,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
24,1,476160,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
24,1,476160,48,gripper,0,"","put hamburger on frying pan",-0.191517,-0.133602,0.919365,-0.099632,-0.709773,-0.070693,0.693756
24,1,476160,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.131329,0.039295,0.890602,0.897545,0.077190,0.105198,0.421174
24,1,476160,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.166782,0.160133,0.886092,-0.776282,0.020863,-0.008281,-0.629986
24,1,476160,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205048,0.045074,0.872199,0.999994,-0.000000,-0.000000,-0.003536
24,1,476160,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
24,1,476160,49,gripper,0,"","put hamburger on frying pan",-0.109722,0.008410,0.989033,0.049022,-0.760063,-0.011187,0.647901
24,1,476160,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083061,-0.052086,0.895853,0.879536,0.012963,0.001774,0.475652
24,1,476160,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
24,1,476160,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000016
24,1,476160,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
24,1,476160,50,gripper,0,"","put hamburger on frying pan",-0.151217,-0.060246,1.016191,0.065934,-0.706398,0.179370,0.681529
24,1,476160,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.208391,0.066963,0.889467,0.864772,0.013588,0.013041,0.501812
24,1,476160,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065050,-0.053513,0.887026,0.649705,-0.288956,0.648221,0.272392
24,1,476160,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
24,1,476160,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
24,1,476160,51,gripper,0,"","put hamburger on frying pan",-0.219370,0.065607,0.916148,0.131458,-0.695051,0.042171,0.705581
24,1,476160,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.204559,-0.059711,0.890758,0.938487,-0.028313,0.008682,0.344042
24,1,476160,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065040,0.096497,0.887027,0.649805,-0.288720,0.648326,0.272155
24,1,476160,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
24,1,476160,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204989,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000021
24,1,476160,52,gripper,0,"","put hamburger on cutting board",-0.175135,0.101267,0.948430,0.227566,-0.664689,0.174645,0.689857
24,1,476160,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.242390,0.045879,0.894840,0.454085,0.482919,-0.688833,-0.293436
24,1,476160,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064802,-0.053379,0.887026,0.648916,-0.290834,0.647376,0.274278
24,1,476160,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000005
24,1,476160,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235010,0.075001,0.870883,0.999999,0.000700,0.000712,-0.000008
24,1,476160,53,gripper,0,"","put hamburger on cutting board",-0.184325,0.056408,1.053238,0.076433,-0.690259,0.079040,0.715159
24,1,476160,54,obj,0,"014_hamburger_1","put hamburger on cutting board",0.020622,0.069000,0.021728,-0.055730,0.858904,-0.503021,-0.078417
24,1,476160,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.108089,-0.050739,0.892482,-0.070763,-0.738511,0.668615,-0.050488
24,1,476160,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000107
24,1,476160,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084755,-0.074902,0.870870,0.999999,0.000001,-0.000001,-0.001167
24,1,476160,54,gripper,0,"","put hamburger on cutting board",-0.083050,-0.048834,0.978588,-0.049868,-0.707860,-0.024492,0.704165
24,1,476160,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.105091,0.044811,0.888216,0.857879,-0.020289,-0.001887,0.513448
24,1,476160,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215122,0.066257,0.887026,0.649594,-0.289220,0.648104,0.272655
24,1,476160,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
24,1,476160,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
24,1,476160,55,gripper,0,"","put hamburger on cutting board",-0.123173,0.039619,0.912865,-0.094028,-0.693523,-0.092456,0.708263
24,1,476160,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",1.971924,-1.275219,0.987219,0.743226,-0.054227,-0.107678,0.658089
24,1,476160,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.113792,0.032204,0.889600,-0.218333,-0.668489,-0.233228,0.671608
24,1,476160,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",0.096191,-1.232098,0.003398,0.539593,-0.000000,0.000000,-0.841926
24,1,476160,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114693,0.044876,0.870884,0.999998,0.000708,0.000716,0.001706
24,1,476160,56,gripper,0,"","put plastic bottle on frying pan",-0.088802,-0.102896,0.914634,0.166052,-0.729227,0.121952,0.652520
24,1,476160,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
24,1,476160,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.199120,0.077747,0.889341,0.548162,-0.012159,0.836252,0.007343
24,1,476160,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
24,1,476160,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
24,1,476160,57,gripper,0,"","put plastic bottle on frying pan",-0.196230,0.053101,0.949800,0.206186,-0.676495,0.094943,0.700591
24,1,476160,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.165775,-0.074036,0.888247,0.667485,-0.016115,-0.004197,0.744437
24,1,476160,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.076885,-0.044128,0.887027,0.476857,-0.533012,0.468596,0.518579
24,1,476160,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
24,1,476160,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
24,1,476160,58,gripper,0,"","put plastic bottle on frying pan",-0.158535,-0.074892,0.932379,0.046578,-0.685859,0.052916,0.724312
24,1,476160,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.434158,0.097767,0.022658,-0.199272,0.273612,0.772923,-0.536672
24,1,476160,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055599,-0.074188,0.887027,0.704495,-0.016892,0.709507,0.001034
24,1,476160,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
24,1,476160,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
24,1,476160,59,gripper,0,"","put plastic bottle on frying pan",-0.235101,-0.153700,0.913309,0.169060,-0.665210,0.158933,0.709686
24,1,476160,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116098,-0.075253,0.888112,0.389016,-0.022518,-0.015861,0.920819
24,1,476160,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.252625,-0.022839,0.887026,0.404586,-0.589954,0.394497,0.576747
24,1,476160,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
24,1,476160,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085000,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000000
24,1,476160,60,gripper,0,"","put plastic bottle on cutting board",-0.258975,-0.021950,0.919052,-0.086098,-0.732749,-0.068202,0.671576
24,1,476160,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205961,-0.074383,0.888112,0.712673,-0.026880,-0.006001,0.700956
24,1,476160,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.130533,0.060219,0.960096,-0.002138,-0.849808,0.527059,0.005597
24,1,476160,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
24,1,476160,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.113625,0.072128,0.870870,0.999753,0.000000,-0.000001,0.022248
24,1,476160,61,gripper,0,"","put plastic bottle on cutting board",-0.158234,0.049393,0.985726,-0.195675,-0.709884,-0.127037,0.664558
24,1,476160,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
24,1,476160,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.155010,0.077679,0.889438,0.507208,-0.500720,0.504628,0.487207
24,1,476160,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000011
24,1,476160,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205475,0.074638,0.870883,0.999993,0.000700,0.000712,-0.003592
24,1,476160,62,gripper,0,"","put plastic bottle on cutting board",-0.120811,0.030392,1.014290,0.032962,-0.733767,0.048420,0.676871
24,1,476160,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.206081,-0.075222,0.888112,0.387346,-0.022489,-0.015900,0.921523
24,1,476160,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.206970,0.058338,0.894842,0.042671,-0.742902,0.667995,-0.007656
24,1,476160,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114998,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000049
24,1,476160,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234798,0.045036,0.870870,1.000000,-0.000000,-0.000001,-0.000204
24,1,476160,63,gripper,0,"","put plastic bottle on cutting board",-0.198509,0.056276,0.959763,-0.029086,-0.786651,-0.013522,0.616564
24,2,481280,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.119766,-0.200371,0.879089,0.806431,0.190665,-0.421938,0.367810
24,2,481280,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.250481,-0.055107,0.881637,0.981159,0.003042,-0.039250,0.189150
24,2,481280,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084969,-0.075027,0.869532,1.000000,-0.000000,-0.000000,0.000427
24,2,481280,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000154
24,2,481280,0,gripper,0,"","put ketchup bottle on cloth",-0.152111,-0.183495,0.914661,0.006824,-0.788357,0.024568,0.614689
24,2,481280,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.221539,0.079132,0.888079,-0.742830,-0.253655,0.378726,-0.490335
24,2,481280,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235111,-0.075996,0.881637,0.706942,0.024480,-0.030797,0.706177
24,2,481280,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084988,-0.075020,0.869532,1.000000,-0.000000,-0.000001,-0.000067
24,2,481280,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,1.000000,-0.000154,-0.001019,0.000177
24,2,481280,1,gripper,0,"","put ketchup bottle on cloth",-0.216633,0.032646,1.094920,0.133417,-0.752058,0.165414,0.623897
24,2,481280,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.074940,0.003693,0.880546,-0.856136,-0.108196,0.492080,-0.114812
24,2,481280,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.068203,-0.071785,0.881641,0.984862,0.002354,0.040092,-0.168623
24,2,481280,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000015
24,2,481280,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.049541,0.078705,0.871288,0.988066,0.000005,-0.001030,0.154025
24,2,481280,2,gripper,0,"","put ketchup bottle on cloth",-0.137730,-0.020096,0.995765,-0.024752,-0.746554,0.062449,0.661925
24,2,481280,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.101852,0.108940,0.885702,0.354790,-0.592808,0.652941,0.310438
24,2,481280,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.236277,0.044098,0.881638,0.917646,0.011385,-0.037654,0.395447
24,2,481280,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000026
24,2,481280,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205061,-0.074982,0.871282,0.999999,-0.000451,-0.001266,0.000009
24,2,481280,3,gripper,0,"","put ketchup bottle on cloth",-0.208436,-0.069466,0.939183,0.386752,-0.595674,0.283858,0.644220
24,2,481280,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.101196,0.061874,0.885112,-0.082983,0.546395,-0.831666,-0.053844
24,2,481280,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.138320,0.069298,0.919483,0.909001,0.065775,0.071869,0.405247
24,2,481280,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084693,0.074829,0.869532,0.999996,0.000000,-0.000000,-0.002961
24,2,481280,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115134,-0.044968,0.871288,0.999999,-0.000154,-0.001019,-0.000469
24,2,481280,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.135140,0.069756,0.961757,0.228468,-0.672728,0.287497,0.642327
24,2,481280,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",2.104654,-1.362656,0.010317,0.098905,0.000551,0.995097,-0.000618
24,2,481280,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.194746,0.164864,0.881638,0.995722,-0.001157,-0.039359,0.083594
24,2,481280,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",1.076456,2.601105,0.000732,0.414244,0.000000,-0.000000,-0.910166
24,2,481280,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
24,2,481280,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.219019,0.074978,0.941503,0.377050,-0.623873,0.219025,0.648570
24,2,481280,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.183502,0.072807,0.885128,0.473539,0.513884,-0.576750,0.423136
24,2,481280,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084381,0.074272,0.881638,0.382637,0.034425,-0.019082,0.923060
24,2,481280,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203125,0.074432,0.869532,0.999563,0.000001,-0.000000,-0.029550
24,2,481280,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
24,2,481280,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.221754,-0.058582,0.915529,0.110054,-0.787247,0.107463,0.597145
24,2,481280,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.220875,-0.023514,0.887967,0.515885,-0.471103,0.455742,0.551565
24,2,481280,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.191200,0.012352,0.876266,0.084660,-0.669303,0.725517,0.135982
24,2,481280,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.212666,0.096367,0.869532,0.991725,-0.000000,-0.000001,0.128378
24,2,481280,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.232536,-0.055405,0.871867,0.999660,-0.007493,-0.005920,-0.024246
24,2,481280,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.212650,0.006966,0.917617,0.077706,-0.709460,-0.028297,0.699877
24,2,481280,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.279701,-0.041065,0.881932,0.610920,-0.413908,0.426617,0.522928
24,2,481280,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.063850,-0.017250,0.881638,0.787523,0.020576,-0.033570,0.615026
24,2,481280,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.202148,-0.050678,0.869532,0.927885,0.000000,-0.000001,0.372866
24,2,481280,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075005,0.871288,0.999999,-0.000155,-0.001019,-0.000062
24,2,481280,8,gripper,0,"","put kitchen shovel on cloth",-0.279816,-0.039862,0.913935,0.062233,-0.751817,0.071642,0.652507
24,2,481280,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.242180,-0.066315,0.879201,0.683797,0.284836,-0.335470,0.582022
24,2,481280,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.281593,0.039013,0.881585,0.861289,0.016326,-0.039017,0.506352
24,2,481280,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
24,2,481280,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
24,2,481280,9,gripper,0,"","put kitchen shovel on cloth",-0.260498,-0.059740,0.914227,-0.104096,-0.713690,-0.057202,0.690318
24,2,481280,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.254063,-0.157230,0.879125,0.632989,-0.042594,-0.772228,-0.034276
24,2,481280,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.170570,-0.098019,0.881638,0.754542,0.022275,-0.032445,0.655070
24,2,481280,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084206,0.070473,0.869532,0.991374,0.000000,-0.000001,-0.131062
24,2,481280,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.260113,0.049835,0.871282,0.993690,-0.000591,-0.001207,-0.112151
24,2,481280,10,gripper,0,"","put kitchen shovel on cloth",-0.221497,-0.093420,0.940465,-0.087204,-0.804290,-0.070208,0.583596
24,2,481280,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.270891,0.083725,0.884665,0.440565,0.443670,-0.684065,0.375652
24,2,481280,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.099525,-0.067009,0.887506,0.387611,0.027629,-0.020397,0.921183
24,2,481280,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.101580,-0.075024,0.869532,0.996041,0.000000,-0.000000,0.088892
24,2,481280,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.232765,0.110207,0.871288,0.992815,-0.000031,-0.001030,0.119651
24,2,481280,11,gripper,0,"","put kitchen shovel on cloth",-0.225101,-0.031265,0.960957,0.163523,-0.731322,0.240798,0.616802
24,2,481280,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.368569,0.232197,0.010573,0.691781,0.197117,0.196388,-0.666345
24,2,481280,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.246685,0.165508,0.881641,0.568306,0.030322,0.026374,-0.821835
24,2,481280,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.227017,-0.081238,0.869532,0.995871,0.000000,-0.000000,0.090781
24,2,481280,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.074993,0.871289,0.999999,-0.000158,-0.001020,-0.000014
24,2,481280,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.245991,-0.048241,0.941899,0.116432,-0.729757,0.132632,0.660536
24,2,481280,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.102846,0.001083,0.886397,-0.140970,0.829119,-0.533203,-0.091556
24,2,481280,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.237434,-0.042332,0.881638,0.346266,0.035156,-0.017725,0.937310
24,2,481280,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084997,0.044956,0.869532,1.000000,-0.000001,-0.000001,0.000442
24,2,481280,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.111055,-0.073212,0.871288,0.999775,-0.000176,-0.001016,-0.021186
24,2,481280,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.151010,0.064899,0.984833,0.133978,-0.747512,0.093012,0.643914
24,2,481280,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.205582,-0.051201,0.885084,0.594422,0.342364,-0.311685,0.657496
24,2,481280,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.104084,-0.067825,0.883120,0.571824,0.045293,-0.005179,0.819109
24,2,481280,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235058,-0.079880,0.869532,0.998735,-0.000000,-0.000001,-0.050275
24,2,481280,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235008,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000152
24,2,481280,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.150249,-0.086855,0.914115,-0.048101,-0.819299,-0.070779,0.566944
24,2,481280,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.104259,-0.033230,0.879089,0.882275,0.042583,-0.461109,0.084595
24,2,481280,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.289207,-0.022091,0.887081,0.998447,-0.035604,0.042670,-0.003962
24,2,481280,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000023
24,2,481280,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.337288,-0.089611,0.871159,0.989027,-0.000212,-0.002666,-0.147708
24,2,481280,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.298416,-0.141039,0.916826,0.230206,-0.657752,0.356557,0.622281
24,2,481280,16,obj,0,"003_bread_1","put bread on carpet",-0.187218,0.051426,0.883544,0.988850,0.003658,-0.012117,0.148378
24,2,481280,16,obj,1,"005_7up can_1","put bread on carpet",0.101913,-0.111588,0.016946,0.790117,0.096488,-0.589339,0.138148
24,2,481280,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000043
24,2,481280,16,recep,1,"003_carpet_1","put bread on carpet",-0.102676,0.037945,0.870460,0.999545,0.000023,-0.000157,0.030165
24,2,481280,16,gripper,0,"","put bread on carpet",-0.181065,0.051113,0.922531,0.074071,-0.738984,0.001056,0.669638
24,2,481280,17,obj,0,"003_bread_1","put bread on carpet",-0.213909,0.169727,0.883544,-0.634521,-0.010839,0.006537,-0.772802
24,2,481280,17,obj,1,"005_7up can_1","put bread on carpet",-0.260040,0.058456,0.888961,-0.597847,-0.396651,0.470662,-0.513541
24,2,481280,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
24,2,481280,17,recep,1,"003_carpet_1","put bread on carpet",-0.235065,0.075096,0.870429,0.999991,-0.003123,-0.002556,-0.001342
24,2,481280,17,gripper,0,"","put bread on carpet",-0.120419,-0.106089,0.984462,-0.001465,-0.776974,0.071396,0.625469
24,2,481280,18,obj,0,"003_bread_1","put bread on carpet",-0.162811,-0.110237,0.883544,0.981543,-0.000603,-0.012644,-0.190824
24,2,481280,18,obj,1,"005_7up can_1","put bread on carpet",-0.177311,-0.030285,0.936589,-0.097354,0.529663,-0.841265,-0.047455
24,2,481280,18,recep,0,"004_newspaper_1","put bread on carpet",-0.069828,0.078186,0.869490,0.998699,0.000134,0.000882,0.050993
24,2,481280,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074978,0.870447,0.999999,-0.000923,-0.000845,-0.000069
24,2,481280,18,gripper,0,"","put bread on carpet",-0.184893,-0.035231,0.968082,0.235265,-0.714475,0.073778,0.654776
24,2,481280,19,obj,0,"003_bread_1","put bread on carpet",-0.230629,-0.039875,0.886597,0.991292,-0.002186,-0.012226,-0.131098
24,2,481280,19,obj,1,"005_7up can_1","put bread on carpet",0.184946,0.194656,0.017150,0.382703,0.294424,-0.866457,0.126907
24,2,481280,19,recep,0,"004_newspaper_1","put bread on carpet",-0.204966,0.075005,0.869490,1.000000,0.000180,0.000873,0.000068
24,2,481280,19,recep,1,"003_carpet_1","put bread on carpet",-0.235016,-0.044991,0.870447,0.999991,-0.003114,-0.002734,0.000029
24,2,481280,19,gripper,0,"","put bread on carpet",-0.177558,-0.070742,0.979947,-0.012910,-0.716656,-0.048413,0.695625
24,2,481280,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.087928,-0.047630,0.886651,0.740000,0.011600,-0.006426,0.672476
24,2,481280,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.221161,-0.033222,0.888047,0.676968,0.126152,-0.092819,0.719155
24,2,481280,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235064,-0.075027,0.869490,1.000000,0.000179,0.000871,0.000492
24,2,481280,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082366,-0.075436,0.870448,0.999983,-0.000925,-0.000840,-0.005687
24,2,481280,20,gripper,0,"","put 7up can on newspaper",-0.117100,-0.005039,1.053834,0.051111,-0.791158,0.075870,0.604732
24,2,481280,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.186087,-0.018677,0.884384,0.464735,0.031776,0.009355,0.884830
24,2,481280,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.144970,0.221745,0.885998,0.092327,0.565144,-0.816796,0.070237
24,2,481280,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235252,-0.045128,0.869489,1.000000,0.000181,0.000874,-0.000410
24,2,481280,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204994,0.074997,0.870460,1.000000,0.000019,-0.000158,-0.000026
24,2,481280,21,gripper,0,"","put 7up can on newspaper",-0.215386,-0.051075,0.956459,0.164322,-0.746288,0.181770,0.618879
24,2,481280,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.096802,-0.072712,0.886860,0.972761,0.011229,0.004996,0.231484
24,2,481280,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.145794,-0.123100,0.933644,0.810077,-0.012292,-0.102831,0.577104
24,2,481280,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.082386,-0.088451,0.869490,0.999232,0.000214,0.000867,-0.039189
24,2,481280,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.086563,0.081955,0.870448,0.999953,-0.000931,-0.000836,-0.009655
24,2,481280,22,gripper,0,"","put 7up can on newspaper",-0.143497,-0.120378,0.963082,0.063824,-0.767570,0.173050,0.613854
24,2,481280,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.112591,0.013603,0.883544,0.442625,0.012037,-0.003905,0.896617
24,2,481280,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.127586,-0.096539,0.888819,0.557051,0.446690,-0.431380,0.551428
24,2,481280,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114273,-0.076065,0.869490,0.999930,0.000169,0.000881,0.011830
24,2,481280,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.198521,0.073666,0.870447,0.999918,-0.003080,-0.002771,0.012112
24,2,481280,23,gripper,0,"","put 7up can on newspaper",-0.111029,-0.103884,0.954934,-0.030628,-0.725285,-0.080519,0.683038
24,2,481280,24,obj,0,"003_bread_1","put 7up can on carpet",-0.135780,-0.100805,0.886744,0.757591,0.007115,-0.005750,0.652666
24,2,481280,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.137459,-0.062708,0.888744,0.601057,-0.285574,0.236920,0.707846
24,2,481280,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084892,0.045065,0.869490,1.000000,0.000180,0.000874,-0.000206
24,2,481280,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.105003,-0.079332,0.870478,0.999989,-0.003109,-0.003022,-0.001562
24,2,481280,24,gripper,0,"","put 7up can on carpet",-0.175224,-0.068825,0.934228,0.048706,-0.738501,0.113510,0.662841
24,2,481280,25,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,-0.075518,0.883544,0.924574,0.006456,-0.010890,0.380791
24,2,481280,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.069550,0.125458,0.886004,0.099966,0.564535,-0.815844,0.075537
24,2,481280,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234982,-0.075008,0.869489,1.000000,0.000180,0.000874,-0.000090
24,2,481280,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.079212,0.005991,0.870448,0.969514,-0.001101,-0.000593,-0.245031
24,2,481280,25,gripper,0,"","put 7up can on carpet",-0.101320,0.090954,0.918370,0.018980,-0.802853,-0.031010,0.595067
24,2,481280,26,obj,0,"003_bread_1","put 7up can on carpet",-0.216328,0.056192,0.886599,0.726064,0.010236,-0.005523,0.687528
24,2,481280,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.233646,0.229176,0.885987,-0.118453,0.660484,-0.734742,-0.099417
24,2,481280,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
24,2,481280,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.074995,0.870429,0.999992,-0.003108,-0.002553,0.000164
24,2,481280,26,gripper,0,"","put 7up can on carpet",-0.120846,-0.042700,0.938215,-0.136377,-0.747940,-0.055604,0.647221
24,2,481280,27,obj,0,"003_bread_1","put 7up can on carpet",-0.234695,0.083265,0.886635,0.968447,-0.002235,-0.010084,-0.249004
24,2,481280,27,obj,1,"005_7up can_1","put 7up can on carpet",0.048544,0.036930,0.017135,-0.298013,0.628510,-0.664043,-0.274246
24,2,481280,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
24,2,481280,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.235003,0.075012,0.870452,0.999999,-0.000929,-0.000893,0.000001
24,2,481280,27,gripper,0,"","put 7up can on carpet",-0.120928,-0.071157,0.995938,-0.004001,-0.739729,0.020429,0.672582
24,2,481280,28,obj,0,"003_bread_1","put bread on newspaper",-0.118322,-0.080576,0.954489,0.580479,-0.101339,0.002269,0.807941
24,2,481280,28,obj,1,"005_7up can_1","put bread on newspaper",-0.287927,0.025368,0.885675,-0.215674,-0.352908,0.080926,-0.906858
24,2,481280,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000006
24,2,481280,28,recep,1,"003_carpet_1","put bread on newspaper",-0.078352,-0.078442,0.870350,0.999897,-0.000646,-0.002022,0.014193
24,2,481280,28,gripper,0,"","put bread on newspaper",-0.141359,-0.074508,0.985020,0.029259,-0.720167,0.084247,0.688044
24,2,481280,29,obj,0,"003_bread_1","put bread on newspaper",-0.072250,0.078878,0.886497,0.743990,0.012118,-0.005939,0.668054
24,2,481280,29,obj,1,"005_7up can_1","put bread on newspaper",-0.248863,0.072544,0.888760,0.834923,0.125691,-0.189480,0.501202
24,2,481280,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.235020,0.074997,0.869490,1.000000,0.000179,0.000874,-0.000098
24,2,481280,29,recep,1,"003_carpet_1","put bread on newspaper",-0.079138,0.074825,0.870351,0.999978,-0.000029,-0.001366,-0.006509
24,2,481280,29,gripper,0,"","put bread on newspaper",-0.093984,-0.091930,0.976150,-0.060238,-0.758089,-0.074769,0.645044
24,2,481280,30,obj,0,"003_bread_1","put bread on newspaper",-0.159069,-0.040749,0.908694,0.772356,-0.032514,-0.072359,0.630216
24,2,481280,30,obj,1,"005_7up can_1","put bread on newspaper",-0.183464,-0.113302,0.888581,0.564961,-0.433381,0.453633,0.535927
24,2,481280,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.063019,-0.047266,0.869490,0.993979,0.000274,0.000849,-0.109567
24,2,481280,30,recep,1,"003_carpet_1","put bread on newspaper",-0.205040,-0.074942,0.870448,0.999997,-0.000124,-0.000158,0.002210
24,2,481280,30,gripper,0,"","put bread on newspaper",-0.172855,-0.042038,0.937948,0.080035,-0.794950,0.024314,0.600881
24,2,481280,31,obj,0,"003_bread_1","put bread on newspaper",-0.199986,-0.040039,0.886203,0.999947,0.003792,0.008374,0.004703
24,2,481280,31,obj,1,"005_7up can_1","put bread on newspaper",0.058453,0.395796,0.017201,0.173357,-0.751626,0.595968,0.223223
24,2,481280,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000052
24,2,481280,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
24,2,481280,31,gripper,0,"","put bread on newspaper",-0.123917,0.025263,1.029811,0.063160,-0.711593,-0.000039,0.699747
24,2,481280,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.202446,-0.018048,0.885932,0.706741,0.705088,0.053415,0.022709
24,2,481280,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.085007,-0.075437,0.878547,0.999909,0.013300,0.002055,0.000424
24,2,481280,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.115532,0.044490,0.871344,0.999999,-0.000158,0.001164,0.000415
24,2,481280,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235008,0.075004,0.874362,1.000000,-0.000001,-0.000001,0.000039
24,2,481280,32,gripper,0,"","put carrot on flat bowl",-0.138187,-0.012897,1.011884,-0.068323,-0.701564,0.109654,0.700797
24,2,481280,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.202389,0.045329,0.887529,0.749226,-0.028594,0.032414,0.660903
24,2,481280,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.114563,-0.044996,0.878547,0.706788,0.007946,0.010847,0.707297
24,2,481280,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
24,2,481280,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
24,2,481280,33,gripper,0,"","put carrot on flat bowl",-0.161264,-0.055854,0.984802,0.073686,-0.704114,0.086156,0.700979
24,2,481280,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.240089,-0.075051,0.887337,0.997969,0.003083,0.036065,0.052426
24,2,481280,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
24,2,481280,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
24,2,481280,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
24,2,481280,34,gripper,0,"","put carrot on flat bowl",-0.212635,-0.062856,0.948518,-0.056367,-0.753376,-0.091484,0.648751
24,2,481280,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.241140,-0.074205,0.887529,0.375603,-0.040051,0.016249,0.925772
24,2,481280,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084692,-0.074684,0.878547,0.382231,0.003187,0.013065,0.923969
24,2,481280,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
24,2,481280,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
24,2,481280,35,gripper,0,"","put carrot on flat bowl",-0.191053,-0.052846,0.968570,-0.144121,-0.680557,-0.015949,0.718204
24,2,481280,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087342,0.071761,0.887412,0.997066,-0.004408,0.031155,0.069786
24,2,481280,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234994,-0.075438,0.878547,0.999909,0.013301,0.002051,0.000314
24,2,481280,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
24,2,481280,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000003
24,2,481280,36,gripper,0,"","put banana on sheet metal",-0.222952,-0.045514,0.985697,-0.040721,-0.722604,0.051742,0.688119
24,2,481280,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.125584,0.072714,0.887518,0.868526,-0.019808,0.034826,0.494022
24,2,481280,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234468,0.045001,0.878547,0.706525,0.007946,0.010854,0.707560
24,2,481280,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000010
24,2,481280,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
24,2,481280,37,gripper,0,"","put banana on sheet metal",-0.235765,0.059356,0.973351,0.264512,-0.653075,0.201666,0.680336
24,2,481280,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.257381,0.054264,0.897897,0.957032,-0.090825,0.156113,0.226869
24,2,481280,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084682,0.074692,0.878547,0.923633,0.011467,0.006971,0.383043
24,2,481280,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
24,2,481280,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.074995,0.874363,1.000000,-0.000001,-0.000001,-0.000363
24,2,481280,38,gripper,0,"","put banana on sheet metal",-0.090063,0.034785,0.984737,0.134043,-0.731608,0.122057,0.657179
24,2,481280,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.242237,0.043889,0.887476,0.750261,-0.020350,0.023434,0.660413
24,2,481280,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007938,0.010841,0.707246
24,2,481280,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
24,2,481280,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
24,2,481280,39,gripper,0,"","put banana on sheet metal",-0.071445,0.111171,0.995685,0.286460,-0.709431,0.150714,0.626046
24,2,481280,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.245224,-0.078197,0.887334,0.997965,-0.004412,0.020823,0.060103
24,2,481280,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085564,-0.075758,0.878547,0.925199,0.011506,0.006929,0.379246
24,2,481280,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
24,2,481280,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000141
24,2,481280,40,gripper,0,"","put banana on flat bowl",-0.060654,-0.052141,0.959151,-0.156646,-0.703736,-0.213301,0.659334
24,2,481280,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204216,0.076744,0.887528,0.919596,-0.016893,0.039782,0.390481
24,2,481280,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
24,2,481280,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
24,2,481280,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
24,2,481280,41,gripper,0,"","put banana on flat bowl",-0.116831,-0.015861,0.966314,0.169831,-0.701544,0.137934,0.678210
24,2,481280,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.145813,-0.076454,0.887281,0.422922,-0.033242,0.008384,0.905517
24,2,481280,42,obj,1,"013_banana_1","put banana on flat bowl",-0.055813,-0.064941,0.878547,0.999519,0.013368,0.001676,-0.027916
24,2,481280,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
24,2,481280,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
24,2,481280,42,gripper,0,"","put banana on flat bowl",-0.156820,-0.047339,0.954369,0.294744,-0.698770,0.266646,0.594766
24,2,481280,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
24,2,481280,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234686,-0.074673,0.878547,0.383657,0.003203,0.013046,0.923378
24,2,481280,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
24,2,481280,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000190
24,2,481280,43,gripper,0,"","put banana on flat bowl",-0.211275,-0.072950,0.946791,-0.061386,-0.762131,-0.034302,0.643592
24,2,481280,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120348,0.039639,0.887478,0.363628,-0.038876,0.013667,0.930632
24,2,481280,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013047,0.923966
24,2,481280,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
24,2,481280,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000001
24,2,481280,44,gripper,0,"","put carrot on sheet metal",-0.081234,0.034736,0.972376,0.179676,-0.716859,0.084446,0.668355
24,2,481280,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.083752,-0.075394,0.887291,0.996487,-0.007247,0.025578,0.079414
24,2,481280,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234989,-0.075426,0.878546,0.999910,0.013282,0.002056,0.000499
24,2,481280,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
24,2,481280,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000002,0.000160
24,2,481280,45,gripper,0,"","put carrot on sheet metal",-0.170852,0.044310,1.021823,-0.231313,-0.703019,-0.199366,0.642270
24,2,481280,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.136456,0.094227,0.887435,0.670983,-0.016434,0.015212,0.741134
24,2,481280,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
24,2,481280,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
24,2,481280,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205029,0.075022,0.874363,1.000000,-0.000000,-0.000001,0.000751
24,2,481280,46,gripper,0,"","put carrot on sheet metal",-0.056391,0.061440,0.962271,0.400572,-0.659443,0.507663,0.383348
24,2,481280,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203400,-0.037506,0.887424,0.999126,0.001404,0.034126,0.024091
24,2,481280,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.114986,0.044561,0.878547,0.999910,0.013273,0.002045,-0.000291
24,2,481280,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
24,2,481280,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
24,2,481280,47,gripper,0,"","put carrot on sheet metal",-0.175217,-0.033406,0.984071,0.004637,-0.686278,0.031312,0.726650
24,2,481280,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.220757,0.095730,0.890507,0.965207,-0.028471,0.009417,0.259762
24,2,481280,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085632,0.045830,0.887027,0.704495,-0.017210,0.709499,0.001350
24,2,481280,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
24,2,481280,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235008,0.075027,0.870870,1.000000,0.000000,-0.000001,-0.000103
24,2,481280,48,gripper,0,"","put hamburger on cutting board",-0.190727,0.031693,1.068770,0.136297,-0.691045,0.143710,0.695145
24,2,481280,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.090282,0.047203,0.889702,0.848365,0.079150,-0.058547,0.520177
24,2,481280,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.166782,0.160164,0.886092,-0.775970,0.020865,-0.008269,-0.630371
24,2,481280,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.212524,0.050968,0.872199,0.999361,-0.000000,-0.000001,-0.035756
24,2,481280,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
24,2,481280,49,gripper,0,"","put hamburger on cutting board",-0.095377,0.035534,0.934416,0.122817,-0.772500,-0.041010,0.621674
24,2,481280,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.129505,-0.016006,0.894286,0.763303,-0.475282,-0.195617,0.391420
24,2,481280,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
24,2,481280,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.081532,-0.066059,0.872199,0.999670,0.000000,-0.000001,-0.025671
24,2,481280,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.075016,0.870870,1.000000,0.000000,0.000000,0.000040
24,2,481280,50,gripper,0,"","put hamburger on cutting board",-0.180210,-0.013811,1.003631,0.073335,-0.739583,0.070154,0.665370
24,2,481280,51,obj,0,"014_hamburger_1","put hamburger on cutting board",0.065496,-0.023403,0.019312,0.089953,0.012408,0.024588,-0.995565
24,2,481280,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065050,-0.053513,0.887026,0.649695,-0.288979,0.648211,0.272414
24,2,481280,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
24,2,481280,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204975,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000043
24,2,481280,51,gripper,0,"","put hamburger on cutting board",-0.144794,0.054815,0.969077,0.203073,-0.686764,0.209657,0.665703
24,2,481280,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204560,-0.059711,0.890758,0.938486,-0.028333,0.008672,0.344044
24,2,481280,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.192662,0.137554,0.975759,0.601325,-0.395193,0.599807,0.349945
24,2,481280,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000002,-0.000000
24,2,481280,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204989,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000021
24,2,481280,52,gripper,0,"","put plastic bottle on frying pan",-0.180470,0.131586,1.005648,0.170773,-0.745122,0.161477,0.624143
24,2,481280,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.242418,0.046188,0.894839,0.452874,0.480118,-0.690806,-0.295260
24,2,481280,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.100861,-0.112724,0.889263,0.614616,-0.223282,0.182945,0.734114
24,2,481280,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000007
24,2,481280,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235020,0.075001,0.870883,0.999999,0.000696,0.000709,0.000079
24,2,481280,53,gripper,0,"","put plastic bottle on frying pan",-0.132103,-0.110672,0.916307,-0.035335,-0.682411,0.079909,0.725728
24,2,481280,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.020622,0.069000,0.021728,-0.055756,0.858732,-0.503313,-0.078398
24,2,481280,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.151844,0.154251,0.886092,-0.896862,0.018487,-0.012692,-0.441741
24,2,481280,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235138,0.075356,0.872199,0.999989,-0.000000,-0.000001,0.004788
24,2,481280,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084263,-0.073635,0.870871,0.999919,0.000000,-0.000001,-0.012714
24,2,481280,54,gripper,0,"","put plastic bottle on frying pan",-0.137552,0.122757,0.969240,0.188906,-0.758477,0.187888,0.594747
24,2,481280,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.052700,0.056675,0.888112,0.417288,-0.022995,-0.015155,0.908357
24,2,481280,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215122,0.066257,0.887026,0.649557,-0.289307,0.648067,0.272740
24,2,481280,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
24,2,481280,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
24,2,481280,55,gripper,0,"","put plastic bottle on frying pan",-0.072784,0.011545,0.956620,-0.022575,-0.778913,-0.040576,0.625411
24,2,481280,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",2.240005,-1.205715,0.021786,0.298647,-0.749679,-0.415267,0.419934
24,2,481280,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.113678,0.032791,0.889597,-0.214632,-0.669856,-0.229628,0.672679
24,2,481280,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",0.096191,-1.232098,0.003398,0.539593,0.000000,0.000001,-0.841926
24,2,481280,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114700,0.045128,0.870884,0.999997,0.000707,0.000717,0.002374
24,2,481280,56,gripper,0,"","put plastic bottle on cutting board",-0.156815,0.056736,1.125572,0.070780,-0.799599,0.036782,0.595213
24,2,481280,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086407,0.056549,0.931591,0.993884,0.043809,-0.087182,-0.051725
24,2,481280,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.206810,0.077896,0.887026,0.704502,-0.015879,0.709524,0.000028
24,2,481280,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
24,2,481280,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
24,2,481280,57,gripper,0,"","put plastic bottle on cutting board",-0.113585,0.052313,0.953586,-0.013019,-0.762030,-0.070013,0.643614
24,2,481280,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.166134,-0.073780,0.888112,0.663398,-0.026408,-0.007813,0.747760
24,2,481280,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.200645,0.083015,0.889689,0.500319,-0.508413,0.497509,0.493642
24,2,481280,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
24,2,481280,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204964,0.074909,0.870871,1.000000,-0.000011,-0.000012,-0.000321
24,2,481280,58,gripper,0,"","put plastic bottle on cutting board",-0.185080,0.037066,1.097265,0.026476,-0.762571,0.035508,0.645387
24,2,481280,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.434156,0.097889,0.022641,-0.195606,0.271036,0.773199,-0.538925
24,2,481280,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.002459,-0.086246,0.887026,0.704495,-0.014631,0.709557,-0.001211
24,2,481280,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
24,2,481280,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
24,2,481280,59,gripper,0,"","put plastic bottle on cutting board",-0.058077,-0.148539,0.913455,-0.026118,-0.737070,-0.027213,0.674763
24,2,481280,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.267630,0.171673,0.891736,-0.177730,-0.753068,0.318875,-0.547375
24,2,481280,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.275555,-0.000931,0.933951,0.399732,-0.539511,0.442703,0.594270
24,2,481280,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204994,0.075001,0.872199,1.000000,-0.000000,-0.000002,-0.000056
24,2,481280,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085000,0.075001,0.870870,1.000000,0.000000,-0.000001,0.000000
24,2,481280,60,gripper,0,"","put hamburger on frying pan",-0.268343,-0.001907,0.976917,-0.059614,-0.658957,-0.127480,0.738898
24,2,481280,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.182379,-0.080425,0.890661,0.666153,0.066597,0.040904,0.741709
24,2,481280,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.111923,0.033165,0.889741,0.369645,-0.611126,0.360120,0.600167
24,2,481280,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
24,2,481280,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.113430,0.071804,0.870884,0.999706,0.000696,0.000738,0.024211
24,2,481280,61,gripper,0,"","put hamburger on frying pan",-0.202709,-0.088409,0.915874,-0.035917,-0.704278,-0.124706,0.697962
24,2,481280,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202202,-0.045189,0.896444,0.585985,-0.027792,-0.013002,0.809741
24,2,481280,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.154896,0.077705,0.889436,0.505392,-0.502579,0.502755,0.489113
24,2,481280,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000007
24,2,481280,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205471,0.074615,0.870883,0.999993,0.000700,0.000710,-0.003450
24,2,481280,62,gripper,0,"","put hamburger on frying pan",-0.138544,-0.038294,1.076488,0.043537,-0.762980,0.019539,0.644659
24,2,481280,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.121620,-0.009079,0.995412,0.408797,-0.000309,0.013912,0.912519
24,2,481280,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.206963,0.058273,0.894843,0.042683,-0.743490,0.667339,-0.007635
24,2,481280,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000025
24,2,481280,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234798,0.045044,0.870870,1.000000,0.000002,0.000000,-0.000421
24,2,481280,63,gripper,0,"","put hamburger on frying pan",-0.116907,-0.006058,1.040418,-0.025484,-0.714623,0.020794,0.698736
24,3,486400,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.118233,-0.201019,0.879088,0.798413,0.199603,-0.417837,0.384849
24,3,486400,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.269852,-0.088074,0.888521,0.693719,-0.257787,0.218967,0.635888
24,3,486400,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084969,-0.075027,0.869532,1.000000,-0.000001,0.000000,0.000396
24,3,486400,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000225
24,3,486400,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.233227,-0.097710,0.913187,-0.023200,-0.725522,-0.025726,0.687327
24,3,486400,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.221539,0.079132,0.888079,-0.742827,-0.253641,0.378742,-0.490335
24,3,486400,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.129429,-0.124657,0.885768,0.741007,0.075199,-0.122106,0.656006
24,3,486400,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.062672,-0.071266,0.869532,0.981502,-0.000001,-0.000000,0.191453
24,3,486400,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000155,-0.001020,0.000143
24,3,486400,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.138441,-0.118107,0.915149,0.004045,-0.797997,0.094083,0.595259
24,3,486400,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.100151,-0.001549,0.879116,0.098314,-0.113656,0.988586,0.010735
24,3,486400,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.044495,-0.094887,0.881641,0.964091,0.006196,0.039681,-0.262517
24,3,486400,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000040
24,3,486400,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.049541,0.078705,0.871288,0.988052,0.000005,-0.001030,0.154114
24,3,486400,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.068165,-0.025890,0.914266,0.207897,-0.752186,0.283330,0.557422
24,3,486400,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.098902,0.116020,0.885700,0.340181,-0.622148,0.624983,0.326503
24,3,486400,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.152622,0.054848,0.886527,0.845512,-0.054320,0.025092,0.530594
24,3,486400,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.108759,0.080986,0.869532,0.998905,0.000001,-0.000001,0.046786
24,3,486400,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.202152,-0.081306,0.871288,0.996756,-0.000240,-0.001004,-0.080473
24,3,486400,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.169670,0.047916,0.980272,0.059069,-0.733578,0.219751,0.640377
24,3,486400,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.101519,0.062714,0.885112,-0.082995,0.546540,-0.831567,-0.053880
24,3,486400,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.133296,-0.054688,0.879641,-0.035192,0.825786,-0.555016,-0.093786
24,3,486400,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084892,0.075233,0.869532,0.999958,0.000000,-0.000000,-0.009121
24,3,486400,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.097227,-0.036621,0.871288,0.993359,-0.000270,-0.000995,-0.115052
24,3,486400,4,gripper,0,"","put kitchen shovel on cloth",-0.222859,-0.095638,0.926346,-0.092192,-0.766729,-0.134897,0.620830
24,3,486400,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",2.104654,-1.362656,0.010317,0.098884,0.000549,0.995099,-0.000621
24,3,486400,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.217720,0.144585,0.881638,0.705138,0.024577,-0.030752,0.707976
24,3,486400,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",1.076462,2.601105,0.000732,0.414208,-0.000000,-0.000000,-0.910182
24,3,486400,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000010
24,3,486400,5,gripper,0,"","put kitchen shovel on cloth",-0.174610,0.108929,0.923219,0.306535,-0.683464,0.225822,0.622831
24,3,486400,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.183502,0.072807,0.885129,0.473586,0.513836,-0.576721,0.423180
24,3,486400,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.065445,-0.019493,0.886240,0.533924,-0.006522,0.070299,0.842580
24,3,486400,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.203125,0.074432,0.869532,0.999564,0.000000,0.000000,-0.029538
24,3,486400,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000155,-0.001020,0.000031
24,3,486400,6,gripper,0,"","put kitchen shovel on cloth",-0.105606,-0.023209,0.933288,-0.182845,-0.763866,-0.119685,0.607250
24,3,486400,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.220470,-0.024422,0.887727,0.513597,-0.468454,0.457062,0.554853
24,3,486400,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.194130,0.016975,0.873650,-0.062610,-0.666170,0.739843,0.070206
24,3,486400,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.212666,0.096367,0.869532,0.991721,-0.000001,-0.000001,0.128408
24,3,486400,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.232231,-0.056152,0.871289,0.999738,-0.000177,-0.001015,-0.022866
24,3,486400,7,gripper,0,"","put kitchen shovel on cloth",-0.129833,-0.016197,0.982368,0.033468,-0.738050,0.068642,0.670410
24,3,486400,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.212234,-0.140659,0.879804,0.202919,-0.537442,0.807314,0.134993
24,3,486400,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.063850,-0.017250,0.881638,0.787545,0.020557,-0.033551,0.614999
24,3,486400,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.179085,-0.086075,0.869532,0.848969,0.000000,-0.000001,0.528442
24,3,486400,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001020,-0.000100
24,3,486400,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.255802,-0.128052,0.914159,0.166803,-0.703438,0.069830,0.687369
24,3,486400,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.092899,-0.040054,0.885085,0.540112,0.366154,-0.283459,0.702753
24,3,486400,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.281593,0.039013,0.881585,0.861287,0.016345,-0.039045,0.506353
24,3,486400,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,-0.075008,0.869532,1.000000,-0.000001,-0.000000,-0.000231
24,3,486400,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
24,3,486400,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.160164,-0.053530,0.917204,-0.190108,-0.737184,-0.113117,0.638454
24,3,486400,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.289043,-0.161644,0.879125,0.557996,-0.367701,-0.680395,-0.300829
24,3,486400,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.200592,0.032204,0.886194,0.705463,0.035799,0.059910,0.705302
24,3,486400,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084206,0.070473,0.869532,0.991374,-0.000000,-0.000000,-0.131062
24,3,486400,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.260113,0.049831,0.871282,0.993693,-0.000590,-0.001207,-0.112126
24,3,486400,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.237740,-0.001129,0.948997,0.110537,-0.795348,-0.001337,0.595987
24,3,486400,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.269321,0.084007,0.884591,0.444117,0.435462,-0.691763,0.366874
24,3,486400,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.098692,-0.069244,0.887500,0.346696,0.031612,-0.020330,0.937224
24,3,486400,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.101576,-0.074955,0.869532,0.995919,0.000001,-0.000001,0.090254
24,3,486400,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.231613,0.111927,0.871282,0.991806,-0.000287,-0.001313,0.127742
24,3,486400,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.179534,-0.077293,0.916731,-0.204682,-0.756505,-0.128641,0.607665
24,3,486400,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.368569,0.232197,0.010573,0.691781,0.197117,0.196388,-0.666345
24,3,486400,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.263780,-0.068573,0.887390,0.779239,-0.027646,-0.028814,-0.625453
24,3,486400,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.227016,-0.081245,0.869532,0.995879,-0.000000,-0.000001,0.090694
24,3,486400,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000014
24,3,486400,12,gripper,0,"","put ketchup bottle on cloth",-0.229953,-0.101212,0.943004,0.046643,-0.790092,-0.035401,0.610185
24,3,486400,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.102970,-0.000130,0.886578,-0.167591,0.814406,-0.547313,-0.095419
24,3,486400,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.230370,-0.024441,0.881641,0.431523,-0.037923,0.013229,0.901208
24,3,486400,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084997,0.044956,0.869532,1.000000,-0.000000,-0.000001,0.000457
24,3,486400,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.111061,-0.073212,0.871288,0.999776,-0.000176,-0.001016,-0.021161
24,3,486400,13,gripper,0,"","put ketchup bottle on cloth",-0.193499,0.035139,0.969204,0.082337,-0.721935,0.007873,0.687000
24,3,486400,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.216705,-0.040051,0.885085,0.503798,0.380051,-0.264535,0.729226
24,3,486400,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.237087,0.053257,0.896810,0.801431,0.090174,0.036297,0.590136
24,3,486400,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.238003,-0.074383,0.869532,0.998447,0.000001,-0.000000,0.055704
24,3,486400,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.230991,0.074871,0.871288,0.999797,-0.000133,-0.001022,0.020149
24,3,486400,14,gripper,0,"","put ketchup bottle on cloth",-0.266342,0.058559,0.940728,0.142341,-0.714139,0.083055,0.680328
24,3,486400,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.059834,-0.021210,0.879373,0.923318,-0.071158,0.268999,0.264689
24,3,486400,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.290272,-0.021729,0.886942,0.998234,-0.034501,0.047044,-0.011187
24,3,486400,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
24,3,486400,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.338715,-0.088951,0.871222,0.988157,-0.003922,-0.003138,-0.153362
24,3,486400,15,gripper,0,"","put ketchup bottle on cloth",-0.112942,-0.022707,0.914253,0.086308,-0.738295,0.074349,0.664788
24,3,486400,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.182724,-0.030273,0.884214,0.999798,-0.000123,0.016207,0.011863
24,3,486400,16,obj,1,"005_7up can_1","put 7up can on newspaper",0.101913,-0.111588,0.016946,0.790103,0.096546,-0.589330,0.138226
24,3,486400,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,-0.074997,0.869489,1.000000,0.000179,0.000874,0.000099
24,3,486400,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.102676,0.037945,0.870460,0.999545,0.000023,-0.000158,0.030169
24,3,486400,16,gripper,0,"","put 7up can on newspaper",-0.185188,-0.050297,0.977762,-0.012102,-0.688803,0.022975,0.724483
24,3,486400,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.213902,0.169727,0.883544,-0.634369,-0.010841,0.006535,-0.772927
24,3,486400,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.247791,0.092529,0.888682,-0.702393,0.264088,-0.309419,-0.584089
24,3,486400,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
24,3,486400,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.232647,0.075008,0.870453,0.999987,-0.003120,-0.002782,-0.002785
24,3,486400,17,gripper,0,"","put 7up can on newspaper",-0.236681,0.042622,0.964663,0.043302,-0.626373,0.063345,0.775738
24,3,486400,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.117207,-0.090973,0.886699,0.981758,-0.001701,-0.011346,-0.189788
24,3,486400,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.129639,-0.109161,0.948939,-0.126297,0.686790,-0.672820,-0.244300
24,3,486400,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.069828,0.078186,0.869490,0.998699,0.000134,0.000882,0.050987
24,3,486400,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084995,-0.074932,0.870367,0.999998,-0.000589,-0.001751,0.000140
24,3,486400,18,gripper,0,"","put 7up can on newspaper",-0.140097,-0.108557,0.979567,-0.042779,-0.689873,-0.011154,0.722580
24,3,486400,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.230627,-0.039875,0.886597,0.991266,-0.002195,-0.012234,-0.131286
24,3,486400,19,obj,1,"005_7up can_1","put 7up can on newspaper",0.184961,0.194656,0.017150,0.382757,0.294050,-0.866584,0.126742
24,3,486400,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204950,0.075005,0.869490,1.000000,0.000180,0.000874,0.000094
24,3,486400,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235014,-0.044991,0.870447,0.999991,-0.003114,-0.002734,0.000055
24,3,486400,19,gripper,0,"","put 7up can on newspaper",-0.214673,-0.034073,0.981848,-0.007851,-0.729908,0.108704,0.674801
24,3,486400,20,obj,0,"003_bread_1","put 7up can on carpet",-0.089179,-0.049973,0.886671,0.741001,0.011910,-0.006518,0.671367
24,3,486400,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.156371,-0.121284,0.886210,-0.400165,0.114318,-0.029695,-0.908800
24,3,486400,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.236580,-0.076065,0.869490,0.999994,0.000177,0.000875,0.003288
24,3,486400,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.082326,-0.075199,0.870449,0.999981,-0.000895,-0.000815,-0.006082
24,3,486400,20,gripper,0,"","put 7up can on carpet",-0.191575,-0.001307,0.942714,0.149465,-0.680482,0.287671,0.657152
24,3,486400,21,obj,0,"003_bread_1","put 7up can on carpet",-0.186054,-0.018684,0.884385,0.465118,0.031768,0.009371,0.884629
24,3,486400,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.093536,0.164108,0.886546,0.181524,0.496931,-0.840763,0.115006
24,3,486400,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235207,-0.045128,0.869490,1.000000,0.000180,0.000874,-0.000505
24,3,486400,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.204987,0.074997,0.870460,1.000000,0.000018,-0.000158,-0.000007
24,3,486400,21,gripper,0,"","put 7up can on carpet",-0.083075,0.157600,0.914656,0.163442,-0.766346,0.193562,0.590368
24,3,486400,22,obj,0,"003_bread_1","put 7up can on carpet",-0.082291,-0.069721,0.886857,0.929105,0.010438,0.006085,0.369619
24,3,486400,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.140007,-0.201290,0.885662,-0.867905,0.103316,-0.211168,-0.437579
24,3,486400,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.064125,-0.080570,0.869490,0.994450,0.000087,0.000889,0.105208
24,3,486400,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.086563,0.081970,0.870448,0.999952,-0.000932,-0.000836,-0.009689
24,3,486400,22,gripper,0,"","put 7up can on carpet",-0.151581,-0.164587,0.959136,-0.020450,-0.762180,0.044527,0.645508
24,3,486400,23,obj,0,"003_bread_1","put 7up can on carpet",-0.103615,-0.004433,0.883544,0.349833,0.012375,-0.002676,0.936726
24,3,486400,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.126659,-0.108898,0.888808,0.574078,0.427130,-0.419268,0.558756
24,3,486400,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.113091,-0.089619,0.869490,0.999996,0.000178,0.000869,0.002664
24,3,486400,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.198521,0.073666,0.870447,0.999918,-0.003081,-0.002771,0.012113
24,3,486400,23,gripper,0,"","put 7up can on carpet",-0.150246,-0.045349,0.932122,-0.028415,-0.779387,-0.073327,0.621589
24,3,486400,24,obj,0,"003_bread_1","put bread on newspaper",-0.145195,-0.100025,0.886827,0.788884,0.011073,-0.006996,0.614403
24,3,486400,24,obj,1,"005_7up can_1","put bread on newspaper",-0.130493,-0.056082,0.888851,0.572654,-0.278553,0.213014,0.741013
24,3,486400,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084892,0.045065,0.869490,1.000000,0.000180,0.000874,-0.000194
24,3,486400,24,recep,1,"003_carpet_1","put bread on newspaper",-0.109818,-0.078899,0.870448,0.999894,-0.000897,-0.000845,0.014464
24,3,486400,24,gripper,0,"","put bread on newspaper",-0.230186,-0.054914,0.924241,0.111050,-0.732852,0.214859,0.635949
24,3,486400,25,obj,0,"003_bread_1","put bread on newspaper",-0.085476,-0.075518,0.883544,0.924685,0.006453,-0.010892,0.380521
24,3,486400,25,obj,1,"005_7up can_1","put bread on newspaper",-0.214458,-0.026844,0.888059,0.105984,0.730226,-0.667882,0.097315
24,3,486400,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.235401,-0.074951,0.869490,0.999999,0.000179,0.000876,0.000847
24,3,486400,25,recep,1,"003_carpet_1","put bread on newspaper",-0.079212,0.005991,0.870448,0.969514,-0.001102,-0.000593,-0.245032
24,3,486400,25,gripper,0,"","put bread on newspaper",-0.196615,-0.013079,0.961356,0.044839,-0.736283,0.037211,0.674160
24,3,486400,26,obj,0,"003_bread_1","put bread on newspaper",-0.205906,0.057899,0.886421,0.675019,0.013050,-0.006233,0.737658
24,3,486400,26,obj,1,"005_7up can_1","put bread on newspaper",-0.233650,0.229162,0.885987,-0.118289,0.661734,-0.733615,-0.099623
24,3,486400,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
24,3,486400,26,recep,1,"003_carpet_1","put bread on newspaper",-0.234917,0.075455,0.870426,0.999998,-0.000673,-0.001211,0.001237
24,3,486400,26,gripper,0,"","put bread on newspaper",-0.258739,-0.017791,0.936374,0.051537,-0.709727,0.048783,0.700893
24,3,486400,27,obj,0,"003_bread_1","put bread on newspaper",-0.234695,0.083256,0.886635,0.968452,-0.002241,-0.010092,-0.248987
24,3,486400,27,obj,1,"005_7up can_1","put bread on newspaper",0.048544,0.036930,0.017135,-0.298012,0.628510,-0.664042,-0.274247
24,3,486400,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.081642,0.078167,0.869490,0.999467,0.000151,0.000880,0.032643
24,3,486400,27,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,0.075012,0.870452,0.999999,-0.000928,-0.000892,0.000001
24,3,486400,27,gripper,0,"","put bread on newspaper",-0.101811,0.068477,0.972275,0.146278,-0.700665,0.104571,0.690461
24,3,486400,28,obj,0,"003_bread_1","put bread on carpet",-0.101639,-0.086317,0.886716,0.534684,0.013344,-0.004605,0.844934
24,3,486400,28,obj,1,"005_7up can_1","put bread on carpet",-0.235332,-0.002237,0.885848,0.149199,-0.757847,0.176828,0.610033
24,3,486400,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084998,0.075003,0.869490,1.000000,0.000179,0.000874,0.000005
24,3,486400,28,recep,1,"003_carpet_1","put bread on carpet",-0.076043,-0.078083,0.870426,0.999815,-0.000699,-0.001268,0.019191
24,3,486400,28,gripper,0,"","put bread on carpet",-0.142536,-0.092667,0.917306,0.060289,-0.811198,-0.037646,0.580436
24,3,486400,29,obj,0,"003_bread_1","put bread on carpet",-0.069786,0.079403,0.886532,0.742174,0.012375,-0.007357,0.670053
24,3,486400,29,obj,1,"005_7up can_1","put bread on carpet",-0.179499,0.217281,0.886109,-0.019145,0.541179,-0.840509,-0.017426
24,3,486400,29,recep,0,"004_newspaper_1","put bread on carpet",-0.235010,0.074997,0.869490,1.000000,0.000180,0.000874,-0.000105
24,3,486400,29,recep,1,"003_carpet_1","put bread on carpet",-0.079422,0.074305,0.870418,0.999979,-0.000581,-0.001187,-0.006292
24,3,486400,29,gripper,0,"","put bread on carpet",-0.080993,0.033517,0.953841,0.078646,-0.754973,0.031823,0.650244
24,3,486400,30,obj,0,"003_bread_1","put bread on carpet",-0.149799,-0.044344,0.885542,0.792013,0.049116,0.054339,0.606094
24,3,486400,30,obj,1,"005_7up can_1","put bread on carpet",-0.183464,-0.113298,0.888581,0.564975,-0.433371,0.453639,0.535915
24,3,486400,30,recep,0,"004_newspaper_1","put bread on carpet",-0.063019,-0.047264,0.869490,0.993996,0.000274,0.000849,-0.109413
24,3,486400,30,recep,1,"003_carpet_1","put bread on carpet",-0.205040,-0.074938,0.870448,0.999998,-0.000124,-0.000158,0.002188
24,3,486400,30,gripper,0,"","put bread on carpet",-0.109600,-0.030928,0.926399,-0.045719,-0.752683,-0.051450,0.654776
24,3,486400,31,obj,0,"003_bread_1","put bread on carpet",-0.194122,-0.031588,0.886131,0.992659,0.005884,0.005256,0.120687
24,3,486400,31,obj,1,"005_7up can_1","put bread on carpet",0.058453,0.395796,0.017201,0.173370,-0.751621,0.595964,0.223238
24,3,486400,31,recep,0,"004_newspaper_1","put bread on carpet",-0.201527,-0.071421,0.869489,0.999855,0.000195,0.000872,-0.016984
24,3,486400,31,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
24,3,486400,31,gripper,0,"","put bread on carpet",-0.169001,-0.045283,0.991419,0.006322,-0.734058,-0.008685,0.679002
24,3,486400,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.202446,-0.018048,0.885932,0.706742,0.705086,0.053412,0.022712
24,3,486400,32,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075436,0.878547,0.999910,0.013266,0.002053,0.000424
24,3,486400,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.115532,0.044490,0.871344,0.999999,-0.000157,0.001164,0.000415
24,3,486400,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235008,0.075004,0.874362,1.000000,-0.000001,-0.000000,0.000039
24,3,486400,32,gripper,0,"","put banana on sheet metal",-0.028450,-0.023656,0.997853,0.024961,-0.713825,0.175715,0.677462
24,3,486400,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.202389,0.045329,0.887529,0.749226,-0.028593,0.032414,0.660903
24,3,486400,33,obj,1,"013_banana_1","put banana on sheet metal",-0.114563,-0.044996,0.878547,0.706788,0.007946,0.010847,0.707297
24,3,486400,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
24,3,486400,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
24,3,486400,33,gripper,0,"","put banana on sheet metal",-0.065424,0.024318,0.974506,0.021452,-0.737788,-0.032658,0.673901
24,3,486400,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.246902,-0.076765,0.887458,0.999012,-0.001888,0.032128,0.030646
24,3,486400,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
24,3,486400,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
24,3,486400,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
24,3,486400,34,gripper,0,"","put banana on sheet metal",-0.059103,0.095631,0.995095,0.158834,-0.752593,0.049563,0.637118
24,3,486400,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241140,-0.074205,0.887529,0.375603,-0.040051,0.016249,0.925772
24,3,486400,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074684,0.878547,0.382231,0.003190,0.013074,0.923969
24,3,486400,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
24,3,486400,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
24,3,486400,35,gripper,0,"","put banana on sheet metal",-0.046580,-0.007785,0.993756,0.182118,-0.752925,0.188905,0.603533
24,3,486400,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087955,0.071934,0.887541,0.997093,-0.003972,0.030196,0.069839
24,3,486400,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234994,-0.075438,0.878547,0.999910,0.013272,0.002049,0.000314
24,3,486400,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000016
24,3,486400,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000003
24,3,486400,36,gripper,0,"","put banana on flat bowl",-0.214408,-0.047772,0.944619,-0.147033,-0.760359,-0.035941,0.631620
24,3,486400,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.126907,0.072343,0.887474,0.866936,-0.014780,0.025633,0.497540
24,3,486400,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234468,0.045001,0.878547,0.706525,0.007945,0.010854,0.707560
24,3,486400,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000010
24,3,486400,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
24,3,486400,37,gripper,0,"","put banana on flat bowl",-0.212658,0.054979,0.996304,0.218457,-0.749028,0.089863,0.618997
24,3,486400,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.257381,0.054264,0.897897,0.957032,-0.090827,0.156117,0.226865
24,3,486400,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084682,0.074692,0.878547,0.923633,0.011472,0.006973,0.383043
24,3,486400,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000029
24,3,486400,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.074995,0.874362,1.000000,0.000000,-0.000001,-0.000363
24,3,486400,38,gripper,0,"","put banana on flat bowl",-0.082031,0.021605,1.007659,-0.064596,-0.756934,0.011486,0.650190
24,3,486400,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244850,0.043162,0.887449,0.757039,-0.021909,0.023649,0.652574
24,3,486400,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114555,0.075006,0.878547,0.706840,0.007932,0.010834,0.707246
24,3,486400,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
24,3,486400,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
24,3,486400,39,gripper,0,"","put banana on flat bowl",-0.069128,0.118596,0.990852,0.205122,-0.738343,0.165101,0.620899
24,3,486400,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.248062,-0.074551,0.887282,0.993090,-0.010207,0.032734,0.112238
24,3,486400,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.085556,-0.075758,0.878547,0.925441,0.011517,0.006925,0.378653
24,3,486400,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
24,3,486400,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000220
24,3,486400,40,gripper,0,"","put carrot on sheet metal",-0.101105,0.031228,1.016788,0.206411,-0.743829,0.164300,0.614100
24,3,486400,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.207767,0.074789,0.887529,0.964470,-0.011277,0.041722,0.260632
24,3,486400,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
24,3,486400,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
24,3,486400,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
24,3,486400,41,gripper,0,"","put carrot on sheet metal",-0.183374,0.075445,0.992952,0.158985,-0.667183,0.256371,0.681076
24,3,486400,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.172787,-0.062460,0.885932,0.049196,0.018482,0.706865,0.705393
24,3,486400,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.048943,-0.014475,0.878548,0.974689,0.012502,0.004964,0.223162
24,3,486400,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
24,3,486400,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
24,3,486400,42,gripper,0,"","put carrot on sheet metal",-0.137363,-0.035624,0.956002,0.119891,-0.778202,0.135953,0.601285
24,3,486400,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.138756,0.050394,0.895670,0.158029,0.166077,0.083806,0.969753
24,3,486400,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,-0.074667,0.878547,0.384375,0.003209,0.013029,0.923079
24,3,486400,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
24,3,486400,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.204981,0.045042,0.874362,1.000000,0.000000,-0.000001,-0.000465
24,3,486400,43,gripper,0,"","put carrot on sheet metal",-0.151049,0.085380,0.984440,0.048346,-0.726604,-0.026974,0.684822
24,3,486400,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.116647,0.034548,0.887404,0.392592,-0.017514,0.008327,0.919508
24,3,486400,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075327,0.878547,0.382239,0.003184,0.013054,0.923966
24,3,486400,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
24,3,486400,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874362,1.000000,-0.000000,-0.000001,0.000002
24,3,486400,44,gripper,0,"","put carrot on flat bowl",-0.094123,0.039273,0.953122,0.240679,-0.747165,0.222940,0.578027
24,3,486400,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.084332,-0.074331,0.887561,0.996615,-0.004805,0.031140,0.075932
24,3,486400,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234987,-0.075428,0.878546,0.999910,0.013290,0.002053,0.000206
24,3,486400,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
24,3,486400,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000259
24,3,486400,45,gripper,0,"","put carrot on flat bowl",-0.084249,-0.052800,1.008015,-0.181129,-0.693228,-0.194156,0.670023
24,3,486400,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.135502,0.094236,0.887295,0.661386,-0.021479,0.027277,0.749241
24,3,486400,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
24,3,486400,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
24,3,486400,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205029,0.075022,0.874363,1.000000,-0.000000,-0.000000,0.000877
24,3,486400,46,gripper,0,"","put carrot on flat bowl",-0.124102,-0.016786,0.959751,0.233254,-0.665908,0.253798,0.661623
24,3,486400,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204464,-0.066528,0.887240,0.933252,-0.018509,0.027316,0.357704
24,3,486400,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.114983,0.044559,0.878547,0.999910,0.013279,0.002041,-0.000601
24,3,486400,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
24,3,486400,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
24,3,486400,47,gripper,0,"","put carrot on flat bowl",-0.164799,-0.050621,0.972549,0.119567,-0.675334,0.119299,0.717910
24,3,486400,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.220757,0.095703,0.890507,0.964716,-0.028496,0.009359,0.261580
24,3,486400,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060287,0.034660,0.887084,0.685876,0.137788,0.698399,-0.151090
24,3,486400,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
24,3,486400,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235008,0.075020,0.870870,1.000000,0.000000,-0.000001,-0.000022
24,3,486400,48,gripper,0,"","put plastic bottle on frying pan",-0.080204,0.072947,0.928472,0.140162,-0.725228,0.141524,0.659067
24,3,486400,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.090183,0.052013,0.888112,0.856673,-0.027539,0.000451,0.515124
24,3,486400,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.220585,0.157146,0.888668,-0.668292,0.255485,-0.657769,-0.235485
24,3,486400,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.213879,0.050110,0.872199,0.999899,-0.000000,-0.000001,-0.014198
24,3,486400,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
24,3,486400,49,gripper,0,"","put plastic bottle on frying pan",-0.222931,0.159376,0.914674,0.334916,-0.640511,0.267499,0.637198
24,3,486400,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.129471,-0.015942,0.894283,0.764473,-0.476083,-0.194430,0.388746
24,3,486400,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.014202,0.064640,0.888861,0.651976,-0.335092,0.545972,0.405655
24,3,486400,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.081532,-0.066059,0.872199,0.999669,-0.000000,-0.000001,-0.025723
24,3,486400,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,-0.000000,-0.000000,0.000029
24,3,486400,50,gripper,0,"","put plastic bottle on frying pan",-0.054831,0.076696,0.917868,0.207224,-0.784538,0.052359,0.582080
24,3,486400,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.065483,-0.023396,0.019312,0.078072,0.012701,0.024437,-0.996567
24,3,486400,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.040775,-0.044010,0.886982,0.634373,-0.326251,0.626760,0.313534
24,3,486400,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000128
24,3,486400,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204971,-0.075016,0.870870,1.000000,0.000000,-0.000001,0.000056
24,3,486400,51,gripper,0,"","put plastic bottle on frying pan",-0.034178,-0.054951,0.949557,-0.103382,-0.756817,-0.060364,0.642571
24,3,486400,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.204560,-0.059711,0.890758,0.938486,-0.028327,0.008664,0.344043
24,3,486400,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.134976,0.147038,0.891181,-0.022864,-0.648544,0.760230,-0.030299
24,3,486400,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205057,0.075089,0.872199,1.000000,0.000000,-0.000001,0.000778
24,3,486400,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204989,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000021
24,3,486400,52,gripper,0,"","put plastic bottle on cutting board",-0.146136,0.148811,0.914438,0.050535,-0.763825,0.073747,0.639202
24,3,486400,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.239620,0.039028,0.894773,0.385933,0.531334,-0.627934,-0.417660
24,3,486400,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.186918,-0.033062,0.885720,0.158758,0.676003,-0.145505,0.704730
24,3,486400,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114870,0.045059,0.872199,1.000000,0.000001,-0.000001,-0.000208
24,3,486400,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.233879,0.075199,0.870883,0.999977,0.000696,0.000719,0.006658
24,3,486400,53,gripper,0,"","put plastic bottle on cutting board",-0.203782,-0.031513,0.959978,-0.044781,-0.814423,-0.063050,0.575096
24,3,486400,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.020622,0.069000,0.021728,-0.055776,0.858605,-0.503531,-0.078384
24,3,486400,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106136,-0.072979,0.888400,-0.582987,-0.413745,0.553901,-0.426773
24,3,486400,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235138,0.075356,0.872199,0.999989,-0.000000,-0.000001,0.004678
24,3,486400,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082024,-0.074505,0.870871,0.999742,-0.000000,-0.000007,-0.022702
24,3,486400,54,gripper,0,"","put plastic bottle on cutting board",-0.173452,-0.041992,1.028793,0.002177,-0.669747,0.166257,0.723735
24,3,486400,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.052700,0.056675,0.888112,0.417244,-0.022995,-0.015156,0.908377
24,3,486400,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.128029,0.028477,0.889688,0.537240,-0.442250,0.517855,0.497608
24,3,486400,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000006
24,3,486400,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
24,3,486400,55,gripper,0,"","put plastic bottle on cutting board",-0.123247,0.027710,0.918947,0.069248,-0.762250,0.036818,0.642514
24,3,486400,56,obj,0,"014_hamburger_1","put hamburger on frying pan",2.240005,-1.205711,0.021786,0.299412,-0.750438,-0.413898,0.419386
24,3,486400,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.109940,0.026073,0.889703,-0.240233,-0.660458,-0.257209,0.663270
24,3,486400,56,recep,0,"011_frying pan_1","put hamburger on frying pan",0.096191,-1.232098,0.003398,0.539593,0.000000,0.000000,-0.841926
24,3,486400,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.111076,0.037949,0.870884,0.998850,0.000671,0.000746,0.047925
24,3,486400,56,gripper,0,"","put hamburger on frying pan",-0.148483,-0.023844,0.931839,-0.041474,-0.737449,-0.026596,0.673603
24,3,486400,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.055370,0.042480,0.888154,0.931418,-0.025156,0.001474,0.363077
24,3,486400,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.198414,0.077568,0.890108,0.430363,-0.003636,0.902611,-0.008226
24,3,486400,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
24,3,486400,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000045
24,3,486400,57,gripper,0,"","put hamburger on frying pan",-0.083197,0.037941,0.917645,0.081025,-0.803745,-0.031092,0.588610
24,3,486400,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084694,0.043709,0.896026,0.864833,-0.047259,0.036894,0.498467
24,3,486400,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.200634,0.083088,0.889689,0.500393,-0.508336,0.497590,0.493564
24,3,486400,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000018
24,3,486400,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204964,0.074982,0.870871,1.000000,-0.000011,-0.000011,-0.000468
24,3,486400,58,gripper,0,"","put hamburger on frying pan",-0.067854,-0.082342,1.046152,0.092027,-0.715925,0.108233,0.683570
24,3,486400,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.434156,0.097824,0.022628,-0.194333,0.269601,0.774035,-0.538906
24,3,486400,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.121401,-0.059017,0.018226,-0.539418,-0.444250,-0.553469,0.453147
24,3,486400,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
24,3,486400,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
24,3,486400,59,gripper,0,"","put hamburger on frying pan",-0.156128,-0.086670,1.019258,-0.034958,-0.796924,0.023485,0.602609
24,3,486400,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.267631,0.171673,0.891736,-0.177719,-0.753061,0.318882,-0.547385
24,3,486400,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.120250,0.060051,0.892964,0.509586,-0.460844,0.529651,0.497408
24,3,486400,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205003,0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000111
24,3,486400,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084894,0.075001,0.870884,1.000000,0.000703,0.000713,0.000052
24,3,486400,60,gripper,0,"","put hamburger on cutting board",-0.088560,0.062103,0.922012,0.004538,-0.729772,0.055517,0.681418
24,3,486400,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.152102,0.053844,0.890758,0.725245,-0.027742,-0.003321,0.687923
24,3,486400,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.102394,0.022957,0.889668,0.316476,-0.640375,0.304458,0.630133
24,3,486400,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083721,-0.075718,0.872199,0.999971,-0.000000,-0.000001,0.007612
24,3,486400,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.111542,0.059673,0.870886,0.993129,0.000623,0.000770,0.117018
24,3,486400,61,gripper,0,"","put hamburger on cutting board",-0.169698,0.028606,1.005418,-0.018934,-0.718356,-0.040257,0.694252
24,3,486400,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.219463,-0.041256,0.896404,0.574600,-0.025152,-0.005955,0.818026
24,3,486400,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.154907,0.077660,0.889437,0.505086,-0.502891,0.502441,0.489430
24,3,486400,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.237335,-0.044495,0.872199,1.000000,-0.000000,-0.000000,-0.000438
24,3,486400,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205471,0.074615,0.870883,0.999994,0.000700,0.000711,-0.003289
24,3,486400,62,gripper,0,"","put hamburger on cutting board",-0.202715,-0.031752,0.972609,-0.084331,-0.729336,-0.060812,0.676209
24,3,486400,63,obj,0,"014_hamburger_1","put hamburger on cutting board",0.138988,-0.153038,0.019312,-0.476351,-0.001672,-0.027490,0.878824
24,3,486400,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.206966,0.058212,0.894844,0.042696,-0.744088,0.666673,-0.007588
24,3,486400,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114998,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000088
24,3,486400,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234795,0.045044,0.870870,1.000000,-0.000001,-0.000001,-0.000624
24,3,486400,63,gripper,0,"","put hamburger on cutting board",-0.114052,0.013069,1.050990,0.115002,-0.719473,0.095212,0.678283
24,4,491520,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.118233,-0.201019,0.879088,0.798438,0.199575,-0.417853,0.384794
24,4,491520,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.235130,0.036377,0.915323,0.747487,0.038109,0.084737,0.657746
24,4,491520,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084969,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000122
24,4,491520,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000278
24,4,491520,0,gripper,0,"","put kitchen shovel on cloth",-0.274323,0.045944,0.964825,0.009197,-0.712239,0.083009,0.696951
24,4,491520,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.221539,0.079124,0.888079,-0.742886,-0.253609,0.378734,-0.490268
24,4,491520,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084846,-0.056709,0.887214,0.757275,-0.006399,-0.048474,0.651264
24,4,491520,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.027687,-0.038292,0.875818,0.986242,-0.018071,-0.098542,0.131493
24,4,491520,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000110
24,4,491520,1,gripper,0,"","put kitchen shovel on cloth",-0.089096,-0.056568,0.914537,0.044968,-0.775054,0.068965,0.626509
24,4,491520,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097187,-0.001358,0.879116,0.098842,-0.048982,0.993888,0.004311
24,4,491520,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.043812,-0.094879,0.881638,0.954332,-0.015831,-0.036011,-0.296147
24,4,491520,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000066
24,4,491520,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.049541,0.078705,0.871288,0.988044,0.000005,-0.001031,0.154166
24,4,491520,2,gripper,0,"","put kitchen shovel on cloth",-0.144583,-0.004173,0.916395,0.175042,-0.760892,0.099040,0.616924
24,4,491520,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.098866,0.116035,0.885700,0.339901,-0.622753,0.624317,0.326915
24,4,491520,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.185968,-0.067543,0.889858,0.703380,0.032230,-0.045971,0.708593
24,4,491520,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.108759,0.080978,0.869532,0.998901,0.000000,-0.000001,0.046868
24,4,491520,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.199886,-0.079750,0.871288,0.994701,-0.000258,-0.000998,-0.102805
24,4,491520,3,gripper,0,"","put kitchen shovel on cloth",-0.273463,-0.070492,0.914946,0.030497,-0.756013,0.003105,0.653839
24,4,491520,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.101520,0.062714,0.885112,-0.083000,0.546522,-0.831578,-0.053881
24,4,491520,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.198684,-0.073914,0.875744,0.092626,0.808394,-0.578360,0.058471
24,4,491520,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084892,0.075233,0.869532,0.999958,0.000000,-0.000001,-0.009141
24,4,491520,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.097825,-0.038277,0.871288,0.994772,-0.000261,-0.000998,-0.102119
24,4,491520,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.230521,-0.067314,0.914694,-0.143475,-0.745266,-0.188805,0.623174
24,4,491520,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",2.104654,-1.362656,0.010317,0.098900,0.000550,0.995097,-0.000619
24,4,491520,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.217720,0.144585,0.881638,0.705159,0.024553,-0.030732,0.707957
24,4,491520,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",1.076468,2.601105,0.000732,0.414175,0.000000,0.000000,-0.910197
24,4,491520,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,0.000010
24,4,491520,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.199147,0.002262,0.961037,-0.006079,-0.732667,0.026141,0.680058
24,4,491520,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.183502,0.072807,0.885129,0.473624,0.513796,-0.576701,0.423214
24,4,491520,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084873,0.005028,0.881657,0.503648,0.021530,-0.017716,0.863459
24,4,491520,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.203125,0.074432,0.869532,0.999564,0.000001,-0.000000,-0.029528
24,4,491520,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.085590,-0.074867,0.871282,0.999999,-0.000448,-0.001264,0.000854
24,4,491520,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.185396,0.035614,1.050492,-0.069409,-0.705863,-0.178215,0.682041
24,4,491520,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218361,0.109367,0.885116,0.074703,-0.654666,0.749438,0.064609
24,4,491520,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.194130,0.016960,0.873650,-0.062584,-0.665905,0.740082,0.070229
24,4,491520,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.212421,0.096581,0.869532,0.991326,-0.000000,-0.000001,0.131427
24,4,491520,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.232231,-0.056152,0.871289,0.999738,-0.000177,-0.001015,-0.022847
24,4,491520,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.228329,0.075611,1.024539,0.250451,-0.728883,0.258303,0.582480
24,4,491520,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200554,-0.146233,0.879418,0.124633,-0.614333,0.772698,0.099995
24,4,491520,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.060272,-0.003960,0.881641,0.780353,-0.028405,0.028397,0.624048
24,4,491520,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.179085,-0.086075,0.869532,0.848928,-0.000001,-0.000001,0.528508
24,4,491520,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001020,-0.000122
24,4,491520,8,gripper,0,"","put ketchup bottle on cloth",-0.261497,-0.156349,0.912798,0.076317,-0.699133,0.075069,0.706932
24,4,491520,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.080853,-0.062218,0.885212,0.143886,0.820566,-0.499095,0.238480
24,4,491520,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.281593,0.039013,0.881585,0.861287,0.016333,-0.039026,0.506355
24,4,491520,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.080608,-0.076603,0.869532,0.999973,-0.000001,0.000000,-0.007332
24,4,491520,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
24,4,491520,9,gripper,0,"","put ketchup bottle on cloth",-0.146786,-0.083708,0.970634,-0.060571,-0.800140,-0.044641,0.595075
24,4,491520,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.270973,-0.061428,0.982229,0.435212,-0.629883,-0.493905,-0.412183
24,4,491520,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.200581,0.032284,0.886193,0.703799,0.035637,0.059992,0.706963
24,4,491520,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084206,0.070473,0.869532,0.991374,0.000000,-0.000001,-0.131062
24,4,491520,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.260113,0.049831,0.871283,0.993698,-0.000591,-0.001207,-0.112087
24,4,491520,10,gripper,0,"","put ketchup bottle on cloth",-0.249546,-0.059507,1.014351,-0.014422,-0.726176,0.089466,0.681510
24,4,491520,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.269409,0.084026,0.884574,0.444153,0.435881,-0.691355,0.367101
24,4,491520,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.096575,-0.068504,0.887504,0.293251,0.031917,-0.018185,0.955329
24,4,491520,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.100348,-0.074429,0.869532,0.992895,-0.000022,-0.000004,0.118994
24,4,491520,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.231611,0.111927,0.871282,0.991785,-0.000286,-0.001313,0.127910
24,4,491520,11,gripper,0,"","put ketchup bottle on cloth",-0.166439,-0.079527,0.938413,0.033588,-0.769183,0.042405,0.636735
24,4,491520,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.368569,0.232197,0.010573,0.691781,0.197117,0.196388,-0.666345
24,4,491520,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.261826,-0.063862,0.887411,0.696531,-0.028489,-0.022997,-0.716591
24,4,491520,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.227051,-0.079468,0.869531,0.998618,0.000000,-0.000001,0.052557
24,4,491520,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,-0.074993,0.871288,1.000000,-0.000154,-0.001019,-0.000014
24,4,491520,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.249866,-0.068916,1.007978,0.116321,-0.716153,0.137473,0.674311
24,4,491520,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.101105,-0.043770,0.887630,-0.593528,0.393993,-0.524969,-0.465728
24,4,491520,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.096596,0.031490,0.949381,0.779989,0.048226,-0.088461,0.617629
24,4,491520,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084990,0.044960,0.869532,1.000000,-0.000001,-0.000000,0.000346
24,4,491520,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.111507,-0.083340,0.871289,0.999701,-0.000128,-0.001022,0.024448
24,4,491520,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.122776,0.032522,0.971324,0.158095,-0.749568,0.017218,0.642539
24,4,491520,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199780,-0.106586,0.885122,-0.373464,-0.624464,0.456238,-0.512266
24,4,491520,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.240646,0.060848,0.889183,0.750852,0.065054,-0.140055,0.642164
24,4,491520,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.237206,-0.076389,0.869532,0.997018,-0.000000,-0.000000,0.077164
24,4,491520,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.230991,0.074871,0.871322,0.999798,0.001375,0.000302,0.020028
24,4,491520,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.232084,0.062956,0.925732,0.048989,-0.716426,0.077643,0.691597
24,4,491520,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.079235,0.014790,0.010316,-0.064009,-0.755008,-0.648212,0.075417
24,4,491520,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.290272,-0.021729,0.886942,0.998234,-0.034501,0.047051,-0.011185
24,4,491520,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000018
24,4,491520,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.338715,-0.088951,0.871222,0.988158,-0.003922,-0.003138,-0.153361
24,4,491520,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.276392,-0.000570,0.983091,0.057831,-0.688752,-0.005936,0.722662
24,4,491520,16,obj,0,"003_bread_1","put 7up can on carpet",-0.228531,-0.014137,0.885271,0.835043,-0.038454,0.030782,0.547976
24,4,491520,16,obj,1,"005_7up can_1","put 7up can on carpet",0.101913,-0.111588,0.016946,0.790100,0.096560,-0.589327,0.138244
24,4,491520,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.240456,-0.076622,0.869490,0.999059,0.000142,0.000879,0.043368
24,4,491520,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.101128,0.038746,0.870448,0.999520,-0.000896,-0.000872,0.030936
24,4,491520,16,gripper,0,"","put 7up can on carpet",-0.144936,-0.046448,0.975059,0.002593,-0.734862,0.124077,0.666765
24,4,491520,17,obj,0,"003_bread_1","put 7up can on carpet",-0.213890,0.169727,0.883544,-0.634239,-0.010842,0.006533,-0.773033
24,4,491520,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.247761,0.092529,0.888682,-0.697399,0.266735,-0.307293,-0.589965
24,4,491520,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.078407,-0.073677,0.869490,0.999945,0.000189,0.000872,-0.010420
24,4,491520,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.232647,0.075016,0.870453,0.999987,-0.003120,-0.002782,-0.002810
24,4,491520,17,gripper,0,"","put 7up can on carpet",-0.073383,-0.094664,0.998561,0.096294,-0.739498,0.086652,0.660577
24,4,491520,18,obj,0,"003_bread_1","put 7up can on carpet",-0.115311,-0.088531,0.886806,0.993962,-0.000072,-0.010023,-0.109263
24,4,491520,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.196918,-0.270050,0.885855,0.533786,0.413575,-0.659294,0.330695
24,4,491520,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.069828,0.078186,0.869490,0.998699,0.000135,0.000882,0.050981
24,4,491520,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.084793,-0.074417,0.870448,0.999998,-0.000924,-0.000844,-0.001422
24,4,491520,18,gripper,0,"","put 7up can on carpet",-0.160149,-0.106075,0.943638,-0.265725,-0.669107,-0.176595,0.671193
24,4,491520,19,obj,0,"003_bread_1","put 7up can on carpet",-0.230631,-0.039875,0.886597,0.991253,-0.002197,-0.012238,-0.131389
24,4,491520,19,obj,1,"005_7up can_1","put 7up can on carpet",0.184973,0.194656,0.017150,0.382814,0.293662,-0.866716,0.126570
24,4,491520,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204933,0.075005,0.869490,1.000000,0.000180,0.000874,0.000128
24,4,491520,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.235018,-0.044991,0.870447,0.999991,-0.003114,-0.002734,0.000067
24,4,491520,19,gripper,0,"","put 7up can on carpet",-0.038631,0.032017,0.926775,0.093844,-0.760095,0.133246,0.629042
24,4,491520,20,obj,0,"003_bread_1","put bread on newspaper",-0.089181,-0.049957,0.886664,0.741035,0.011455,-0.005939,0.671343
24,4,491520,20,obj,1,"005_7up can_1","put bread on newspaper",-0.178804,-0.096355,0.885941,-0.166842,0.838096,-0.363234,-0.371241
24,4,491520,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.236580,-0.076065,0.869489,0.999994,0.000180,0.000882,0.003289
24,4,491520,20,recep,1,"003_carpet_1","put bread on newspaper",-0.082326,-0.075199,0.870448,0.999981,-0.000928,-0.000839,-0.006082
24,4,491520,20,gripper,0,"","put bread on newspaper",-0.147312,0.060574,0.933696,0.048215,-0.706186,0.106854,0.698255
24,4,491520,21,obj,0,"003_bread_1","put bread on newspaper",-0.166708,0.037903,0.885248,-0.066094,0.006799,-0.031417,0.997295
24,4,491520,21,obj,1,"005_7up can_1","put bread on newspaper",-0.099241,0.144032,0.885948,-0.311322,0.481567,-0.798974,-0.181144
24,4,491520,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.233767,-0.040443,0.869490,0.999758,0.000161,0.000878,0.022005
24,4,491520,21,recep,1,"003_carpet_1","put bread on newspaper",-0.206583,0.090427,0.870458,0.995774,-0.000004,-0.000159,0.091833
24,4,491520,21,gripper,0,"","put bread on newspaper",-0.139999,0.022213,0.919442,0.305740,-0.706030,0.079036,0.633876
24,4,491520,22,obj,0,"003_bread_1","put bread on newspaper",-0.082283,-0.069717,0.886857,0.929113,0.010440,0.006084,0.369598
24,4,491520,22,obj,1,"005_7up can_1","put bread on newspaper",-0.122356,-0.222317,0.885675,-0.899302,-0.098086,0.348547,-0.245257
24,4,491520,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.064125,-0.080570,0.869490,0.994459,0.000087,0.000889,0.105119
24,4,491520,22,recep,1,"003_carpet_1","put bread on newspaper",-0.086563,0.081985,0.870448,0.999952,-0.000932,-0.000837,-0.009725
24,4,491520,22,gripper,0,"","put bread on newspaper",-0.185738,-0.276989,0.916635,0.079329,-0.771321,0.180123,0.605249
24,4,491520,23,obj,0,"003_bread_1","put bread on newspaper",-0.207855,0.074009,0.886647,0.346257,0.012264,-0.000099,0.938060
24,4,491520,23,obj,1,"005_7up can_1","put bread on newspaper",-0.126171,-0.108849,0.888807,0.574904,0.426504,-0.419841,0.557955
24,4,491520,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.112610,-0.089634,0.869490,0.999999,0.000179,0.000870,0.001511
24,4,491520,23,recep,1,"003_carpet_1","put bread on newspaper",-0.198524,0.073662,0.870447,0.999918,-0.003080,-0.002771,0.012116
24,4,491520,23,gripper,0,"","put bread on newspaper",-0.106329,-0.004385,1.027378,0.145587,-0.720661,0.083303,0.672691
24,4,491520,24,obj,0,"003_bread_1","put bread on carpet",-0.145592,-0.095327,0.886792,0.872534,0.008569,-0.006821,0.488431
24,4,491520,24,obj,1,"005_7up can_1","put bread on carpet",-0.123123,-0.044851,0.888802,0.491747,-0.337983,0.210121,0.774469
24,4,491520,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084892,0.045065,0.869490,1.000000,0.000180,0.000874,-0.000183
24,4,491520,24,recep,1,"003_carpet_1","put bread on carpet",-0.108749,-0.076195,0.870423,0.999984,-0.000784,-0.001352,0.005519
24,4,491520,24,gripper,0,"","put bread on carpet",-0.124008,-0.045249,0.978470,0.175028,-0.744233,0.213383,0.608236
24,4,491520,25,obj,0,"003_bread_1","put bread on carpet",-0.056000,-0.063118,0.883977,0.869345,0.018678,-0.022904,0.493322
24,4,491520,25,obj,1,"005_7up can_1","put bread on carpet",-0.214500,-0.026823,0.888063,0.106023,0.730488,-0.667574,0.097421
24,4,491520,25,recep,0,"004_newspaper_1","put bread on carpet",-0.235401,-0.074987,0.869489,0.999999,0.000224,0.000931,0.000812
24,4,491520,25,recep,1,"003_carpet_1","put bread on carpet",-0.068386,0.029938,0.870447,0.981293,-0.003576,-0.002080,-0.192478
24,4,491520,25,gripper,0,"","put bread on carpet",-0.070162,-0.063346,0.917763,0.246852,-0.750453,0.145518,0.595574
24,4,491520,26,obj,0,"003_bread_1","put bread on carpet",-0.197586,0.062372,0.886394,0.650651,0.011422,-0.006486,0.759264
24,4,491520,26,obj,1,"005_7up can_1","put bread on carpet",-0.233650,0.229162,0.885987,-0.118123,0.663062,-0.732411,-0.099851
24,4,491520,26,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
24,4,491520,26,recep,1,"003_carpet_1","put bread on carpet",-0.234875,0.077488,0.870372,0.999962,-0.000397,-0.001534,0.008540
24,4,491520,26,gripper,0,"","put bread on carpet",-0.094713,-0.082363,0.935851,-0.048026,-0.782530,-0.028004,0.620126
24,4,491520,27,obj,0,"003_bread_1","put bread on carpet",-0.234695,0.083237,0.886635,0.968466,-0.002237,-0.010093,-0.248933
24,4,491520,27,obj,1,"005_7up can_1","put bread on carpet",0.048544,0.036930,0.017135,-0.298017,0.628498,-0.664056,-0.274239
24,4,491520,27,recep,0,"004_newspaper_1","put bread on carpet",-0.081642,0.078167,0.869490,0.999467,0.000151,0.000880,0.032643
24,4,491520,27,recep,1,"003_carpet_1","put bread on carpet",-0.235003,0.075012,0.870452,0.999999,-0.000928,-0.000893,0.000001
24,4,491520,27,gripper,0,"","put bread on carpet",-0.150468,-0.030510,0.980799,0.069091,-0.732335,0.046385,0.675841
24,4,491520,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.104902,-0.075270,0.886652,0.634376,0.012464,-0.004106,0.772913
24,4,491520,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.143613,-0.038952,0.885855,0.173211,0.749271,-0.210495,0.603558
24,4,491520,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084998,0.075003,0.869490,1.000000,0.000179,0.000874,0.000005
24,4,491520,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.076025,-0.077833,0.870365,0.999849,-0.000468,-0.001703,0.017298
24,4,491520,28,gripper,0,"","put 7up can on newspaper",-0.201991,-0.090310,0.914040,0.014048,-0.729520,0.078110,0.679340
24,4,491520,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.067648,0.081518,0.886510,0.738396,0.012272,-0.006314,0.674226
24,4,491520,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.179499,0.217283,0.886109,-0.019140,0.541286,-0.840440,-0.017427
24,4,491520,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235008,0.074997,0.869490,1.000000,0.000180,0.000874,-0.000111
24,4,491520,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.079922,0.073292,0.870414,0.999981,-0.000241,-0.000903,-0.006001
24,4,491520,29,gripper,0,"","put 7up can on newspaper",-0.062621,0.067074,0.940101,0.063440,-0.769559,-0.064413,0.632143
24,4,491520,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.149879,-0.035717,0.886350,0.830701,0.007973,-0.001072,0.556660
24,4,491520,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184189,-0.228180,0.885662,-0.704747,0.159867,-0.172402,-0.669367
24,4,491520,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.054081,-0.038837,0.869490,0.993607,0.000277,0.000848,-0.112895
24,4,491520,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.189522,-0.078543,0.870447,0.998580,-0.002453,-0.002405,0.053170
24,4,491520,30,gripper,0,"","put 7up can on newspaper",-0.115803,-0.111039,0.914045,0.128720,-0.744422,0.150907,0.637568
24,4,491520,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.194122,-0.031658,0.886130,0.992838,0.005827,0.005208,0.119212
24,4,491520,31,obj,1,"005_7up can_1","put 7up can on newspaper",0.058453,0.395798,0.017201,0.173326,-0.751648,0.595959,0.223195
24,4,491520,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.201527,-0.071487,0.869489,0.999860,0.000194,0.000870,-0.016739
24,4,491520,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
24,4,491520,31,gripper,0,"","put 7up can on newspaper",-0.098856,0.033621,1.056681,0.021609,-0.736654,0.115615,0.665964
24,4,491520,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.202446,-0.018048,0.885932,0.706742,0.705086,0.053413,0.022712
24,4,491520,32,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075436,0.878547,0.999910,0.013264,0.002052,0.000424
24,4,491520,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.115532,0.044490,0.871344,0.999999,-0.000158,0.001164,0.000415
24,4,491520,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235008,0.075004,0.874362,1.000000,-0.000002,-0.000001,0.000039
24,4,491520,32,gripper,0,"","put banana on flat bowl",-0.033283,-0.034575,0.956088,0.149958,-0.678463,0.077690,0.714958
24,4,491520,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.202389,0.045329,0.887529,0.749226,-0.028593,0.032414,0.660903
24,4,491520,33,obj,1,"013_banana_1","put banana on flat bowl",-0.114563,-0.044996,0.878547,0.706789,0.007942,0.010842,0.707297
24,4,491520,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
24,4,491520,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
24,4,491520,33,gripper,0,"","put banana on flat bowl",-0.078707,-0.017748,0.972789,0.047082,-0.719521,0.054533,0.690724
24,4,491520,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.250084,-0.075303,0.887132,0.999553,-0.010252,0.028067,0.000116
24,4,491520,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
24,4,491520,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
24,4,491520,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
24,4,491520,34,gripper,0,"","put banana on flat bowl",-0.046085,0.065711,1.007434,0.148616,-0.738524,0.023838,0.657212
24,4,491520,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.254864,-0.066237,0.887529,0.490717,-0.037653,0.021231,0.870246
24,4,491520,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,-0.074685,0.878547,0.382231,0.003184,0.013055,0.923969
24,4,491520,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
24,4,491520,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
24,4,491520,35,gripper,0,"","put banana on flat bowl",-0.165819,-0.077719,0.976050,0.110693,-0.680312,0.076413,0.720475
24,4,491520,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088679,0.073743,0.887495,0.997274,-0.002793,0.026910,0.068648
24,4,491520,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234994,-0.075438,0.878547,0.999910,0.013285,0.002050,0.000314
24,4,491520,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
24,4,491520,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000004
24,4,491520,36,gripper,0,"","put carrot on sheet metal",-0.076237,0.097888,0.985681,0.038795,-0.751127,0.018920,0.658745
24,4,491520,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.128929,0.073492,0.887531,0.819311,-0.018673,0.028625,0.572330
24,4,491520,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234468,0.045001,0.878547,0.706525,0.007943,0.010850,0.707560
24,4,491520,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000010
24,4,491520,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
24,4,491520,37,gripper,0,"","put carrot on sheet metal",-0.124865,0.104143,0.979786,0.272104,-0.718292,0.264843,0.582987
24,4,491520,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.257381,0.054264,0.897897,0.957032,-0.090828,0.156118,0.226864
24,4,491520,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084682,0.074692,0.878547,0.923632,0.011494,0.006984,0.383043
24,4,491520,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
24,4,491520,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.074995,0.874362,1.000000,0.000000,-0.000001,-0.000363
24,4,491520,38,gripper,0,"","put carrot on sheet metal",-0.210480,-0.028478,1.042219,0.291054,-0.623325,0.347246,0.637317
24,4,491520,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246990,0.042221,0.887188,0.758585,-0.026435,0.016983,0.650816
24,4,491520,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114555,0.075006,0.878547,0.706840,0.007922,0.010824,0.707246
24,4,491520,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
24,4,491520,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
24,4,491520,39,gripper,0,"","put carrot on sheet metal",-0.196114,0.018703,1.010014,-0.057085,-0.694735,0.034376,0.716172
24,4,491520,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.247932,-0.074492,0.887228,0.994210,-0.011041,0.030668,0.102394
24,4,491520,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.085548,-0.075758,0.878547,0.925683,0.011548,0.006932,0.378060
24,4,491520,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
24,4,491520,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000298
24,4,491520,40,gripper,0,"","put carrot on flat bowl",-0.159019,-0.006618,1.027276,0.075349,-0.770174,0.123492,0.621211
24,4,491520,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.215881,0.077488,0.887529,0.979704,-0.008471,0.042387,0.195734
24,4,491520,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
24,4,491520,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
24,4,491520,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
24,4,491520,41,gripper,0,"","put carrot on flat bowl",-0.160780,0.060119,0.990998,-0.032079,-0.751598,0.055154,0.656528
24,4,491520,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.172924,-0.063009,0.885932,0.050704,0.019993,0.706824,0.705286
24,4,491520,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.048935,-0.014477,0.878547,0.974818,0.012488,0.004951,0.222598
24,4,491520,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
24,4,491520,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
24,4,491520,42,gripper,0,"","put carrot on flat bowl",-0.186525,-0.034418,0.968171,-0.053980,-0.751148,-0.113704,0.648023
24,4,491520,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.138617,0.050285,0.895561,0.142105,0.161341,0.068328,0.974221
24,4,491520,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,-0.074659,0.878546,0.385118,0.003215,0.013009,0.922770
24,4,491520,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
24,4,491520,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.204977,0.045042,0.874363,1.000000,0.000000,-0.000002,0.000095
24,4,491520,43,gripper,0,"","put carrot on flat bowl",-0.174922,0.043608,1.038826,0.078299,-0.690691,0.105515,0.711114
24,4,491520,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.119332,0.031752,0.887498,0.402401,-0.031343,0.013865,0.914822
24,4,491520,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075327,0.878547,0.382239,0.003182,0.013047,0.923966
24,4,491520,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
24,4,491520,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000003
24,4,491520,44,gripper,0,"","put banana on sheet metal",-0.165682,0.070495,0.995303,0.060492,-0.699495,0.007453,0.712034
24,4,491520,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.084969,-0.072519,0.887321,0.997093,0.002816,0.030772,0.069642
24,4,491520,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234985,-0.075430,0.878546,0.999910,0.013291,0.002048,-0.000087
24,4,491520,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
24,4,491520,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000359
24,4,491520,45,gripper,0,"","put banana on sheet metal",-0.196379,-0.040068,0.952801,-0.031569,-0.727665,0.027485,0.684654
24,4,491520,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.137157,0.093502,0.887228,0.653322,-0.029072,0.014763,0.756378
24,4,491520,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
24,4,491520,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
24,4,491520,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205029,0.075022,0.874363,1.000000,-0.000001,0.000000,0.000987
24,4,491520,46,gripper,0,"","put banana on sheet metal",-0.061871,-0.072283,0.941986,0.063438,-0.708241,-0.081901,0.698329
24,4,491520,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207745,-0.063644,0.887288,0.938300,-0.017594,0.029666,0.344098
24,4,491520,47,obj,1,"013_banana_1","put banana on sheet metal",-0.114979,0.044558,0.878547,0.999909,0.013290,0.002038,-0.000903
24,4,491520,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
24,4,491520,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
24,4,491520,47,gripper,0,"","put banana on sheet metal",-0.076868,0.059937,1.026024,0.114064,-0.747461,0.036479,0.653423
24,4,491520,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.220757,0.095688,0.890506,0.964480,-0.028503,0.009328,0.262447
24,4,491520,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.012283,0.068298,0.892290,0.033600,-0.686576,0.726054,-0.018135
24,4,491520,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000003
24,4,491520,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235008,0.074993,0.870870,1.000000,-0.000000,-0.000001,0.000050
24,4,491520,48,gripper,0,"","put plastic bottle on cutting board",-0.061974,0.072269,0.917027,0.076574,-0.789849,0.035074,0.607491
24,4,491520,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.148937,0.105778,0.890528,0.030951,-0.966956,0.236097,0.091088
24,4,491520,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.220081,0.157623,0.887026,-0.661559,0.258813,-0.660828,-0.242203
24,4,491520,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.213879,0.050110,0.872199,0.999899,-0.000001,-0.000001,-0.014234
24,4,491520,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
24,4,491520,49,gripper,0,"","put plastic bottle on cutting board",-0.173264,0.129696,0.961020,0.046665,-0.792425,-0.013480,0.608032
24,4,491520,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.129402,-0.015949,0.894281,0.762699,-0.475272,-0.196719,0.392056
24,4,491520,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.319908,-0.109898,0.890235,0.131608,0.634254,-0.755686,0.096648
24,4,491520,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.081532,-0.066059,0.872199,0.999668,-0.000000,-0.000000,-0.025781
24,4,491520,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204529,-0.076748,0.870870,0.999988,0.000001,0.000000,-0.004852
24,4,491520,50,gripper,0,"","put plastic bottle on cutting board",-0.300312,-0.105389,0.917583,-0.038115,-0.650391,0.173796,0.738468
24,4,491520,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.065472,-0.023384,0.019312,0.067231,0.012966,0.024298,-0.997357
24,4,491520,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.137074,-0.069069,0.887570,0.898236,-0.009424,0.027256,0.438566
24,4,491520,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000171
24,4,491520,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.208965,-0.077385,0.870921,0.999899,0.002392,0.002440,0.013814
24,4,491520,51,gripper,0,"","put plastic bottle on cutting board",-0.145988,-0.061226,0.913786,0.193258,-0.667229,0.229292,0.681823
24,4,491520,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.199235,0.051865,0.895512,0.990426,-0.038097,-0.043900,0.125207
24,4,491520,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.134863,0.142307,0.889773,0.028028,-0.641142,0.766471,0.025951
24,4,491520,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205058,0.075089,0.872199,1.000000,0.000000,-0.000001,0.000762
24,4,491520,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.195045,-0.079548,0.870870,0.999530,0.000000,-0.000001,-0.030656
24,4,491520,52,gripper,0,"","put hamburger on frying pan",-0.197487,0.039709,1.016363,0.017551,-0.737807,0.072753,0.670850
24,4,491520,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.239660,0.039116,0.894773,0.384066,0.528534,-0.630305,-0.419356
24,4,491520,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.478622,-0.372669,0.018226,-0.656830,0.271333,-0.655792,-0.254735
24,4,491520,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114870,0.045059,0.872199,1.000000,0.000001,-0.000001,-0.000211
24,4,491520,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233877,0.075199,0.870883,0.999975,0.000695,0.000718,0.006951
24,4,491520,53,gripper,0,"","put hamburger on frying pan",-0.183331,-0.098986,0.969996,-0.039707,-0.692453,-0.061572,0.717734
24,4,491520,54,obj,0,"014_hamburger_1","put hamburger on frying pan",0.020622,0.069000,0.021728,-0.055796,0.858478,-0.503746,-0.078370
24,4,491520,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.232491,0.066513,0.893694,-0.642075,-0.325994,0.600474,-0.347705
24,4,491520,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235039,0.075352,0.872199,0.999994,-0.000001,-0.000001,0.003538
24,4,491520,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082153,-0.072887,0.870871,0.999580,0.000000,-0.000001,-0.028964
24,4,491520,54,gripper,0,"","put hamburger on frying pan",-0.208590,-0.010204,1.008073,0.200364,-0.705417,0.345575,0.585508
24,4,491520,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.044521,0.065052,0.888112,0.405790,-0.022802,-0.015442,0.913552
24,4,491520,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.147076,0.029415,0.892085,-0.492491,-0.460485,0.528691,-0.515648
24,4,491520,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204994,-0.075005,0.872199,1.000000,-0.000001,-0.000001,0.000031
24,4,491520,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000030
24,4,491520,55,gripper,0,"","put hamburger on frying pan",-0.123713,0.026342,0.923316,0.018832,-0.802217,0.002826,0.596729
24,4,491520,56,obj,0,"014_hamburger_1","put hamburger on cutting board",2.240013,-1.205711,0.021786,0.300303,-0.751316,-0.412300,0.418748
24,4,491520,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.109962,0.026604,0.889704,-0.240477,-0.660383,-0.257493,0.663146
24,4,491520,56,recep,0,"011_frying pan_1","put hamburger on cutting board",0.096191,-1.232098,0.003398,0.539593,0.000000,0.000000,-0.841926
24,4,491520,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.111084,0.038464,0.870885,0.998806,0.000678,0.000750,0.048833
24,4,491520,56,gripper,0,"","put hamburger on cutting board",-0.131153,0.044321,1.119608,0.039760,-0.765927,0.196885,0.610746
24,4,491520,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.035809,0.006905,0.888112,0.822800,-0.027512,-0.001280,0.567663
24,4,491520,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.198414,0.077568,0.890108,0.430358,-0.003586,0.902614,-0.008249
24,4,491520,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
24,4,491520,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000055
24,4,491520,57,gripper,0,"","put hamburger on cutting board",-0.055666,0.004795,0.915058,0.015052,-0.788826,-0.003159,0.614425
24,4,491520,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084694,0.043709,0.896026,0.864207,-0.047256,0.036977,0.499546
24,4,491520,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.200626,0.083157,0.889687,0.500441,-0.508278,0.497666,0.493498
24,4,491520,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000109
24,4,491520,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204960,0.075054,0.870870,1.000000,0.000007,0.000005,-0.000607
24,4,491520,58,gripper,0,"","put hamburger on cutting board",-0.177235,-0.151957,1.008716,0.029006,-0.806156,0.008141,0.590935
24,4,491520,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.434156,0.097816,0.022627,-0.194225,0.269483,0.774105,-0.538904
24,4,491520,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.121401,-0.059017,0.018226,-0.539422,-0.444244,-0.553474,0.453141
24,4,491520,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
24,4,491520,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000044
24,4,491520,59,gripper,0,"","put hamburger on cutting board",-0.256238,-0.033459,0.915000,0.033700,-0.741259,0.073063,0.666380
24,4,491520,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.267630,0.171673,0.891736,-0.177730,-0.753070,0.318875,-0.547373
24,4,491520,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.161467,0.201691,0.887019,-0.787023,0.006014,0.021223,-0.616529
24,4,491520,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234298,0.076599,0.872199,0.998433,0.000000,-0.000001,0.055969
24,4,491520,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082041,0.083538,0.870870,0.999064,0.000000,-0.000001,-0.043266
24,4,491520,60,gripper,0,"","put plastic bottle on frying pan",-0.147467,0.193838,0.916755,0.144053,-0.740633,0.013585,0.656146
24,4,491520,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.144882,0.049923,0.890684,0.609598,-0.027195,-0.011686,0.792158
24,4,491520,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.084934,0.017628,0.893198,0.077291,-0.829370,0.535655,0.138729
24,4,491520,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.083677,-0.075783,0.872199,0.999975,-0.000000,-0.000001,0.007051
24,4,491520,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.088364,0.042400,0.870818,0.992499,-0.000076,0.000583,0.122248
24,4,491520,61,gripper,0,"","put plastic bottle on frying pan",-0.100103,0.029451,0.951284,0.126387,-0.779005,0.025745,0.613608
24,4,491520,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.219845,-0.041370,0.896291,0.574015,-0.031231,-0.014842,0.818114
24,4,491520,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.155960,0.067852,0.889500,0.516666,-0.490294,0.514038,0.477947
24,4,491520,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.237335,-0.044495,0.872199,1.000000,-0.000000,-0.000000,-0.000510
24,4,491520,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.194622,0.068581,0.870896,0.994315,0.001003,0.000881,-0.106470
24,4,491520,62,gripper,0,"","put plastic bottle on frying pan",-0.159056,0.057598,0.968032,0.097419,-0.781096,0.003504,0.616754
24,4,491520,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.138988,-0.153038,0.019312,-0.475668,-0.001693,-0.027489,0.879194
24,4,491520,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.106701,0.090244,0.898113,0.030812,-0.676676,0.735052,0.029303
24,4,491520,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114990,0.075005,0.872199,1.000000,0.000000,-0.000001,-0.000304
24,4,491520,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234810,0.046059,0.870870,0.999997,0.000000,-0.000001,-0.002416
24,4,491520,63,gripper,0,"","put plastic bottle on frying pan",-0.107706,0.061987,0.999088,0.151446,-0.740685,0.191054,0.626057
25,1,496640,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.212219,0.046669,0.885083,0.583934,0.346857,-0.305788,0.667236
25,1,496640,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.114403,0.074242,0.881638,0.382514,0.034416,-0.019073,0.923111
25,1,496640,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044983,0.869532,1.000000,0.000000,-0.000000,-0.000117
25,1,496640,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205017,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000086
25,1,496640,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.134151,-0.067238,0.969564,0.017906,-0.745050,-0.031173,0.666039
25,1,496640,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.311066,-0.522568,0.010572,-0.284795,0.263982,-0.087953,-0.917316
25,1,496640,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.090149,0.074730,0.881638,0.997932,-0.002452,-0.039272,0.050830
25,1,496640,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.136723,-0.060677,0.869532,0.995995,0.000001,-0.000001,0.089413
25,1,496640,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000100
25,1,496640,1,gripper,0,"","put ketchup bottle on yellow_plate",0.084097,0.147839,1.044975,0.408552,-0.226279,-0.520646,0.714710
25,1,496640,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.225880,-0.413971,0.010289,-0.821131,-0.172812,0.429595,-0.333659
25,1,496640,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.275566,-0.192490,0.881637,0.062742,0.038733,-0.006886,0.997254
25,1,496640,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.358292,0.018883,0.000732,0.778386,-0.000000,0.000000,-0.627786
25,1,496640,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,1.000000,-0.000154,-0.001019,0.000042
25,1,496640,2,gripper,0,"","put ketchup bottle on yellow_plate",0.025547,0.028328,1.113945,-0.321316,0.000004,0.946972,0.000001
25,1,496640,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.097267,0.057518,0.879212,0.225823,-0.564071,-0.777407,-0.162686
25,1,496640,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.156048,-0.081596,0.884131,0.923734,0.018799,-0.051106,-0.379145
25,1,496640,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084995,-0.074997,0.869533,1.000000,0.000000,-0.000001,-0.000170
25,1,496640,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000027
25,1,496640,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.198004,-0.083702,0.932907,0.025836,-0.732957,0.118270,0.669416
25,1,496640,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.095060,-0.050461,0.888215,0.723191,0.266800,-0.389661,0.503961
25,1,496640,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205952,0.075111,0.881638,0.999226,-0.004451,-0.039083,-0.000201
25,1,496640,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235000,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000000
25,1,496640,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084992,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000005
25,1,496640,4,gripper,0,"","put ketchup bottle on cloth",-0.175044,-0.078770,0.987084,0.280491,-0.668072,0.287220,0.626506
25,1,496640,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.131773,0.124863,0.897062,-0.200827,-0.147199,-0.217221,0.943830
25,1,496640,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204405,-0.045769,0.881638,0.382493,0.034416,-0.019073,0.923120
25,1,496640,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000002
25,1,496640,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.086849,0.040474,0.871288,0.988306,-0.000308,-0.000984,-0.152482
25,1,496640,5,gripper,0,"","put ketchup bottle on cloth",-0.148932,0.079189,0.914668,0.119560,-0.772768,0.102506,0.614839
25,1,496640,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.245323,-0.082657,0.885591,0.770695,0.029428,-0.030827,0.635777
25,1,496640,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085762,-0.075577,0.881638,0.923259,0.010845,-0.037820,0.382158
25,1,496640,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234039,-0.075211,0.869531,0.999860,-0.000002,-0.000003,0.016709
25,1,496640,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000029
25,1,496640,6,gripper,0,"","put ketchup bottle on cloth",-0.240856,-0.074883,0.939370,0.046394,-0.770569,0.138950,0.620294
25,1,496640,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.029652,0.088249,0.879373,0.260058,0.269350,0.069808,-0.924634
25,1,496640,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204391,-0.075737,0.881638,0.382538,0.034402,-0.019069,0.923102
25,1,496640,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
25,1,496640,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
25,1,496640,7,gripper,0,"","put ketchup bottle on cloth",-0.194372,-0.041145,0.940210,-0.094390,-0.772220,-0.004356,0.628290
25,1,496640,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.121826,0.068069,0.879089,0.818493,0.176165,-0.428254,0.340050
25,1,496640,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.343796,-0.151901,0.879970,0.353703,0.340359,-0.644456,0.586282
25,1,496640,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000035
25,1,496640,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.406189,-0.099384,0.002488,-0.996573,0.000069,0.001028,-0.082710
25,1,496640,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.333824,-0.149057,0.914259,0.067597,-0.590839,0.049493,0.802427
25,1,496640,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094707,-0.075012,0.879089,0.886323,-0.001391,-0.463065,0.000444
25,1,496640,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.056278,0.093582,0.881558,0.984882,-0.013391,-0.060787,-0.161655
25,1,496640,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000038
25,1,496640,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
25,1,496640,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.062016,0.092049,0.930435,0.208322,-0.668794,0.154889,0.696654
25,1,496640,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.197266,-0.072128,0.885085,0.670918,0.301355,-0.351564,0.579186
25,1,496640,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204594,0.115604,0.881636,0.781202,0.028108,-0.041463,0.622265
25,1,496640,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.198776,-0.082748,0.869532,0.998235,-0.000000,-0.000001,-0.059384
25,1,496640,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
25,1,496640,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.183638,0.066174,0.915741,0.075455,-0.791332,0.179154,0.579659
25,1,496640,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.056416,0.109989,0.879375,0.737609,0.062804,-0.061926,0.669443
25,1,496640,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.233376,-0.040066,0.881637,0.704640,0.030912,-0.036379,0.707958
25,1,496640,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.069838,-0.005348,0.873761,0.978122,-0.065996,-0.003857,-0.197249
25,1,496640,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114771,-0.077785,0.871282,0.999996,-0.000454,-0.001265,-0.002417
25,1,496640,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.229680,-0.042179,0.912995,-0.057768,-0.711164,-0.052384,0.698687
25,1,496640,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198151,-0.081837,0.879088,0.339066,0.427223,-0.178648,0.818902
25,1,496640,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.041502,-0.053543,0.881638,0.669049,0.026052,-0.029465,0.742177
25,1,496640,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
25,1,496640,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.050105,-0.144787,0.871283,0.992804,-0.000295,-0.001309,0.119747
25,1,496640,12,gripper,0,"","put kitchen shovel on cloth",-0.106076,-0.061604,0.914417,-0.018630,-0.835646,0.009248,0.548875
25,1,496640,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.075068,0.097256,0.878982,0.659992,-0.314901,0.569888,0.374800
25,1,496640,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.043093,0.002636,0.881854,0.962640,0.011676,-0.060048,0.263785
25,1,496640,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.208694,-0.079445,0.869532,0.999745,0.000000,-0.000001,-0.022556
25,1,496640,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,0.045017,0.871288,1.000000,-0.000154,-0.001020,0.000045
25,1,496640,13,gripper,0,"","put kitchen shovel on cloth",-0.045605,-0.001562,0.923178,0.152731,-0.762292,0.101829,0.620657
25,1,496640,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.164944,-0.179554,0.879125,0.478664,0.506469,-0.584502,0.415605
25,1,496640,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.218834,-0.047390,0.883215,0.995110,0.026498,-0.037915,0.087276
25,1,496640,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204788,0.073997,0.869532,0.999882,-0.000000,-0.000001,-0.015371
25,1,496640,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000007
25,1,496640,14,gripper,0,"","put kitchen shovel on cloth",-0.256155,-0.108936,0.918162,0.078286,-0.672742,0.226686,0.699930
25,1,496640,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.199520,-0.075413,0.885803,0.671615,0.353901,-0.261551,0.596052
25,1,496640,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084385,-0.075764,0.881638,0.382577,0.034406,-0.019073,0.923086
25,1,496640,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
25,1,496640,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.261547,-0.058662,0.871288,0.992139,-0.000026,-0.001030,0.125133
25,1,496640,15,gripper,0,"","put kitchen shovel on cloth",-0.226006,-0.083805,0.973662,0.008037,-0.733492,0.011052,0.679560
25,1,496640,16,obj,0,"003_bread_1","put bread on newspaper",-0.229500,0.076405,0.886591,0.996762,0.003340,-0.009774,0.079742
25,1,496640,16,obj,1,"005_7up can_1","put bread on newspaper",-0.023293,-0.110443,0.885931,0.532634,0.286450,0.770417,-0.201753
25,1,496640,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,0.044998,0.869490,1.000000,0.000180,0.000874,0.000023
25,1,496640,16,recep,1,"003_carpet_1","put bread on newspaper",-0.235016,0.074993,0.870452,0.999999,-0.000928,-0.000893,0.000052
25,1,496640,16,gripper,0,"","put bread on newspaper",-0.039360,-0.027555,0.951201,0.106840,-0.731020,0.148846,0.657297
25,1,496640,17,obj,0,"003_bread_1","put bread on newspaper",-0.180950,-0.065960,0.883792,-0.047009,-0.488573,0.871040,-0.019391
25,1,496640,17,obj,1,"005_7up can_1","put bread on newspaper",-0.106934,-0.134945,0.885756,-0.392560,-0.510184,-0.289673,0.708307
25,1,496640,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
25,1,496640,17,recep,1,"003_carpet_1","put bread on newspaper",-0.104515,-0.036755,0.877618,0.996608,0.081058,-0.001877,-0.014071
25,1,496640,17,gripper,0,"","put bread on newspaper",-0.154034,-0.092176,0.914837,0.049302,-0.825140,0.182794,0.532259
25,1,496640,18,obj,0,"003_bread_1","put bread on newspaper",-0.195175,-0.052765,0.886561,0.999698,0.003099,-0.008706,-0.022751
25,1,496640,18,obj,1,"005_7up can_1","put bread on newspaper",-0.118294,0.076946,0.885881,0.525222,-0.016109,-0.850802,-0.004291
25,1,496640,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
25,1,496640,18,recep,1,"003_carpet_1","put bread on newspaper",-0.205040,-0.075680,0.870417,0.999983,-0.000297,-0.000925,-0.005796
25,1,496640,18,gripper,0,"","put bread on newspaper",-0.139950,0.085386,0.942954,0.048670,-0.730608,0.020817,0.680742
25,1,496640,19,obj,0,"003_bread_1","put bread on newspaper",-0.200544,0.063156,0.886190,0.991497,-0.001616,0.005295,-0.130009
25,1,496640,19,obj,1,"005_7up can_1","put bread on newspaper",-0.109615,0.075878,0.885928,0.724978,0.000578,-0.688767,0.002631
25,1,496640,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.205118,0.045067,0.869490,0.999999,0.000551,0.001425,-0.000172
25,1,496640,19,recep,1,"003_carpet_1","put bread on newspaper",-0.115038,-0.044891,0.871111,0.999983,0.000058,0.005819,0.000391
25,1,496640,19,gripper,0,"","put bread on newspaper",-0.114385,0.074034,0.941717,0.004310,-0.707064,-0.001630,0.707134
25,1,496640,20,obj,0,"003_bread_1","put bread on carpet",-0.121425,-0.065781,0.886912,0.675776,-0.001188,-0.011749,0.737012
25,1,496640,20,obj,1,"005_7up can_1","put bread on carpet",-0.235175,0.067406,0.885627,0.686653,0.161212,-0.168296,0.688618
25,1,496640,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
25,1,496640,20,recep,1,"003_carpet_1","put bread on carpet",-0.082160,-0.076366,0.871718,0.999869,-0.002385,-0.014731,0.006229
25,1,496640,20,gripper,0,"","put bread on carpet",-0.136507,-0.059008,0.917035,0.069099,-0.709443,0.111488,0.692449
25,1,496640,21,obj,0,"003_bread_1","put bread on carpet",-0.199791,0.026089,0.883544,0.997312,0.002722,-0.012360,0.072173
25,1,496640,21,obj,1,"005_7up can_1","put bread on carpet",-0.270926,0.037159,0.885911,0.564478,-0.083299,-0.819267,-0.056817
25,1,496640,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204983,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000013
25,1,496640,21,recep,1,"003_carpet_1","put bread on carpet",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
25,1,496640,21,gripper,0,"","put bread on carpet",-0.277859,0.024399,0.936388,-0.001666,-0.735430,-0.118187,0.667212
25,1,496640,22,obj,0,"003_bread_1","put bread on carpet",-0.207348,-0.013466,0.886494,0.701446,0.013461,-0.005453,0.712574
25,1,496640,22,obj,1,"005_7up can_1","put bread on carpet",-0.115181,-0.082600,0.885627,0.687151,0.161058,-0.168376,0.688138
25,1,496640,22,recep,0,"004_newspaper_1","put bread on carpet",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
25,1,496640,22,recep,1,"003_carpet_1","put bread on carpet",-0.234997,-0.045013,0.870460,1.000000,0.000018,-0.000159,-0.000007
25,1,496640,22,gripper,0,"","put bread on carpet",-0.085203,0.065380,0.913843,0.081114,-0.687906,0.042327,0.720010
25,1,496640,23,obj,0,"003_bread_1","put bread on carpet",-0.206985,0.091969,0.883526,-0.015302,0.009919,0.002257,0.999831
25,1,496640,23,obj,1,"005_7up can_1","put bread on carpet",-0.209946,-0.004562,0.885950,-0.366757,0.374097,0.835147,0.167540
25,1,496640,23,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
25,1,496640,23,recep,1,"003_carpet_1","put bread on carpet",-0.205112,-0.075886,0.870367,0.999982,0.000161,-0.001139,-0.005816
25,1,496640,23,gripper,0,"","put bread on carpet",-0.268414,0.097559,0.917475,0.026019,-0.770052,-0.072760,0.633284
25,1,496640,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.234489,0.074503,0.883544,0.383761,0.012266,-0.003126,0.923346
25,1,496640,24,obj,1,"005_7up can_1","put 7up can on newspaper",40.245125,-87.199890,-574.507690,-0.286656,-0.744934,0.382985,0.464999
25,1,496640,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114990,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000002
25,1,496640,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000024
25,1,496640,24,gripper,0,"","put 7up can on newspaper",-0.143036,0.091664,0.968656,-0.082820,-0.737898,-0.112507,0.660295
25,1,496640,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.249355,-0.018473,0.883544,0.959579,-0.001781,-0.012530,-0.281154
25,1,496640,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.242603,-0.074827,0.885627,0.972484,-0.005142,-0.232911,0.000833
25,1,496640,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
25,1,496640,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
25,1,496640,25,gripper,0,"","put 7up can on newspaper",-0.244701,-0.076356,0.955359,-0.092024,-0.723451,-0.080079,0.679513
25,1,496640,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.235538,-0.074871,0.883544,0.999915,0.001786,-0.012534,-0.003130
25,1,496640,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.084995,-0.025991,0.894728,0.623592,0.277253,0.691516,-0.236791
25,1,496640,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204998,0.045000,0.869489,1.000000,0.000180,0.000874,0.000021
25,1,496640,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
25,1,496640,26,gripper,0,"","put 7up can on newspaper",-0.095108,-0.035105,0.934344,-0.313061,-0.609814,-0.253219,0.682642
25,1,496640,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.235130,0.044455,0.883544,0.709114,0.010125,-0.007599,0.704980
25,1,496640,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.131777,-0.061275,0.889156,0.219483,0.673841,-0.642084,0.292393
25,1,496640,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084961,-0.074944,0.869490,0.999999,0.000180,0.000872,-0.000754
25,1,496640,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205357,-0.075085,0.870368,0.999998,0.000114,-0.001092,0.001405
25,1,496640,27,gripper,0,"","put 7up can on newspaper",-0.142133,0.024956,0.942669,-0.149578,-0.729032,-0.187276,0.641145
25,1,496640,28,obj,0,"003_bread_1","put 7up can on carpet",-0.131730,0.110430,0.885476,0.906792,-0.029452,-0.040636,0.418580
25,1,496640,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.235175,-0.082607,0.885626,0.686584,0.161211,-0.168261,0.688695
25,1,496640,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114998,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000005
25,1,496640,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.071392,0.089005,0.871300,0.983750,-0.003725,-0.009630,-0.179246
25,1,496640,28,gripper,0,"","put 7up can on carpet",-0.127033,0.104844,0.914407,0.259234,-0.682998,0.248892,0.635897
25,1,496640,29,obj,0,"003_bread_1","put 7up can on carpet",-0.085484,-0.045511,0.883544,0.924203,0.006466,-0.010884,0.381691
25,1,496640,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.191505,0.049818,0.885972,0.130768,0.871510,-0.319055,0.348675
25,1,496640,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114983,0.075003,0.869490,1.000000,0.000180,0.000874,0.000036
25,1,496640,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204977,-0.075354,0.870447,1.000000,-0.000542,-0.000511,-0.000121
25,1,496640,29,gripper,0,"","put 7up can on carpet",-0.211723,-0.002555,0.952357,0.047885,-0.725019,0.116011,0.677197
25,1,496640,30,obj,0,"003_bread_1","put 7up can on carpet",-0.235477,-0.075520,0.883544,0.924482,0.006447,-0.010887,0.381015
25,1,496640,30,obj,1,"005_7up can_1","put 7up can on carpet",0.190525,0.039011,0.017136,0.404530,-0.056666,0.912561,0.019430
25,1,496640,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
25,1,496640,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
25,1,496640,30,gripper,0,"","put 7up can on carpet",-0.136396,0.043522,0.993735,0.033501,-0.707519,0.120167,0.695596
25,1,496640,31,obj,0,"003_bread_1","put 7up can on carpet",-0.111332,-0.059729,0.886773,0.278439,0.015058,-0.000788,0.960335
25,1,496640,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.229759,0.069508,0.885626,0.371046,0.213279,-0.093817,0.898908
25,1,496640,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
25,1,496640,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074373,0.870448,0.999997,-0.000926,-0.000851,-0.001896
25,1,496640,31,gripper,0,"","put 7up can on carpet",-0.117390,-0.065135,0.950995,-0.045209,-0.752991,-0.048406,0.654689
25,1,496640,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086235,-0.073319,0.887076,0.908107,0.002684,0.019099,0.418293
25,1,496640,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234703,0.044694,0.878547,0.923699,0.011468,0.006969,0.382885
25,1,496640,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000022
25,1,496640,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
25,1,496640,32,gripper,0,"","put carrot on sheet metal",-0.108345,-0.066463,1.034653,-0.254306,-0.659158,-0.153318,0.690893
25,1,496640,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087151,-0.072631,0.887358,0.991090,-0.000168,0.029158,0.129959
25,1,496640,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
25,1,496640,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,1,496640,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
25,1,496640,33,gripper,0,"","put carrot on sheet metal",-0.133492,-0.016880,1.043898,-0.097262,-0.706323,-0.045220,0.699716
25,1,496640,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088573,0.073986,0.887412,0.384854,-0.023880,0.011664,0.922595
25,1,496640,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.114697,-0.044685,0.878547,0.382310,0.003192,0.013076,0.923936
25,1,496640,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
25,1,496640,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
25,1,496640,34,gripper,0,"","put carrot on sheet metal",-0.073605,0.021488,0.997734,0.229775,-0.749241,0.199623,0.588211
25,1,496640,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205502,0.076778,0.887528,0.708701,-0.030466,0.030660,0.704184
25,1,496640,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007930,0.010833,0.707290
25,1,496640,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,1,496640,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
25,1,496640,35,gripper,0,"","put carrot on sheet metal",-0.153974,0.078364,1.003120,0.113715,-0.679417,-0.005556,0.724865
25,1,496640,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118090,0.072601,0.887504,0.352146,-0.028755,0.011540,0.935432
25,1,496640,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,-0.074682,0.878548,0.382196,0.003187,0.013066,0.923984
25,1,496640,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
25,1,496640,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000000
25,1,496640,36,gripper,0,"","put carrot on flat bowl",-0.087444,0.089049,0.990277,0.237517,-0.750618,0.205416,0.581345
25,1,496640,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.074650,-0.108184,0.887466,0.538482,-0.027537,0.018544,0.841982
25,1,496640,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011481,0.006979,0.382998
25,1,496640,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
25,1,496640,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
25,1,496640,37,gripper,0,"","put carrot on flat bowl",-0.039133,-0.087565,0.943327,-0.051191,-0.783379,0.107416,0.610048
25,1,496640,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095238,0.080276,0.887264,0.620133,-0.021514,0.025988,0.783771
25,1,496640,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007967,0.010869,0.707323
25,1,496640,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
25,1,496640,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
25,1,496640,38,gripper,0,"","put carrot on flat bowl",-0.085802,0.060524,0.952929,0.386950,-0.554713,0.344879,0.650862
25,1,496640,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,0.083141,0.888481,0.673714,-0.045718,-0.002889,0.737571
25,1,496640,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.204559,-0.074995,0.878547,0.706802,0.007974,0.010877,0.707283
25,1,496640,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
25,1,496640,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
25,1,496640,39,gripper,0,"","put carrot on flat bowl",-0.080883,0.079258,0.946028,0.353593,-0.640070,0.252723,0.633572
25,1,496640,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.115135,0.044664,0.887472,0.735016,-0.021808,0.024509,0.677255
25,1,496640,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234581,0.075012,0.878547,0.707177,0.007946,0.010836,0.706909
25,1,496640,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075012,0.871344,0.999999,-0.000158,0.001164,-0.000064
25,1,496640,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.045000,0.874362,1.000000,0.000001,0.000000,0.000073
25,1,496640,40,gripper,0,"","put banana on sheet metal",-0.180340,0.105773,0.981456,0.238953,-0.727223,0.292840,0.572968
25,1,496640,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.241131,-0.079845,0.887267,0.994426,0.009068,0.027036,-0.101507
25,1,496640,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,0.074566,0.878547,0.999910,0.013287,0.002050,0.000041
25,1,496640,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
25,1,496640,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
25,1,496640,41,gripper,0,"","put banana on sheet metal",-0.057440,0.075987,0.952758,0.194918,-0.717487,0.228205,0.628603
25,1,496640,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087070,-0.071491,0.887503,0.910055,-0.018045,0.038163,0.412333
25,1,496640,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204586,0.074621,0.878547,0.924026,0.011473,0.006958,0.382094
25,1,496640,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
25,1,496640,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
25,1,496640,42,gripper,0,"","put banana on sheet metal",-0.169434,0.082695,0.976796,0.174164,-0.676500,0.192153,0.689269
25,1,496640,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209829,-0.065947,0.887495,0.993374,-0.003047,0.030820,0.110671
25,1,496640,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234995,0.074566,0.878547,0.999910,0.013278,0.002044,-0.000292
25,1,496640,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
25,1,496640,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
25,1,496640,43,gripper,0,"","put banana on sheet metal",-0.160608,0.075194,1.009496,0.075547,-0.700065,0.025149,0.709626
25,1,496640,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236880,0.077633,0.887363,0.909643,-0.008338,0.025956,0.414495
25,1,496640,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234685,-0.075314,0.878547,0.923619,0.011533,0.007006,0.383074
25,1,496640,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
25,1,496640,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000001
25,1,496640,44,gripper,0,"","put banana on flat bowl",-0.181367,-0.056103,0.961520,-0.184302,-0.697240,-0.148486,0.676640
25,1,496640,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086996,-0.075871,0.887502,0.741144,-0.018190,0.021548,0.670754
25,1,496640,45,obj,1,"013_banana_1","put banana on flat bowl",-0.114561,0.045012,0.878548,0.707181,0.007972,0.010866,0.706905
25,1,496640,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
25,1,496640,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000000,-0.000006
25,1,496640,45,gripper,0,"","put banana on flat bowl",-0.067140,0.053162,0.993162,0.126839,-0.718069,0.009910,0.684244
25,1,496640,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.238110,0.074636,0.887379,0.743563,-0.019694,0.027231,0.667821
25,1,496640,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,-0.044983,0.878547,0.707005,0.007961,0.010857,0.707080
25,1,496640,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
25,1,496640,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
25,1,496640,46,gripper,0,"","put banana on flat bowl",-0.183516,-0.029757,0.983654,-0.121359,-0.636876,-0.074926,0.757659
25,1,496640,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237434,-0.081928,0.887542,0.960761,-0.010444,0.030045,0.275549
25,1,496640,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,0.074690,0.878547,0.923737,0.011530,0.007000,0.382790
25,1,496640,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
25,1,496640,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000109
25,1,496640,47,gripper,0,"","put banana on flat bowl",-0.054173,0.087831,1.013625,0.030569,-0.780290,0.077497,0.619844
25,1,496640,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085564,0.099438,0.889121,0.866435,-0.028682,-0.035842,0.497176
25,1,496640,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065102,-0.053635,0.887026,0.649571,-0.289280,0.648075,0.272717
25,1,496640,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
25,1,496640,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
25,1,496640,48,gripper,0,"","put hamburger on frying pan",-0.097542,0.101633,0.914836,0.111057,-0.755602,0.103534,0.637192
25,1,496640,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.116020,0.048107,0.888113,0.883276,-0.027473,0.001931,0.468045
25,1,496640,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106812,-0.022896,0.893682,0.653258,-0.382080,0.373078,0.536733
25,1,496640,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.087154,-0.080746,0.873202,0.999705,-0.017453,-0.007063,0.015351
25,1,496640,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.074997,0.870870,1.000000,0.000000,-0.000001,-0.000001
25,1,496640,49,gripper,0,"","put hamburger on frying pan",-0.092768,-0.025021,0.940887,-0.003593,-0.768075,0.113546,0.630202
25,1,496640,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.093254,0.044086,0.893795,0.990627,0.004400,0.066240,-0.119381
25,1,496640,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175579,-0.043716,0.889773,0.038121,-0.015333,0.999152,0.002508
25,1,496640,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000013
25,1,496640,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
25,1,496640,50,gripper,0,"","put hamburger on frying pan",-0.078953,0.060993,0.964507,-0.052618,-0.753761,0.048675,0.653228
25,1,496640,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.180969,0.085804,0.896388,0.972172,-0.028614,0.002582,0.232498
25,1,496640,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065046,0.096497,0.887026,0.649686,-0.289002,0.648201,0.272438
25,1,496640,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000008
25,1,496640,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
25,1,496640,51,gripper,0,"","put hamburger on frying pan",-0.152194,0.078415,1.107286,0.057094,-0.718192,0.135004,0.680231
25,1,496640,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.194099,-0.023998,0.890542,0.627925,-0.025659,-0.005527,0.777831
25,1,496640,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085823,-0.045639,0.887027,0.497189,-0.513871,0.489513,0.499116
25,1,496640,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
25,1,496640,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204982,-0.075016,0.870870,1.000000,0.000000,-0.000001,-0.000003
25,1,496640,52,gripper,0,"","put hamburger on cutting board",-0.166672,-0.016321,1.029663,-0.049576,-0.739521,0.080694,0.666438
25,1,496640,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085951,-0.074383,0.888112,0.712513,-0.026875,-0.006006,0.701118
25,1,496640,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182755,-0.068237,0.904783,0.446984,-0.561604,0.457259,0.525090
25,1,496640,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
25,1,496640,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
25,1,496640,53,gripper,0,"","put hamburger on cutting board",-0.190657,-0.062654,0.933212,-0.124609,-0.731285,0.005344,0.670572
25,1,496640,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.174133,-0.081421,0.888634,0.956197,-0.052993,0.014799,0.287507
25,1,496640,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.094986,0.096577,0.887026,0.649587,-0.289239,0.648094,0.272674
25,1,496640,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
25,1,496640,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
25,1,496640,54,gripper,0,"","put hamburger on cutting board",-0.197884,-0.078888,0.914541,-0.010058,-0.698248,0.039488,0.714695
25,1,496640,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.089329,-0.076500,0.890788,0.997017,-0.024348,0.012821,0.072115
25,1,496640,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205795,0.075733,0.887026,0.704497,-0.018860,0.709450,0.002990
25,1,496640,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
25,1,496640,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000064
25,1,496640,55,gripper,0,"","put hamburger on cutting board",-0.154942,-0.034256,0.960684,0.097408,-0.727919,0.110293,0.669687
25,1,496640,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235909,-0.074318,0.888111,0.717993,-0.026924,-0.005798,0.695506
25,1,496640,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.128593,-0.023350,0.895355,0.511806,-0.498722,0.499791,0.489429
25,1,496640,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114761,-0.044880,0.872199,0.999995,-0.000001,-0.000001,-0.003045
25,1,496640,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.062508,0.071587,0.870870,0.999542,-0.000000,-0.000001,0.030260
25,1,496640,56,gripper,0,"","put plastic bottle on frying pan",-0.155090,0.027000,0.986785,0.047504,-0.720046,0.046296,0.690749
25,1,496640,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085938,-0.074406,0.888112,0.712360,-0.026876,-0.006012,0.701274
25,1,496640,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.214367,0.076202,0.895219,0.539539,-0.476340,0.524483,0.454880
25,1,496640,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.232971,0.079346,0.872199,0.998822,0.000000,-0.000001,0.048533
25,1,496640,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
25,1,496640,57,gripper,0,"","put plastic bottle on frying pan",-0.157066,0.018490,1.014006,0.010171,-0.752976,-0.151192,0.640363
25,1,496640,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.161640,0.059536,0.892699,-0.498467,-0.670923,0.464717,-0.292286
25,1,496640,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.269112,0.076595,0.895063,0.549657,-0.451091,0.539924,0.450417
25,1,496640,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234745,0.075214,0.872199,0.999999,-0.000001,-0.000001,0.001009
25,1,496640,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000000
25,1,496640,58,gripper,0,"","put plastic bottle on frying pan",-0.213352,0.021114,1.013692,0.028821,-0.734405,0.014815,0.677937
25,1,496640,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204376,-0.074081,0.888112,0.999512,-0.023153,0.014913,-0.014739
25,1,496640,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.181746,-0.177155,0.017292,0.821981,0.002116,0.022347,-0.569072
25,1,496640,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
25,1,496640,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
25,1,496640,59,gripper,0,"","put plastic bottle on frying pan",-0.043897,-0.055691,0.942167,-0.084304,-0.771775,-0.073010,0.626040
25,1,496640,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.081777,0.073792,0.888112,0.497415,-0.024271,-0.013024,0.867075
25,1,496640,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.116573,0.162601,0.885720,0.639074,0.328226,-0.608621,0.336797
25,1,496640,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
25,1,496640,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.181795,0.072880,0.870870,0.999928,0.000001,-0.000000,-0.011956
25,1,496640,60,gripper,0,"","put plastic bottle on cutting board",-0.285816,-0.058784,0.916411,0.223343,-0.693480,0.103283,0.677153
25,1,496640,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.095112,-0.022873,0.890603,0.919206,-0.108867,0.106301,0.363191
25,1,496640,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.121416,0.020218,0.894661,0.031556,-0.649485,0.756448,-0.070427
25,1,496640,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
25,1,496640,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084425,-0.080559,0.870870,1.000000,0.000000,-0.000001,0.000771
25,1,496640,61,gripper,0,"","put plastic bottle on cutting board",-0.140405,0.023018,0.914059,0.049804,-0.747044,0.066763,0.659536
25,1,496640,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.150913,0.018154,0.891171,-0.115037,-0.808180,-0.121304,0.564710
25,1,496640,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.080055,0.095196,0.887027,0.132653,-0.699825,0.118034,0.691893
25,1,496640,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000009
25,1,496640,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
25,1,496640,62,gripper,0,"","put plastic bottle on cutting board",-0.204025,0.042519,0.913529,0.112681,-0.715245,0.107327,0.681328
25,1,496640,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.171364,0.022465,0.888696,0.518197,-0.005926,0.056533,0.853370
25,1,496640,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.114403,0.135048,0.891935,0.000642,-0.552647,0.832889,-0.029611
25,1,496640,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
25,1,496640,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.104576,0.077747,0.870870,0.998986,-0.000000,0.000001,0.045033
25,1,496640,63,gripper,0,"","put plastic bottle on cutting board",-0.212023,0.022873,0.915051,-0.004174,-0.747226,-0.067635,0.661107
25,2,501760,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.212219,0.046684,0.885083,0.583952,0.346860,-0.305810,0.667209
25,2,501760,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.055664,0.050240,0.881638,0.315128,0.035682,-0.016544,0.948234
25,2,501760,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044983,0.869532,1.000000,0.000000,-0.000001,-0.000142
25,2,501760,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205017,-0.074982,0.871282,0.999999,-0.000452,-0.001266,-0.000086
25,2,501760,0,gripper,0,"","put ketchup bottle on cloth",-0.187981,-0.051579,0.985831,0.081095,-0.736532,-0.062963,0.668565
25,2,501760,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.311066,-0.522568,0.010572,-0.284795,0.263982,-0.087953,-0.917316
25,2,501760,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.194618,0.084885,0.883058,0.931832,-0.003600,0.065321,0.356943
25,2,501760,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.136723,-0.060677,0.869532,0.995995,0.000001,-0.000000,0.089413
25,2,501760,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.267632,0.061928,0.871316,0.989451,0.001267,0.000362,0.144862
25,2,501760,1,gripper,0,"","put ketchup bottle on cloth",-0.181965,0.044556,0.917112,0.221969,-0.631525,0.075534,0.739054
25,2,501760,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.225880,-0.413971,0.010289,-0.821125,-0.172812,0.429622,-0.333639
25,2,501760,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.300667,-0.205765,0.881641,0.194797,-0.040026,0.003422,0.980021
25,2,501760,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.358292,0.018883,0.000732,0.778386,0.000000,-0.000000,-0.627786
25,2,501760,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000054
25,2,501760,2,gripper,0,"","put ketchup bottle on cloth",-0.215757,-0.113041,0.951772,-0.091268,-0.760861,-0.186363,0.614841
25,2,501760,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202930,0.108910,0.887989,-0.512451,0.466108,0.617651,0.372350
25,2,501760,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.156004,-0.081818,0.884133,0.923872,0.018836,-0.051111,-0.378805
25,2,501760,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084995,-0.074997,0.869533,1.000000,0.000000,-0.000001,-0.000208
25,2,501760,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.203960,0.075096,0.871288,0.999999,-0.000155,-0.001019,-0.001116
25,2,501760,3,gripper,0,"","put ketchup bottle on cloth",-0.163987,-0.084438,0.950389,-0.075736,-0.763122,-0.070759,0.637888
25,2,501760,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.226589,-0.047684,0.885083,0.670446,0.301329,-0.350743,0.580243
25,2,501760,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201514,0.075829,0.881655,0.999069,-0.003603,-0.021320,0.037338
25,2,501760,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235184,-0.045059,0.869532,0.999994,0.000001,-0.000001,-0.003465
25,2,501760,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084992,-0.074997,0.871288,0.999999,-0.000153,-0.001020,-0.000005
25,2,501760,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.198000,0.087708,0.926891,0.159879,-0.711826,0.089345,0.678055
25,2,501760,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.143154,0.126152,0.878982,-0.188942,-0.632437,-0.154715,0.735111
25,2,501760,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.168245,-0.059639,0.882585,0.585421,0.076723,-0.064624,0.804499
25,2,501760,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.075323,-0.091606,0.869587,0.999886,0.000432,0.000820,-0.015081
25,2,501760,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.086452,0.040665,0.871288,0.987827,-0.000314,-0.000982,-0.155556
25,2,501760,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.178277,-0.063183,0.914009,-0.067585,-0.746137,-0.064518,0.659203
25,2,501760,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.222687,-0.047188,0.890655,0.750795,-0.116634,0.328751,0.560916
25,2,501760,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.131809,-0.100174,0.885127,0.917608,0.040574,0.035481,0.393815
25,2,501760,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.223747,-0.062569,0.869549,0.999229,0.000281,0.000233,-0.039246
25,2,501760,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,0.044998,0.871288,0.999999,-0.000154,-0.001019,-0.000040
25,2,501760,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.242201,-0.093460,0.917421,0.271228,-0.640924,0.187150,0.693272
25,2,501760,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.029655,0.088249,0.879373,0.260120,0.269346,0.069825,-0.924616
25,2,501760,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.201614,-0.077866,0.881638,0.382379,0.034403,-0.019064,0.923168
25,2,501760,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
25,2,501760,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000236
25,2,501760,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.193876,-0.083473,0.923067,-0.054027,-0.712688,-0.089411,0.693658
25,2,501760,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.210060,0.048965,0.885122,0.510664,0.457612,-0.623491,0.375596
25,2,501760,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.432434,-0.165749,0.015018,0.996976,0.034394,-0.038196,0.058284
25,2,501760,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000047
25,2,501760,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.406189,-0.099384,0.002488,-0.996568,0.000069,0.001028,-0.082768
25,2,501760,8,gripper,0,"","put kitchen shovel on cloth",-0.173084,0.080894,1.050880,0.094667,-0.686509,0.101704,0.713723
25,2,501760,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094707,-0.075012,0.879089,0.886327,-0.001397,-0.463058,0.000432
25,2,501760,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",0.040203,-0.145416,0.004850,0.045441,0.476752,0.873990,0.082366
25,2,501760,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205120,0.045067,0.869532,0.999996,-0.000001,-0.000001,0.002742
25,2,501760,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234978,-0.074886,0.871288,0.999999,-0.000153,-0.001019,-0.000361
25,2,501760,9,gripper,0,"","put kitchen shovel on cloth",-0.161964,-0.050198,0.935992,0.503161,-0.573385,0.403986,0.504830
25,2,501760,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.212574,-0.075005,0.885124,0.690887,0.288307,-0.362998,0.554786
25,2,501760,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.149982,-0.113873,0.886911,0.640550,0.029440,-0.027637,0.766854
25,2,501760,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.210419,-0.086979,0.869567,0.991089,0.000476,-0.000806,-0.133200
25,2,501760,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000010
25,2,501760,10,gripper,0,"","put kitchen shovel on cloth",-0.198343,-0.125303,0.918220,0.008622,-0.741533,-0.035886,0.669901
25,2,501760,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.056416,0.109989,0.879375,0.737611,0.062805,-0.061928,0.669441
25,2,501760,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204075,-0.097656,0.882911,0.594937,-0.004136,-0.011281,0.803682
25,2,501760,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.065987,-0.005421,0.873791,0.984610,-0.065852,-0.003776,-0.161842
25,2,501760,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.106997,-0.079601,0.871288,0.999852,-0.000136,-0.001021,0.017147
25,2,501760,11,gripper,0,"","put kitchen shovel on cloth",-0.223102,-0.110228,0.916688,-0.070014,-0.788068,0.006180,0.611563
25,2,501760,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.198151,-0.081837,0.879088,0.339066,0.427222,-0.178648,0.818902
25,2,501760,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.179655,0.067467,0.885760,0.672433,0.030274,-0.019011,0.739294
25,2,501760,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235458,0.075134,0.869532,1.000000,0.000001,-0.000001,-0.000115
25,2,501760,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.050345,-0.145180,0.871289,0.992618,-0.000030,-0.001030,0.121279
25,2,501760,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.179517,0.017065,0.994814,0.095831,-0.758275,0.028448,0.644225
25,2,501760,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.235897,-0.094475,0.886972,0.471016,0.400607,-0.659678,0.427180
25,2,501760,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.039114,0.003864,0.881638,0.971597,0.004815,-0.039069,0.233346
25,2,501760,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.206299,-0.080894,0.875393,0.995254,-0.031217,-0.087939,-0.027609
25,2,501760,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235014,0.045017,0.871288,0.999999,-0.000154,-0.001019,0.000035
25,2,501760,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.246580,-0.084766,0.919223,0.157746,-0.745393,0.193311,0.618172
25,2,501760,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.164944,-0.179554,0.879125,0.478663,0.506467,-0.584515,0.415590
25,2,501760,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113472,-0.045303,0.889171,0.984330,-0.059758,-0.116517,-0.118101
25,2,501760,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205318,0.076199,0.869532,0.999997,0.000000,-0.000000,0.002550
25,2,501760,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.068596,-0.070488,0.871289,0.969474,0.000096,-0.001028,0.245191
25,2,501760,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.184570,-0.053606,0.913516,0.052641,-0.734143,0.056635,0.674578
25,2,501760,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.172108,-0.151882,0.879785,-0.521034,-0.441473,0.365078,-0.632727
25,2,501760,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.082657,-0.076279,0.881638,0.354155,0.034974,-0.018012,0.934359
25,2,501760,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
25,2,501760,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.261604,-0.058670,0.871288,0.992172,-0.000026,-0.001031,0.124874
25,2,501760,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.250273,-0.196918,0.915538,0.051682,-0.781759,-0.005547,0.621411
25,2,501760,16,obj,0,"003_bread_1","put bread on carpet",-0.229897,0.076736,0.886571,0.995854,0.003512,-0.010649,0.090274
25,2,501760,16,obj,1,"005_7up can_1","put bread on carpet",0.217102,-0.010433,0.017058,-0.101021,-0.660047,-0.090722,0.738852
25,2,501760,16,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,0.045002,0.869490,1.000000,0.000180,0.000874,0.000044
25,2,501760,16,recep,1,"003_carpet_1","put bread on carpet",-0.235016,0.074963,0.870448,0.999999,-0.000907,-0.000855,0.000200
25,2,501760,16,gripper,0,"","put bread on carpet",-0.083672,-0.013630,0.994540,-0.015712,-0.722404,-0.029993,0.690642
25,2,501760,17,obj,0,"003_bread_1","put bread on carpet",-0.146965,-0.131062,0.884400,-0.020818,0.620835,0.779046,0.084960
25,2,501760,17,obj,1,"005_7up can_1","put bread on carpet",-0.086876,-0.130230,0.885734,-0.338752,-0.442722,-0.181760,0.810066
25,2,501760,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
25,2,501760,17,recep,1,"003_carpet_1","put bread on carpet",-0.104298,-0.035900,0.870447,0.999883,-0.003150,-0.002684,-0.014730
25,2,501760,17,gripper,0,"","put bread on carpet",-0.159645,-0.138166,0.921344,-0.063477,-0.771764,-0.048383,0.630880
25,2,501760,18,obj,0,"003_bread_1","put bread on carpet",-0.194702,-0.045361,0.886564,0.998534,0.003024,-0.007744,-0.053478
25,2,501760,18,obj,1,"005_7up can_1","put bread on carpet",-0.002796,0.095661,0.885952,0.360552,-0.119301,0.924172,0.040923
25,2,501760,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
25,2,501760,18,recep,1,"003_carpet_1","put bread on carpet",-0.205044,-0.075676,0.870368,0.999979,0.000149,-0.001130,-0.006389
25,2,501760,18,gripper,0,"","put bread on carpet",-0.046967,0.072931,0.913619,0.010603,-0.742048,0.012184,0.670152
25,2,501760,19,obj,0,"003_bread_1","put bread on carpet",-0.200510,0.063141,0.886216,0.991528,-0.000885,0.004654,-0.129810
25,2,501760,19,obj,1,"005_7up can_1","put bread on carpet",0.098436,-0.019444,0.016815,0.919552,-0.061498,0.142255,0.361117
25,2,501760,19,recep,0,"004_newspaper_1","put bread on carpet",-0.205118,0.045067,0.869489,0.999999,0.000549,0.001425,-0.000148
25,2,501760,19,recep,1,"003_carpet_1","put bread on carpet",-0.115038,-0.044891,0.871111,0.999983,0.000059,0.005819,0.000208
25,2,501760,19,gripper,0,"","put bread on carpet",-0.121551,0.141396,0.914329,0.305601,-0.574900,0.078339,0.754957
25,2,501760,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.120919,-0.065868,0.886812,0.676377,0.010453,-0.003521,0.736473
25,2,501760,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.186480,0.074783,0.886012,-0.281458,-0.517270,0.786780,-0.184906
25,2,501760,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235369,-0.075672,0.869489,0.999998,0.000178,0.000874,0.001676
25,2,501760,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082115,-0.076366,0.870448,0.999980,-0.000918,-0.000852,0.006223
25,2,501760,20,gripper,0,"","put 7up can on newspaper",-0.198772,0.081913,0.921172,0.122887,-0.705881,0.166299,0.677477
25,2,501760,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.192699,-0.029949,0.885887,0.999052,0.002906,0.007610,0.042765
25,2,501760,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.327658,0.048485,0.885673,-0.909586,-0.035362,-0.403520,0.092598
25,2,501760,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204973,-0.074978,0.869490,1.000000,0.000180,0.000875,-0.000136
25,2,501760,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.088160,0.073479,0.870510,0.999948,0.000311,-0.005877,-0.008375
25,2,501760,21,gripper,0,"","put 7up can on newspaper",-0.145381,0.037275,0.915453,0.061368,-0.727586,-0.027659,0.682706
25,2,501760,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.183266,0.008007,0.886353,0.524122,0.012275,0.000201,0.851554
25,2,501760,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.276337,-0.219299,0.885615,0.774501,-0.100260,0.118167,0.613297
25,2,501760,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
25,2,501760,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.212952,-0.043579,0.870448,0.990528,-0.000666,-0.000813,0.137310
25,2,501760,22,gripper,0,"","put 7up can on newspaper",-0.163280,-0.061815,0.982540,-0.062168,-0.767494,0.027667,0.637434
25,2,501760,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.204842,-0.015404,0.933555,0.074279,-0.053777,0.044602,0.994787
25,2,501760,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.209946,-0.004562,0.885950,-0.366759,0.374028,0.835185,0.167503
25,2,501760,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
25,2,501760,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205101,-0.076309,0.870447,0.999972,-0.000567,-0.000528,-0.007418
25,2,501760,23,gripper,0,"","put 7up can on newspaper",-0.209438,-0.016958,0.967371,0.056746,-0.713654,0.026495,0.697693
25,2,501760,24,obj,0,"003_bread_1","put 7up can on carpet",-0.211472,-0.037601,0.886494,0.204492,0.011356,0.005057,0.978789
25,2,501760,24,obj,1,"005_7up can_1","put 7up can on carpet",40.245125,-87.199890,-1846.145264,-0.286656,-0.744934,0.382985,0.464999
25,2,501760,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114990,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000002
25,2,501760,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074980,0.870466,0.999999,-0.000938,-0.001037,-0.000054
25,2,501760,24,gripper,0,"","put 7up can on carpet",-0.117058,0.053899,0.952569,0.035413,-0.740118,0.011198,0.671451
25,2,501760,25,obj,0,"003_bread_1","put 7up can on carpet",-0.185890,-0.039951,0.883544,0.920697,-0.003209,-0.012250,-0.390072
25,2,501760,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.222801,-0.113026,0.885866,0.576625,0.158118,0.792278,-0.121644
25,2,501760,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000045
25,2,501760,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
25,2,501760,25,gripper,0,"","put 7up can on carpet",-0.206608,-0.018387,0.938824,-0.104259,-0.747667,-0.027289,0.655271
25,2,501760,26,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,-0.074871,0.883544,0.999915,0.001787,-0.012535,-0.003130
25,2,501760,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.098068,0.059612,0.889113,0.214416,0.732621,0.577845,-0.288767
25,2,501760,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.045000,0.869489,1.000000,0.000179,0.000874,0.000047
25,2,501760,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075027,0.870461,1.000000,0.000020,-0.000158,-0.000046
25,2,501760,26,gripper,0,"","put 7up can on carpet",-0.114540,0.051341,0.980370,0.126790,-0.749859,0.094660,0.642399
25,2,501760,27,obj,0,"003_bread_1","put 7up can on carpet",-0.212807,-0.027229,0.886154,0.658051,-0.052510,0.065300,0.748297
25,2,501760,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.133238,-0.063099,0.889184,0.232109,0.657634,-0.660045,0.279254
25,2,501760,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084921,-0.074947,0.869490,0.999999,0.000181,0.000873,-0.001114
25,2,501760,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.205919,-0.074787,0.870413,0.999982,-0.000224,-0.000908,0.005904
25,2,501760,27,gripper,0,"","put 7up can on carpet",-0.195951,0.013354,0.963451,-0.129190,-0.674886,-0.047497,0.724971
25,2,501760,28,obj,0,"003_bread_1","put bread on newspaper",-0.118949,-0.010349,0.886488,0.882848,0.015727,0.005377,0.469365
25,2,501760,28,obj,1,"005_7up can_1","put bread on newspaper",-0.191900,-0.029364,0.935027,0.761377,0.233041,-0.341059,0.499675
25,2,501760,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.115027,-0.045002,0.869490,1.000000,0.000180,0.000874,-0.000034
25,2,501760,28,recep,1,"003_carpet_1","put bread on newspaper",-0.071194,0.089489,0.870418,0.983279,-0.000723,-0.001028,-0.182099
25,2,501760,28,gripper,0,"","put bread on newspaper",-0.208849,-0.021269,0.966717,0.144805,-0.735504,0.178977,0.637207
25,2,501760,29,obj,0,"003_bread_1","put bread on newspaper",-0.085484,-0.045511,0.883544,0.924167,0.006466,-0.010878,0.381779
25,2,501760,29,obj,1,"005_7up can_1","put bread on newspaper",-0.184105,-0.040272,0.944096,0.230968,-0.644390,0.614755,0.391781
25,2,501760,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.085829,0.078489,0.869490,0.984622,0.000024,0.000892,0.174695
25,2,501760,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204981,-0.075659,0.870420,1.000000,-0.000196,-0.000802,0.000105
25,2,501760,29,gripper,0,"","put bread on newspaper",-0.212844,-0.040265,0.977496,0.053139,-0.671940,0.055589,0.736602
25,2,501760,30,obj,0,"003_bread_1","put bread on newspaper",-0.232685,0.029249,0.886826,0.950216,0.003574,-0.006616,0.311501
25,2,501760,30,obj,1,"005_7up can_1","put bread on newspaper",0.190517,0.039011,0.017136,0.404531,-0.056679,0.912559,0.019435
25,2,501760,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.229595,0.077255,0.869493,0.999327,-0.006241,-0.009408,0.034916
25,2,501760,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
25,2,501760,30,gripper,0,"","put bread on newspaper",-0.207188,0.053197,0.946027,0.129661,-0.715381,0.169951,0.665232
25,2,501760,31,obj,0,"003_bread_1","put bread on newspaper",-0.108543,-0.052118,0.886727,0.304183,0.014767,-0.001344,0.952498
25,2,501760,31,obj,1,"005_7up can_1","put bread on newspaper",-0.176273,-0.208002,0.885866,0.337647,-0.667168,0.455633,0.482990
25,2,501760,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235229,-0.075033,0.869490,0.999999,0.000179,0.000874,0.000868
25,2,501760,31,recep,1,"003_carpet_1","put bread on newspaper",-0.084503,-0.072079,0.870420,0.999962,-0.000659,-0.001243,-0.008632
25,2,501760,31,gripper,0,"","put bread on newspaper",-0.156000,0.031109,1.010027,0.098394,-0.714735,0.051098,0.690552
25,2,501760,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090034,-0.070462,0.887293,0.912682,-0.019535,0.028624,0.407199
25,2,501760,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234703,0.044694,0.878547,0.923698,0.011475,0.006972,0.382885
25,2,501760,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000022
25,2,501760,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
25,2,501760,32,gripper,0,"","put carrot on flat bowl",-0.065186,0.004054,1.003810,0.105922,-0.755317,0.121186,0.635288
25,2,501760,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.215515,0.040897,0.899207,0.999618,-0.020514,0.013830,-0.012281
25,2,501760,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
25,2,501760,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,2,501760,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.234997,0.074996,0.874378,1.000000,0.000430,0.000008,0.000022
25,2,501760,33,gripper,0,"","put carrot on flat bowl",-0.200159,0.037667,1.034986,-0.011283,-0.703484,-0.017255,0.710412
25,2,501760,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.103394,0.068209,0.887004,0.259077,-0.011049,-0.008512,0.965756
25,2,501760,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.114697,-0.044686,0.878547,0.382310,0.003184,0.013051,0.923936
25,2,501760,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
25,2,501760,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
25,2,501760,34,gripper,0,"","put carrot on flat bowl",-0.075525,0.052596,0.943245,0.091080,-0.706793,0.004620,0.701518
25,2,501760,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205502,0.076778,0.887528,0.708700,-0.030467,0.030660,0.704184
25,2,501760,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007951,0.010856,0.707290
25,2,501760,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,2,501760,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
25,2,501760,35,gripper,0,"","put carrot on flat bowl",-0.103830,0.055899,1.006150,0.025924,-0.729085,-0.051785,0.681969
25,2,501760,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.119884,0.068670,0.887308,0.368518,-0.019121,0.003690,0.929417
25,2,501760,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074683,0.878547,0.382189,0.003178,0.013040,0.923986
25,2,501760,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
25,2,501760,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,0.045000,0.874362,1.000000,0.000000,0.000001,-0.000001
25,2,501760,36,gripper,0,"","put banana on sheet metal",-0.047492,-0.017117,0.993000,0.159427,-0.726241,0.221763,0.630855
25,2,501760,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.077541,-0.110093,0.887571,0.546363,-0.027853,0.020876,0.836825
25,2,501760,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011498,0.006986,0.382998
25,2,501760,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
25,2,501760,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
25,2,501760,37,gripper,0,"","put banana on sheet metal",-0.074514,0.067592,0.971774,0.273413,-0.746045,0.223869,0.564398
25,2,501760,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.099121,0.078884,0.887385,0.623358,-0.022726,0.014993,0.781462
25,2,501760,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007966,0.010868,0.707323
25,2,501760,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
25,2,501760,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
25,2,501760,38,gripper,0,"","put banana on sheet metal",-0.050777,-0.047380,0.936225,0.049920,-0.896793,0.030507,0.438566
25,2,501760,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087299,0.082858,0.887505,0.668695,-0.022184,0.018614,0.742973
25,2,501760,39,obj,1,"013_banana_1","put banana on sheet metal",-0.204559,-0.074995,0.878547,0.706801,0.007991,0.010897,0.707283
25,2,501760,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
25,2,501760,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
25,2,501760,39,gripper,0,"","put banana on sheet metal",-0.156263,-0.025985,0.975087,-0.027615,-0.708177,0.058938,0.703028
25,2,501760,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.116646,0.043797,0.887268,0.739225,-0.016870,0.028792,0.672631
25,2,501760,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234573,0.075018,0.878547,0.707575,0.007953,0.010832,0.706511
25,2,501760,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075026,0.871344,0.999999,-0.000158,0.001164,-0.000088
25,2,501760,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.045000,0.874362,1.000000,0.000001,0.000000,0.000136
25,2,501760,40,gripper,0,"","put banana on flat bowl",-0.167557,0.129564,0.986403,-0.083826,-0.739869,-0.031296,0.666774
25,2,501760,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.244858,-0.074532,0.887208,0.997977,-0.006633,0.031298,-0.054937
25,2,501760,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,0.074564,0.878547,0.999910,0.013274,0.002046,-0.000215
25,2,501760,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
25,2,501760,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
25,2,501760,41,gripper,0,"","put banana on flat bowl",-0.190884,0.088914,0.962444,-0.125120,-0.623864,-0.345071,0.689974
25,2,501760,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090816,-0.069616,0.887508,0.916704,-0.010119,0.026217,0.398578
25,2,501760,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204582,0.074623,0.878547,0.924233,0.011481,0.006954,0.381592
25,2,501760,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
25,2,501760,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
25,2,501760,42,gripper,0,"","put banana on flat bowl",-0.164856,0.097493,0.963693,-0.139080,-0.700310,-0.031106,0.699468
25,2,501760,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210682,-0.062819,0.887439,0.993998,-0.005390,0.034351,0.103724
25,2,501760,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234993,0.074564,0.878547,0.999910,0.013278,0.002039,-0.000609
25,2,501760,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
25,2,501760,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
25,2,501760,43,gripper,0,"","put banana on flat bowl",-0.189420,0.082679,0.946593,-0.063163,-0.681850,-0.035817,0.727880
25,2,501760,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232144,0.076527,0.887552,0.979130,-0.008214,0.027688,0.201174
25,2,501760,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234685,-0.075314,0.878547,0.923619,0.011537,0.007008,0.383074
25,2,501760,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
25,2,501760,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000000,-0.000001,0.000001
25,2,501760,44,gripper,0,"","put carrot on sheet metal",-0.190645,0.070285,0.966108,0.141963,-0.814240,0.068874,0.558674
25,2,501760,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090302,-0.076347,0.887415,0.749624,-0.020294,0.026680,0.661015
25,2,501760,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.100702,0.069160,0.878547,0.637189,0.006908,0.011576,0.770589
25,2,501760,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
25,2,501760,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000001,-0.000005
25,2,501760,45,gripper,0,"","put carrot on sheet metal",-0.059598,-0.028565,0.958886,0.082925,-0.761676,0.258584,0.588309
25,2,501760,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.249184,0.074575,0.887534,0.724560,-0.019033,0.016406,0.688754
25,2,501760,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.204552,-0.044981,0.878547,0.707331,0.007976,0.010867,0.706754
25,2,501760,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
25,2,501760,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
25,2,501760,46,gripper,0,"","put carrot on sheet metal",-0.217106,0.055041,0.988572,-0.003388,-0.686023,-0.010979,0.727489
25,2,501760,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.242126,-0.080494,0.887435,0.983546,-0.003981,0.029439,0.178200
25,2,501760,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,0.074690,0.878547,0.923882,0.011504,0.006981,0.382441
25,2,501760,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
25,2,501760,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000191
25,2,501760,47,gripper,0,"","put carrot on sheet metal",-0.225754,-0.122526,0.975498,-0.171811,-0.600821,-0.211512,0.751504
25,2,501760,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.219421,-0.034073,0.890406,0.621867,-0.026825,-0.006835,0.782633
25,2,501760,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.029617,-0.043949,0.887026,0.701133,-0.085033,0.704595,0.068766
25,2,501760,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
25,2,501760,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,-0.075024,0.870870,1.000000,-0.000000,-0.000000,0.000093
25,2,501760,48,gripper,0,"","put hamburger on cutting board",-0.128010,-0.056242,0.991423,-0.068408,-0.698529,-0.029604,0.711689
25,2,501760,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.091591,0.069366,0.888208,0.409139,-0.028236,0.023529,0.911732
25,2,501760,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.067768,0.017971,0.887037,0.527959,-0.481238,0.517336,0.471203
25,2,501760,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.087326,-0.080154,0.872199,0.999689,-0.000000,-0.000001,0.024937
25,2,501760,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.074997,0.870870,1.000000,-0.000000,-0.000001,-0.000026
25,2,501760,49,gripper,0,"","put hamburger on cutting board",-0.181700,0.062805,0.995827,0.055437,-0.703554,0.039056,0.707399
25,2,501760,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.176399,0.105030,0.890439,0.986304,-0.023207,0.018563,-0.162236
25,2,501760,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175579,-0.043716,0.889773,0.038122,-0.015297,0.999153,0.002506
25,2,501760,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085392,0.047970,0.872199,0.999999,-0.000000,-0.000001,-0.001591
25,2,501760,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205048,0.074997,0.870870,1.000000,-0.000003,-0.000003,0.000409
25,2,501760,50,gripper,0,"","put hamburger on cutting board",-0.190765,-0.018841,0.988786,-0.035519,-0.797220,-0.035315,0.601607
25,2,501760,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.217409,-0.031197,0.890389,0.950823,-0.028787,0.008159,0.308286
25,2,501760,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.066149,0.094112,0.900695,0.612738,-0.371878,0.594075,0.365150
25,2,501760,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205877,0.077454,0.872199,0.999683,-0.000010,-0.000001,0.025161
25,2,501760,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234932,-0.075005,0.870870,1.000000,0.000000,-0.000001,0.000071
25,2,501760,51,gripper,0,"","put hamburger on cutting board",-0.063012,0.091194,0.929914,0.191860,-0.757228,0.155192,0.604740
25,2,501760,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.194053,-0.023975,0.890540,0.630694,-0.025688,-0.005596,0.775586
25,2,501760,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.222164,0.043419,0.895136,0.489305,-0.541668,0.460496,0.505094
25,2,501760,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235417,0.044792,0.872199,0.999977,-0.000001,-0.000001,0.006739
25,2,501760,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000001,-0.000002
25,2,501760,52,gripper,0,"","put plastic bottle on frying pan",-0.206686,0.030214,1.017983,0.071899,-0.744352,0.039629,0.662722
25,2,501760,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085951,-0.074383,0.888112,0.712903,-0.026879,-0.005992,0.700722
25,2,501760,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.228035,0.080132,0.895109,0.585034,-0.420949,0.538181,0.436919
25,2,501760,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235054,0.074989,0.872199,1.000000,-0.000001,-0.000001,0.000262
25,2,501760,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000016
25,2,501760,53,gripper,0,"","put plastic bottle on frying pan",-0.205501,0.073851,0.988901,0.042069,-0.707195,0.103128,0.698190
25,2,501760,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.173218,-0.082973,0.888112,0.958055,-0.026557,0.007293,0.285258
25,2,501760,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.240322,0.161476,0.886095,-0.601057,0.020594,-0.002218,-0.798938
25,2,501760,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235077,0.045010,0.872199,0.999998,-0.000000,-0.000000,-0.002151
25,2,501760,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
25,2,501760,54,gripper,0,"","put plastic bottle on frying pan",-0.216537,0.167934,0.915934,0.030008,-0.762054,-0.037615,0.645723
25,2,501760,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.088295,-0.077625,0.891774,0.992814,-0.083539,-0.000676,0.085682
25,2,501760,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",1.022984,0.290619,0.017297,0.922647,-0.015621,0.010847,0.385177
25,2,501760,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.097626,0.046318,0.872199,0.999032,-0.000000,-0.000000,-0.043984
25,2,501760,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083946,-0.077015,0.870861,1.000000,0.000002,0.000099,0.000346
25,2,501760,55,gripper,0,"","put plastic bottle on frying pan",-0.107065,-0.085638,0.930659,-0.014596,-0.758786,-0.012523,0.651056
25,2,501760,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236633,-0.074665,0.888112,0.740064,-0.027101,-0.004927,0.671972
25,2,501760,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.080666,0.092339,0.889707,0.529272,-0.480214,0.522522,0.465013
25,2,501760,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.124062,-0.050198,0.872199,0.996288,0.000000,-0.000000,0.086088
25,2,501760,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.058792,0.068806,0.870871,0.999846,-0.000000,-0.000006,0.017565
25,2,501760,56,gripper,0,"","put plastic bottle on cutting board",-0.120415,0.102531,1.072236,0.077259,-0.726266,0.009206,0.682997
25,2,501760,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.074715,-0.065277,0.888506,0.768427,-0.006291,-0.030227,0.639192
25,2,501760,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.205894,-0.024143,0.889473,0.563171,-0.435828,0.562369,0.420279
25,2,501760,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.233021,0.081360,0.872199,0.996695,0.000000,-0.000001,0.081239
25,2,501760,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.223923,-0.069477,0.870871,0.997303,-0.000013,-0.000010,-0.073398
25,2,501760,57,gripper,0,"","put plastic bottle on cutting board",-0.088274,-0.051834,0.917191,0.122932,-0.758902,0.265846,0.581619
25,2,501760,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.164288,0.059238,0.892626,-0.528663,-0.740078,0.373245,-0.182996
25,2,501760,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.141460,0.179157,0.886091,-0.698697,0.021657,-0.005814,-0.715066
25,2,501760,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235989,0.073933,0.872199,0.999706,-0.000000,-0.000001,0.024253
25,2,501760,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.089275,0.084511,0.870929,0.998466,-0.000031,-0.000735,0.055356
25,2,501760,58,gripper,0,"","put plastic bottle on cutting board",-0.081018,0.154016,0.920725,0.134212,-0.749381,-0.033943,0.647505
25,2,501760,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.194328,-0.044201,0.917367,0.998850,0.019531,0.031304,0.030611
25,2,501760,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.181746,-0.177155,0.017292,0.821978,0.002116,0.022347,-0.569077
25,2,501760,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
25,2,501760,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
25,2,501760,59,gripper,0,"","put plastic bottle on cutting board",-0.200111,-0.042986,0.945582,0.034381,-0.711814,0.048072,0.699877
25,2,501760,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085748,0.111820,0.897063,0.446906,-0.288520,-0.020178,0.846536
25,2,501760,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.116517,0.181759,0.886878,0.730190,0.268851,-0.434159,0.453925
25,2,501760,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
25,2,501760,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.189770,0.074493,0.870870,0.999973,-0.000001,-0.000003,0.007320
25,2,501760,60,gripper,0,"","put hamburger on frying pan",-0.106075,0.106676,0.917870,0.094451,-0.779878,-0.024757,0.618268
25,2,501760,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.088892,-0.062263,0.890336,0.891396,-0.014065,0.020069,0.452563
25,2,501760,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.109037,0.006336,0.890615,0.025081,-0.658088,0.752410,0.013065
25,2,501760,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
25,2,501760,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.080795,-0.095936,0.870865,0.999998,0.000002,0.000053,-0.001751
25,2,501760,61,gripper,0,"","put hamburger on frying pan",-0.099813,0.002851,0.914240,0.075064,-0.685214,0.029546,0.723861
25,2,501760,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.174541,-0.104973,0.893301,0.534404,-0.792273,-0.227363,0.187140
25,2,501760,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.080051,0.095196,0.887027,0.132635,-0.699829,0.118016,0.691896
25,2,501760,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114994,-0.045078,0.872199,0.999999,0.000000,-0.000001,0.001619
25,2,501760,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233158,-0.081059,0.870875,0.999587,0.000727,0.000624,-0.028730
25,2,501760,62,gripper,0,"","put hamburger on frying pan",-0.182886,-0.106705,0.923347,-0.085790,-0.755290,-0.086185,0.644010
25,2,501760,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.111561,0.014557,0.889117,0.021731,-0.018313,-0.075603,0.996733
25,2,501760,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.113186,0.139053,0.891792,-0.001379,-0.616196,0.787056,-0.029054
25,2,501760,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
25,2,501760,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.098106,0.081745,0.870870,0.995958,-0.000000,0.000004,0.089817
25,2,501760,63,gripper,0,"","put hamburger on frying pan",-0.162949,-0.073771,0.954208,0.102855,-0.751823,-0.064386,0.648103
25,3,506880,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.211113,0.051666,0.885085,0.645303,0.316255,-0.338257,0.607577
25,3,506880,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.233200,0.000153,0.887235,0.836611,-0.022724,0.022462,0.546864
25,3,506880,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235031,0.046791,0.869532,0.999937,-0.000001,-0.000001,-0.011223
25,3,506880,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205017,-0.074982,0.871282,0.999999,-0.000450,-0.001264,-0.000061
25,3,506880,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.256271,-0.017704,0.971966,0.149289,-0.727961,0.124810,0.657426
25,3,506880,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.311066,-0.522568,0.010572,-0.284795,0.263982,-0.087953,-0.917316
25,3,506880,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.142967,0.078766,0.883899,0.685149,-0.011508,0.056897,0.726086
25,3,506880,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.137741,-0.066437,0.875525,0.994976,0.007081,-0.091883,-0.039108
25,3,506880,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.267651,0.061913,0.871282,0.989439,-0.000262,-0.001316,0.144945
25,3,506880,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.172028,-0.062340,0.918530,0.074998,-0.773632,0.030853,0.628424
25,3,506880,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.225883,-0.413971,0.010289,-0.821141,-0.172797,0.429607,-0.333626
25,3,506880,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.300671,-0.205765,0.881641,0.194586,-0.040019,0.003411,0.980063
25,3,506880,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.358292,0.018883,0.000732,0.778386,0.000000,-0.000000,-0.627786
25,3,506880,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084972,0.075005,0.871289,0.999999,-0.000157,-0.001020,0.000032
25,3,506880,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.098196,0.017841,0.941090,-0.014670,-0.742545,-0.011103,0.669543
25,3,506880,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.139633,-0.093636,0.881419,0.425444,0.569781,0.642208,-0.286209
25,3,506880,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.099579,-0.149841,0.886160,0.982124,0.026110,0.129170,-0.134409
25,3,506880,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.056200,-0.104706,0.869533,0.982949,0.000010,-0.000010,0.183878
25,3,506880,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.191059,0.075806,0.871288,0.997780,-0.000221,-0.001007,-0.066585
25,3,506880,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.127286,-0.106609,0.926830,-0.079194,-0.764123,-0.082608,0.634839
25,3,506880,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.236264,-0.060036,0.885176,0.563852,0.366019,-0.307884,0.673282
25,3,506880,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.184361,0.049484,0.881729,0.990415,0.004080,0.063164,-0.122766
25,3,506880,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.237202,-0.051857,0.869532,0.998703,-0.000000,-0.000001,-0.050921
25,3,506880,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084992,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000005
25,3,506880,4,gripper,0,"","put kitchen shovel on cloth",-0.233972,-0.058838,0.933912,-0.055060,-0.775141,-0.065991,0.625916
25,3,506880,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.143154,0.126152,0.878981,-0.188928,-0.632457,-0.154708,0.735099
25,3,506880,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.253117,-0.042046,0.952985,0.757229,-0.046920,0.107124,0.642594
25,3,506880,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.065704,-0.090904,0.869533,0.994752,0.000000,-0.000001,-0.102319
25,3,506880,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.086452,0.040665,0.871288,0.987829,-0.000311,-0.000982,-0.155542
25,3,506880,5,gripper,0,"","put kitchen shovel on cloth",-0.272740,-0.029255,1.000805,-0.021247,-0.708397,0.113991,0.696225
25,3,506880,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.220230,-0.052795,0.929204,0.556249,0.447348,-0.347933,0.607790
25,3,506880,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.190804,-0.011513,0.875710,-0.109852,-0.381969,0.917623,-0.000120
25,3,506880,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.212025,-0.066933,0.869532,0.998367,0.000000,0.000000,0.057127
25,3,506880,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000040
25,3,506880,6,gripper,0,"","put kitchen shovel on cloth",-0.240189,-0.055405,0.971082,-0.048389,-0.715037,-0.045737,0.695909
25,3,506880,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.029655,0.088249,0.879373,0.260183,0.269340,0.069844,-0.924599
25,3,506880,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.233894,0.066055,0.889591,0.799521,0.019013,-0.073477,0.595823
25,3,506880,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082279,-0.074593,0.869532,0.999576,-0.000000,-0.000001,-0.029116
25,3,506880,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000300
25,3,506880,7,gripper,0,"","put kitchen shovel on cloth",-0.166574,0.081276,1.043828,0.085253,-0.697535,0.127189,0.700000
25,3,506880,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.210060,0.048958,0.885122,0.510712,0.457546,-0.623522,0.375561
25,3,506880,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.432404,-0.165745,0.015016,0.996925,0.034391,-0.038167,0.059165
25,3,506880,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,-0.000001
25,3,506880,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.406189,-0.099384,0.002488,-0.996564,0.000069,0.001028,-0.082816
25,3,506880,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.137951,0.049154,1.114996,0.116827,-0.794260,0.226870,0.551392
25,3,506880,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.047840,-0.089188,0.879375,0.958926,-0.019125,-0.086091,-0.269597
25,3,506880,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",0.040211,-0.145428,0.004850,0.045403,0.476344,0.874213,0.082387
25,3,506880,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205120,0.045067,0.869532,0.999996,-0.000001,-0.000001,0.002741
25,3,506880,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.238426,-0.078476,0.871290,0.998194,-0.000258,-0.001016,-0.060068
25,3,506880,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.166628,-0.113274,0.908752,-0.021567,-0.575910,0.405761,0.709380
25,3,506880,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.202473,-0.064430,0.885085,0.785340,0.213222,-0.411072,0.410849
25,3,506880,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.156643,-0.114929,0.885872,0.735395,0.028109,-0.022177,0.676692
25,3,506880,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205696,-0.075562,0.869532,0.951832,0.000000,-0.000001,-0.306618
25,3,506880,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871288,1.000000,-0.000158,-0.001020,0.000017
25,3,506880,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.262890,-0.063089,0.967045,0.248570,-0.699574,0.303439,0.597272
25,3,506880,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.056416,0.109989,0.879375,0.737612,0.062808,-0.061932,0.669438
25,3,506880,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.171223,-0.001865,0.919500,0.694188,-0.009409,-0.008432,0.719683
25,3,506880,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.066332,-0.004730,0.873777,0.985182,-0.068508,-0.022289,-0.155645
25,3,506880,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.107010,-0.079601,0.871288,0.999852,-0.000137,-0.001021,0.017190
25,3,506880,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.202176,-0.004313,0.954351,0.000696,-0.720789,-0.027338,0.692615
25,3,506880,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.262144,-0.008953,0.879125,-0.538802,-0.406797,0.657782,-0.333963
25,3,506880,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.173151,0.077892,0.885757,0.620404,0.033801,-0.018724,0.783330
25,3,506880,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.229416,0.078018,0.869532,0.997961,-0.000000,-0.000000,0.063826
25,3,506880,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.050345,-0.145180,0.871289,0.992618,-0.000029,-0.001031,0.121279
25,3,506880,12,gripper,0,"","put ketchup bottle on cloth",-0.226290,0.003263,0.989474,0.084832,-0.711657,0.137652,0.683666
25,3,506880,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.232985,-0.095562,0.885122,0.514499,0.451229,-0.628072,0.370417
25,3,506880,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.239971,0.044048,0.889528,0.787072,0.018925,-0.075711,0.611904
25,3,506880,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205799,-0.081039,0.869532,0.999628,-0.000000,-0.000001,-0.027276
25,3,506880,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235014,0.045017,0.871288,0.999999,-0.000154,-0.001020,0.000039
25,3,506880,13,gripper,0,"","put ketchup bottle on cloth",-0.198263,0.064962,1.005337,0.043650,-0.700606,0.149029,0.696446
25,3,506880,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.164944,-0.179554,0.879125,0.478670,0.506463,-0.584496,0.415613
25,3,506880,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.113480,-0.045303,0.889171,0.984342,-0.059747,-0.116508,-0.118009
25,3,506880,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205318,0.076199,0.869532,0.999997,0.000000,-0.000000,0.002550
25,3,506880,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.068596,-0.070488,0.871288,0.969480,0.000100,-0.001026,0.245169
25,3,506880,14,gripper,0,"","put ketchup bottle on cloth",-0.282934,-0.141548,0.913024,0.087628,-0.560477,0.345426,0.747575
25,3,506880,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.176445,-0.152035,0.879089,-0.537241,-0.367318,0.281976,-0.704939
25,3,506880,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082226,-0.074703,0.881638,0.364483,0.034781,-0.018400,0.930378
25,3,506880,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000028
25,3,506880,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.261536,-0.058670,0.871288,0.992191,-0.000026,-0.001030,0.124725
25,3,506880,15,gripper,0,"","put ketchup bottle on cloth",-0.246721,-0.067781,0.956576,-0.029310,-0.756726,-0.031393,0.652320
25,3,506880,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.238518,0.082893,0.886600,0.964346,0.006233,-0.010064,0.264380
25,3,506880,16,obj,1,"005_7up can_1","put 7up can on newspaper",0.214554,-0.011051,0.017049,-0.095853,-0.717735,-0.096749,0.682868
25,3,506880,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115028,0.045372,0.869489,1.000000,0.000180,0.000875,-0.000466
25,3,506880,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,0.074966,0.870425,0.999996,-0.000689,-0.001238,0.002297
25,3,506880,16,gripper,0,"","put 7up can on newspaper",-0.129787,0.047586,0.994934,-0.026308,-0.722766,-0.042921,0.689256
25,3,506880,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.099030,-0.130032,0.884026,-0.033880,-0.125020,0.990146,-0.053230
25,3,506880,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.041161,-0.085281,0.887094,-0.370727,0.647803,0.380397,0.546086
25,3,506880,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
25,3,506880,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.103584,-0.033279,0.870462,0.999935,0.000036,-0.000158,0.011360
25,3,506880,17,gripper,0,"","put 7up can on newspaper",-0.070343,-0.119909,0.914452,-0.028460,-0.795317,-0.023378,0.605074
25,3,506880,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.195633,-0.049191,0.886585,0.993595,0.000168,-0.011002,-0.112463
25,3,506880,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.002701,0.095680,0.885949,0.357910,-0.119269,0.925221,0.040527
25,3,506880,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
25,3,506880,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205238,-0.075653,0.870421,0.999984,-0.000250,-0.000836,-0.005647
25,3,506880,18,gripper,0,"","put 7up can on newspaper",-0.208574,-0.035908,0.944313,0.094891,-0.695402,0.138607,0.698713
25,3,506880,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.200504,0.063171,0.886202,0.991785,-0.002078,0.002838,-0.127871
25,3,506880,19,obj,1,"005_7up can_1","put 7up can on newspaper",0.098436,-0.019444,0.016815,0.919453,-0.061537,0.142238,0.361369
25,3,506880,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205118,0.045067,0.869489,0.999999,0.000546,0.001422,-0.000185
25,3,506880,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115038,-0.044891,0.871111,0.999983,0.000060,0.005813,0.000085
25,3,506880,19,gripper,0,"","put 7up can on newspaper",-0.138990,0.131163,0.913659,0.305610,-0.661590,0.342048,0.593215
25,3,506880,20,obj,0,"003_bread_1","put 7up can on carpet",-0.120919,-0.065868,0.886812,0.676377,0.010443,-0.003515,0.736473
25,3,506880,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.115083,0.154659,0.886244,-0.251420,-0.287584,0.920825,-0.078521
25,3,506880,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235356,-0.075676,0.869490,0.999998,0.000179,0.000875,0.001580
25,3,506880,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.082115,-0.076366,0.870448,0.999980,-0.000919,-0.000852,0.006223
25,3,506880,20,gripper,0,"","put 7up can on carpet",-0.151153,0.101130,0.919315,0.175492,-0.744980,0.031623,0.642812
25,3,506880,21,obj,0,"003_bread_1","put 7up can on carpet",-0.192711,-0.029949,0.885887,0.999078,0.002891,0.007609,0.042148
25,3,506880,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.327652,0.048485,0.885673,-0.909472,-0.035890,-0.403455,0.093793
25,3,506880,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204996,-0.074978,0.869490,1.000000,0.000180,0.000875,-0.000163
25,3,506880,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.088150,0.073536,0.870448,0.999970,-0.000154,-0.000180,-0.007680
25,3,506880,21,gripper,0,"","put 7up can on carpet",-0.211522,-0.032633,0.944357,0.116258,-0.649376,0.218728,0.718994
25,3,506880,22,obj,0,"003_bread_1","put 7up can on carpet",-0.179550,0.009113,0.886314,0.537703,0.014627,-0.001242,0.843007
25,3,506880,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.276913,-0.245564,0.885746,0.612920,0.381700,-0.468605,0.508963
25,3,506880,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000101
25,3,506880,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.212929,-0.043583,0.870378,0.990546,0.000219,-0.000955,0.137174
25,3,506880,22,gripper,0,"","put 7up can on carpet",-0.288778,-0.221237,0.935110,-0.213209,-0.635774,-0.012226,0.741744
25,3,506880,23,obj,0,"003_bread_1","put 7up can on carpet",-0.135574,-0.085293,0.886654,0.257383,0.014108,-0.012464,-0.966126
25,3,506880,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.181812,-0.018566,0.885885,-0.434606,0.551509,0.572277,0.423621
25,3,506880,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084972,-0.074993,0.869490,1.000000,0.000180,0.000874,-0.000110
25,3,506880,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.204613,-0.077923,0.870448,0.999993,-0.000436,-0.000428,0.003778
25,3,506880,23,gripper,0,"","put 7up can on carpet",-0.199820,-0.018396,0.935190,0.039530,-0.755826,0.025090,0.653096
25,3,506880,24,obj,0,"003_bread_1","put bread on newspaper",-0.211472,-0.037603,0.886494,0.205696,0.011322,0.005065,0.978537
25,3,506880,24,obj,1,"005_7up can_1","put bread on newspaper",40.245125,-87.199890,-3117.782715,-0.286656,-0.744934,0.382985,0.464999
25,3,506880,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000002
25,3,506880,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.074961,0.870466,0.999999,-0.000946,-0.001044,-0.000129
25,3,506880,24,gripper,0,"","put bread on newspaper",-0.245144,-0.010401,0.965151,0.142108,-0.746879,0.108092,0.640542
25,3,506880,25,obj,0,"003_bread_1","put bread on newspaper",-0.215675,0.078291,0.886641,0.867474,-0.011697,0.001726,-0.497341
25,3,506880,25,obj,1,"005_7up can_1","put bread on newspaper",-0.207863,-0.017860,0.979357,0.242875,0.647890,0.677410,-0.249731
25,3,506880,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.205013,0.075008,0.869490,1.000000,0.000180,0.000874,0.000071
25,3,506880,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075048,0.870448,0.999999,-0.000923,-0.000845,-0.000081
25,3,506880,25,gripper,0,"","put bread on newspaper",-0.213833,-0.012229,1.015987,-0.075055,-0.722167,0.037524,0.686610
25,3,506880,26,obj,0,"003_bread_1","put bread on newspaper",-0.189781,0.024286,0.886068,0.986861,-0.002310,0.003352,-0.161521
25,3,506880,26,obj,1,"005_7up can_1","put bread on newspaper",-0.098110,0.059639,0.889113,0.214127,0.733060,0.577398,-0.288763
25,3,506880,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.197273,0.045401,0.869490,0.998988,0.000152,0.000902,0.044965
25,3,506880,26,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075029,0.870461,1.000000,0.000020,-0.000158,-0.000136
25,3,506880,26,gripper,0,"","put bread on newspaper",-0.196615,-0.021797,0.965193,0.106490,-0.767693,0.027709,0.631300
25,3,506880,27,obj,0,"003_bread_1","put bread on newspaper",-0.195684,-0.033960,0.886645,0.813074,0.010939,-0.002855,0.582051
25,3,506880,27,obj,1,"005_7up can_1","put bread on newspaper",-0.133171,-0.062996,0.889148,0.232454,0.654441,-0.663570,0.278115
25,3,506880,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084627,-0.074968,0.869490,0.999995,0.000183,0.000877,-0.003036
25,3,506880,27,recep,1,"003_carpet_1","put bread on newspaper",-0.205894,-0.074732,0.870447,0.999981,-0.000125,-0.000159,0.006099
25,3,506880,27,gripper,0,"","put bread on newspaper",-0.232596,0.058767,0.988443,0.044519,-0.681440,0.183341,0.707138
25,3,506880,28,obj,0,"003_bread_1","put bread on carpet",-0.118949,-0.010349,0.886488,0.882848,0.015725,0.005373,0.469365
25,3,506880,28,obj,1,"005_7up can_1","put bread on carpet",-0.103895,0.071192,0.889003,0.438534,0.562491,-0.540155,0.446683
25,3,506880,28,recep,0,"004_newspaper_1","put bread on carpet",-0.115027,-0.045002,0.869490,1.000000,0.000180,0.000874,-0.000034
25,3,506880,28,recep,1,"003_carpet_1","put bread on carpet",-0.071237,0.090204,0.870461,0.983180,-0.000010,-0.000159,-0.182639
25,3,506880,28,gripper,0,"","put bread on carpet",-0.126787,0.050878,0.994421,0.013084,-0.731203,-0.058233,0.679544
25,3,506880,29,obj,0,"003_bread_1","put bread on carpet",-0.214834,-0.047138,0.886810,0.958047,0.009748,-0.013212,0.286141
25,3,506880,29,obj,1,"005_7up can_1","put bread on carpet",-0.168970,-0.069738,0.888433,0.622453,-0.083127,0.063337,0.775649
25,3,506880,29,recep,0,"004_newspaper_1","put bread on carpet",-0.085829,0.078487,0.869490,0.984633,0.000024,0.000893,0.174636
25,3,506880,29,recep,1,"003_carpet_1","put bread on carpet",-0.204756,-0.075054,0.870416,1.000000,-0.000058,-0.000705,0.000004
25,3,506880,29,gripper,0,"","put bread on carpet",-0.092389,0.053910,0.937680,0.124640,-0.759594,0.043571,0.636854
25,3,506880,30,obj,0,"003_bread_1","put bread on carpet",-0.204304,0.028458,0.885567,0.962995,0.012057,0.001930,0.269241
25,3,506880,30,obj,1,"005_7up can_1","put bread on carpet",0.190506,0.039011,0.017136,0.404531,-0.056692,0.912559,0.019441
25,3,506880,30,recep,0,"004_newspaper_1","put bread on carpet",-0.225655,0.075766,0.869490,0.998651,0.000468,0.001440,0.051902
25,3,506880,30,recep,1,"003_carpet_1","put bread on carpet",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
25,3,506880,30,gripper,0,"","put bread on carpet",-0.207361,0.002352,0.975443,0.086148,-0.734419,0.118337,0.662724
25,3,506880,31,obj,0,"003_bread_1","put bread on carpet",-0.103615,-0.045805,0.886639,0.404816,0.012759,-0.001500,0.914308
25,3,506880,31,obj,1,"005_7up can_1","put bread on carpet",-0.176273,-0.207983,0.885866,0.338029,-0.666808,0.456156,0.482726
25,3,506880,31,recep,0,"004_newspaper_1","put bread on carpet",-0.237724,-0.076643,0.869490,0.999962,0.000173,0.000875,0.008720
25,3,506880,31,recep,1,"003_carpet_1","put bread on carpet",-0.084061,-0.070162,0.870350,0.999873,-0.000414,-0.001728,-0.015820
25,3,506880,31,gripper,0,"","put bread on carpet",-0.225080,-0.068815,0.916815,0.165625,-0.693410,0.255903,0.652890
25,3,506880,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093094,-0.068742,0.887281,0.918037,-0.007041,0.033450,0.395019
25,3,506880,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234703,0.044694,0.878547,0.923698,0.011490,0.006980,0.382885
25,3,506880,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000021
25,3,506880,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
25,3,506880,32,gripper,0,"","put banana on sheet metal",-0.202488,0.065246,1.015376,0.036924,-0.754162,0.121714,0.644253
25,3,506880,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.214481,0.040169,0.899257,0.999003,0.000500,0.042899,-0.012358
25,3,506880,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
25,3,506880,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,3,506880,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.234997,0.075000,0.874362,1.000000,0.000000,-0.000001,0.000027
25,3,506880,33,gripper,0,"","put banana on sheet metal",-0.064585,0.072289,0.973606,0.131112,-0.727612,0.120097,0.662545
25,3,506880,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.103928,0.067686,0.887451,0.257461,-0.034362,0.007616,0.965648
25,3,506880,34,obj,1,"013_banana_1","put banana on sheet metal",-0.114697,-0.044686,0.878547,0.382310,0.003183,0.013047,0.923936
25,3,506880,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
25,3,506880,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
25,3,506880,34,gripper,0,"","put banana on sheet metal",-0.092249,-0.020990,0.957089,-0.018472,-0.767024,0.000223,0.641352
25,3,506880,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205502,0.076778,0.887529,0.708701,-0.030467,0.030660,0.704184
25,3,506880,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007935,0.010838,0.707290
25,3,506880,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,3,506880,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
25,3,506880,35,gripper,0,"","put banana on sheet metal",-0.063382,0.011602,1.027326,0.279941,-0.682980,0.278077,0.614691
25,3,506880,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122367,0.065267,0.887281,0.384702,-0.023029,0.004157,0.922744
25,3,506880,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,-0.074683,0.878548,0.382182,0.003187,0.013065,0.923989
25,3,506880,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
25,3,506880,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000001
25,3,506880,36,gripper,0,"","put banana on flat bowl",-0.054219,-0.038671,0.968937,-0.039079,-0.765074,0.156408,0.623435
25,3,506880,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.081501,-0.112484,0.887583,0.557004,-0.023599,0.019661,0.829942
25,3,506880,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011509,0.006992,0.382998
25,3,506880,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
25,3,506880,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
25,3,506880,37,gripper,0,"","put banana on flat bowl",-0.075501,0.084470,0.967278,0.243772,-0.789832,0.243247,0.507515
25,3,506880,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.102642,0.075666,0.887293,0.629348,-0.020704,0.024490,0.776462
25,3,506880,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007948,0.010847,0.707323
25,3,506880,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
25,3,506880,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
25,3,506880,38,gripper,0,"","put banana on flat bowl",-0.068960,-0.026792,0.971784,0.054081,-0.783778,0.168582,0.595271
25,3,506880,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088211,0.082826,0.887504,0.661956,-0.030240,0.027477,0.748428
25,3,506880,39,obj,1,"013_banana_1","put banana on flat bowl",-0.204559,-0.074995,0.878547,0.706802,0.007993,0.010900,0.707283
25,3,506880,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
25,3,506880,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
25,3,506880,39,gripper,0,"","put banana on flat bowl",-0.166197,-0.025625,0.992633,-0.078732,-0.716765,0.064372,0.689859
25,3,506880,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118004,0.042894,0.887547,0.741359,-0.020102,0.025004,0.670341
25,3,506880,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234573,0.075022,0.878547,0.707967,0.007982,0.010857,0.706116
25,3,506880,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075041,0.871344,0.999999,-0.000157,0.001164,-0.000123
25,3,506880,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.045000,0.874362,1.000000,0.000001,0.000000,0.000200
25,3,506880,40,gripper,0,"","put carrot on sheet metal",-0.082146,0.080119,0.990175,0.121907,-0.723140,0.143576,0.664525
25,3,506880,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.339165,-0.057753,0.018722,0.825450,-0.024386,0.035279,0.562843
25,3,506880,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,0.074562,0.878547,0.999910,0.013270,0.002041,-0.000499
25,3,506880,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
25,3,506880,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
25,3,506880,41,gripper,0,"","put carrot on sheet metal",-0.161324,-0.029014,1.016762,-0.282425,-0.707329,-0.160642,0.627786
25,3,506880,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093327,-0.074009,0.887470,0.921378,-0.007919,0.020904,0.388024
25,3,506880,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204575,0.074623,0.878547,0.924445,0.011483,0.006947,0.381078
25,3,506880,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
25,3,506880,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
25,3,506880,42,gripper,0,"","put carrot on sheet metal",-0.060658,0.085190,0.965416,0.070981,-0.720210,0.151648,0.673248
25,3,506880,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.211279,-0.058506,0.887577,0.990106,-0.000605,0.028383,0.137417
25,3,506880,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234991,0.074562,0.878547,0.999909,0.013285,0.002036,-0.000891
25,3,506880,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
25,3,506880,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
25,3,506880,43,gripper,0,"","put carrot on sheet metal",-0.099781,0.038350,0.987926,0.039398,-0.773519,0.083438,0.627021
25,3,506880,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.234290,0.081448,0.887294,0.981996,-0.000168,0.034670,0.185695
25,3,506880,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,-0.075314,0.878547,0.923619,0.011543,0.007011,0.383074
25,3,506880,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084992,-0.075003,0.871344,0.999999,-0.000157,0.001164,-0.000033
25,3,506880,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000001
25,3,506880,44,gripper,0,"","put carrot on flat bowl",-0.212315,0.090036,0.983865,-0.237976,-0.647500,-0.201211,0.695431
25,3,506880,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094908,-0.077642,0.887393,0.756008,-0.021725,0.031097,0.653462
25,3,506880,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.100700,0.069162,0.878547,0.637349,0.006904,0.011565,0.770457
25,3,506880,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
25,3,506880,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874362,1.000000,0.000001,-0.000001,-0.000006
25,3,506880,45,gripper,0,"","put carrot on flat bowl",-0.087134,-0.051071,0.981347,-0.067433,-0.727768,0.065270,0.679373
25,3,506880,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.254040,0.073957,0.887435,0.740144,-0.020239,0.024701,0.671690
25,3,506880,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.204548,-0.044977,0.878547,0.707665,0.007974,0.010854,0.706420
25,3,506880,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
25,3,506880,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
25,3,506880,46,gripper,0,"","put carrot on flat bowl",-0.210785,0.098584,0.950133,0.087482,-0.686934,0.109073,0.713142
25,3,506880,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.215729,0.068249,0.895979,0.987147,0.109305,0.050420,-0.105124
25,3,506880,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,0.074690,0.878547,0.924024,0.011510,0.006978,0.382096
25,3,506880,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
25,3,506880,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205017,0.045166,0.874362,0.999996,0.000001,-0.000002,-0.003014
25,3,506880,47,gripper,0,"","put carrot on flat bowl",-0.089638,-0.030827,0.967930,0.096367,-0.738937,0.046794,0.665204
25,3,506880,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.219421,-0.033962,0.890406,0.621110,-0.026815,-0.006858,0.783234
25,3,506880,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.039902,-0.047642,0.887031,0.699713,-0.095611,0.703526,0.079442
25,3,506880,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
25,3,506880,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,-0.075024,0.870870,1.000000,0.000000,-0.000000,0.000286
25,3,506880,48,gripper,0,"","put plastic bottle on frying pan",-0.013649,-0.076994,0.916852,-0.070577,-0.849475,0.224239,0.472365
25,3,506880,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.180779,-0.116421,0.891736,0.073543,-0.817098,-0.033971,-0.570779
25,3,506880,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.060795,0.029705,0.891071,0.335713,-0.652922,0.531568,0.422404
25,3,506880,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.087566,-0.088528,0.872199,0.999671,-0.000000,-0.000001,0.025655
25,3,506880,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.074997,0.870870,1.000000,0.000000,-0.000001,-0.000064
25,3,506880,49,gripper,0,"","put plastic bottle on frying pan",-0.090406,0.025478,0.926566,-0.064294,-0.781099,-0.078005,0.616170
25,3,506880,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.179546,0.095173,0.890482,0.988522,-0.023464,0.018320,-0.148114
25,3,506880,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.059566,0.063988,0.894399,0.724621,-0.023490,0.003313,0.688739
25,3,506880,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084942,0.048939,0.872199,0.999947,-0.000000,-0.000001,0.010308
25,3,506880,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.206142,0.073425,0.870871,0.999995,-0.000008,-0.000006,-0.003000
25,3,506880,50,gripper,0,"","put plastic bottle on frying pan",-0.108690,0.059099,1.038418,0.101209,-0.697832,0.082811,0.704223
25,3,506880,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.217403,-0.030830,0.890388,0.953324,-0.028696,0.008443,0.300463
25,3,506880,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.211288,0.161316,0.888137,0.625570,-0.361596,0.549949,0.418887
25,3,506880,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.215322,0.076302,0.872199,0.996448,-0.000000,-0.000000,0.084215
25,3,506880,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234846,-0.075005,0.870870,1.000000,0.000001,-0.000000,0.000264
25,3,506880,51,gripper,0,"","put plastic bottle on frying pan",-0.219817,0.158991,0.917628,0.236043,-0.641030,0.035756,0.729442
25,3,506880,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.196698,-0.029671,0.890552,0.606460,-0.025318,-0.006382,0.794685
25,3,506880,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.201079,0.036011,0.901618,-0.130964,-0.562333,0.797588,-0.174594
25,3,506880,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.232316,0.043407,0.872203,0.999574,-0.000077,-0.000027,0.029192
25,3,506880,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205757,-0.079498,0.870870,0.999977,0.000000,0.000000,0.006803
25,3,506880,52,gripper,0,"","put plastic bottle on cutting board",-0.232208,0.045181,0.921025,0.087189,-0.752599,0.116914,0.642124
25,3,506880,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085951,-0.074383,0.888112,0.713333,-0.026886,-0.005974,0.700283
25,3,506880,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.116558,0.057041,0.889700,0.485021,-0.523230,0.481730,0.508842
25,3,506880,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235695,0.076260,0.872199,0.999854,0.000000,-0.000001,0.017089
25,3,506880,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,0.044945,0.870871,1.000000,0.000000,-0.000011,0.000093
25,3,506880,53,gripper,0,"","put plastic bottle on cutting board",-0.098671,0.000092,1.094123,0.104495,-0.728453,0.117203,0.666858
25,3,506880,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.173820,-0.080368,0.888463,0.961616,0.027077,0.053186,0.267829
25,3,506880,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.100548,-0.078922,0.889002,-0.382302,-0.602196,0.374743,-0.592260
25,3,506880,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235077,0.045010,0.872199,0.999998,0.000000,-0.000000,-0.002207
25,3,506880,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084976,-0.074959,0.870883,0.999999,0.000692,0.000704,-0.000539
25,3,506880,54,gripper,0,"","put plastic bottle on cutting board",-0.137398,0.003868,1.012756,-0.178047,-0.700953,-0.158032,0.672302
25,3,506880,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.087757,-0.080864,0.890654,0.994187,-0.027075,0.013122,0.103380
25,3,506880,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",1.022999,0.290638,0.017295,0.922612,-0.016251,0.011762,0.385207
25,3,506880,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.068565,0.059010,0.872200,0.999080,-0.000001,-0.000001,-0.042887
25,3,506880,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083950,-0.077061,0.870870,1.000000,0.000000,-0.000001,0.000450
25,3,506880,55,gripper,0,"","put plastic bottle on cutting board",-0.156166,0.044811,0.930210,-0.002980,-0.747260,-0.053373,0.662378
25,3,506880,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.212929,-0.025375,0.888778,0.724175,0.008892,0.024598,0.689120
25,3,506880,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.080551,0.092358,0.889709,0.529719,-0.479572,0.522985,0.464645
25,3,506880,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.124062,-0.050198,0.872199,0.996295,-0.000000,-0.000000,0.086006
25,3,506880,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.058784,0.068844,0.870871,0.999852,-0.000000,0.000001,0.017222
25,3,506880,56,gripper,0,"","put hamburger on frying pan",-0.230526,-0.028120,0.913587,-0.020138,-0.710010,-0.041773,0.702663
25,3,506880,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.231979,0.094624,0.895307,0.947722,0.044198,-0.069018,0.308393
25,3,506880,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205818,-0.023811,0.889474,0.563234,-0.435749,0.562473,0.420136
25,3,506880,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.233021,0.081360,0.872199,0.996694,-0.000000,-0.000001,0.081245
25,3,506880,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.223927,-0.069309,0.870873,0.997308,-0.000021,-0.000012,-0.073326
25,3,506880,57,gripper,0,"","put hamburger on frying pan",-0.148443,0.041931,1.039288,0.145590,-0.681345,0.302182,0.650583
25,3,506880,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.229061,0.053337,0.898058,0.301671,-0.235790,0.780754,-0.493782
25,3,506880,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.141464,0.179157,0.886091,-0.698892,0.021648,-0.005815,-0.714876
25,3,506880,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.237988,0.073734,0.872199,0.999467,-0.000001,-0.000001,0.032648
25,3,506880,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.078804,0.084949,0.870870,0.995874,-0.000000,-0.000001,0.090751
25,3,506880,58,gripper,0,"","put hamburger on frying pan",-0.159292,-0.021618,1.038916,0.050965,-0.737732,-0.002747,0.673161
25,3,506880,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.214588,0.083187,0.894451,0.984011,0.058389,0.049150,0.160924
25,3,506880,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.181746,-0.177155,0.017292,0.821964,0.002116,0.022347,-0.569098
25,3,506880,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000014
25,3,506880,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
25,3,506880,59,gripper,0,"","put hamburger on frying pan",-0.157491,0.024712,1.024429,0.078263,-0.658006,0.068716,0.745776
25,3,506880,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082381,0.100121,0.888112,0.602266,-0.025710,-0.009875,0.797820
25,3,506880,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.119727,0.174850,0.885720,0.614527,0.369105,-0.584737,0.379738
25,3,506880,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000000
25,3,506880,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.189770,0.074493,0.870870,0.999973,0.000002,0.000001,0.007320
25,3,506880,60,gripper,0,"","put hamburger on cutting board",-0.068334,-0.021681,0.947138,0.105833,-0.717658,0.096916,0.681450
25,3,506880,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.066452,-0.055370,0.891360,0.851466,-0.092792,-0.009768,0.516043
25,3,506880,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107927,0.006844,0.889773,0.027984,-0.642605,0.765244,0.026008
25,3,506880,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.196377,-0.075935,0.872199,0.994524,-0.000000,-0.000001,-0.104509
25,3,506880,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.071293,-0.093525,0.870870,0.998776,0.000000,-0.000001,-0.049458
25,3,506880,61,gripper,0,"","put hamburger on cutting board",-0.105023,-0.076729,0.929750,-0.090895,-0.778254,-0.063965,0.618034
25,3,506880,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.170383,-0.102711,0.892091,0.517521,-0.797661,-0.152858,0.269338
25,3,506880,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.011154,0.107563,0.887026,-0.441983,-0.542581,-0.457483,0.548604
25,3,506880,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114994,-0.045078,0.872199,0.999999,0.000000,-0.000001,0.001515
25,3,506880,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233158,-0.081059,0.870873,0.999590,0.000719,0.000610,-0.028608
25,3,506880,62,gripper,0,"","put hamburger on cutting board",-0.221649,0.003620,0.987203,-0.009798,-0.664258,0.042617,0.746223
25,3,506880,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.070206,0.024410,0.888623,-0.233932,-0.012652,-0.059053,0.970376
25,3,506880,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.113319,0.150402,0.891275,-0.096883,-0.688486,0.711474,-0.102012
25,3,506880,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
25,3,506880,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.087429,0.092632,0.870870,0.980565,0.000001,-0.000004,0.196195
25,3,506880,63,gripper,0,"","put hamburger on cutting board",-0.136887,0.002453,0.913725,0.042716,-0.720948,0.090547,0.685719
25,4,512000,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211113,0.051674,0.885085,0.645315,0.316250,-0.338268,0.607560
25,4,512000,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.233154,0.000183,0.887230,0.835834,-0.022307,0.021683,0.548100
25,4,512000,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235031,0.046791,0.869532,0.999937,-0.000000,-0.000001,-0.011217
25,4,512000,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205017,-0.074982,0.871282,0.999999,-0.000451,-0.001265,-0.000003
25,4,512000,0,gripper,0,"","put kitchen shovel on cloth",-0.056015,0.171043,0.916282,0.090447,-0.735127,0.022985,0.671476
25,4,512000,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.311066,-0.522568,0.010572,-0.284795,0.263982,-0.087953,-0.917316
25,4,512000,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.140102,0.086777,0.883822,0.665858,-0.015956,0.057846,0.743662
25,4,512000,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.141041,-0.066002,0.869532,0.999704,0.000001,-0.000001,-0.024346
25,4,512000,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.267647,0.061905,0.871282,0.989428,-0.000262,-0.001316,0.145017
25,4,512000,1,gripper,0,"","put kitchen shovel on cloth",-0.231308,-0.020016,0.914659,0.004151,-0.750755,0.031213,0.659830
25,4,512000,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.225883,-0.413971,0.010289,-0.821140,-0.172794,0.429625,-0.333607
25,4,512000,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.293701,-0.229927,0.881584,0.185011,0.038313,-0.013136,0.981901
25,4,512000,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.358292,0.018883,0.000732,0.778386,0.000000,0.000000,-0.627786
25,4,512000,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084969,0.075005,0.871288,1.000000,-0.000154,-0.001019,0.000045
25,4,512000,2,gripper,0,"","put kitchen shovel on cloth",-0.286213,-0.142815,0.937086,-0.040555,-0.715367,0.146952,0.681917
25,4,512000,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.229794,0.070694,0.885707,0.275497,0.718250,0.585696,-0.255301
25,4,512000,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.098782,-0.153542,0.885758,0.991698,0.001966,-0.035323,-0.123625
25,4,512000,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.055477,-0.106125,0.869532,0.977966,-0.000000,0.000000,0.208761
25,4,512000,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.191059,0.075813,0.871288,0.997778,-0.000221,-0.001006,-0.066618
25,4,512000,3,gripper,0,"","put kitchen shovel on cloth",-0.215578,-0.007626,0.972347,0.065795,-0.697785,-0.000093,0.713279
25,4,512000,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.236317,-0.059723,0.885085,0.569054,0.353961,-0.298536,0.679534
25,4,512000,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.139118,0.033653,0.881638,0.953829,-0.015903,-0.036024,-0.297759
25,4,512000,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.237180,-0.051865,0.869532,0.998680,0.000001,-0.000000,-0.051367
25,4,512000,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084992,-0.074997,0.871288,0.999999,-0.000155,-0.001019,-0.000005
25,4,512000,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.183250,0.064137,0.914708,0.105553,-0.727473,0.194205,0.649559
25,4,512000,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.126017,-0.111259,0.879105,-0.142880,0.451270,0.072181,0.877913
25,4,512000,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.255493,-0.046417,0.881638,0.783145,0.020811,-0.033417,0.620592
25,4,512000,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.065702,-0.090904,0.869531,0.994754,-0.000000,-0.000002,-0.102297
25,4,512000,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.086452,0.040665,0.871288,0.987831,-0.000310,-0.000983,-0.155528
25,4,512000,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.247949,-0.161472,0.914904,0.340257,-0.588394,0.369685,0.633522
25,4,512000,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218426,-0.038589,0.885369,0.686389,-0.190500,0.202807,0.671900
25,4,512000,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.184669,-0.020744,0.880461,-0.307400,-0.383581,0.856996,-0.154689
25,4,512000,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.208088,-0.067787,0.869532,0.999991,-0.000002,0.000003,0.004176
25,4,512000,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114143,0.045303,0.871282,0.999989,-0.000442,-0.001264,0.004398
25,4,512000,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.242981,-0.023628,0.964745,-0.097654,-0.696987,-0.139575,0.696557
25,4,512000,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.029659,0.088249,0.879373,0.260236,0.269333,0.069858,-0.924585
25,4,512000,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.224674,0.003937,0.881751,0.715242,0.031957,-0.034209,0.697307
25,4,512000,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082279,-0.074593,0.869532,0.999576,-0.000000,-0.000000,-0.029116
25,4,512000,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.227295,0.069092,0.871288,0.997050,-0.000075,-0.001028,0.076747
25,4,512000,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.241978,0.002350,0.943897,0.027532,-0.772986,0.005449,0.633802
25,4,512000,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.210060,0.048958,0.885122,0.510667,0.457598,-0.623513,0.375573
25,4,512000,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.432381,-0.165741,0.015014,0.996878,0.034388,-0.038141,0.059972
25,4,512000,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044998,0.869532,1.000000,0.000000,-0.000001,-0.000048
25,4,512000,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.406189,-0.099384,0.002488,-0.996559,0.000069,0.001028,-0.082879
25,4,512000,8,gripper,0,"","put ketchup bottle on cloth",-0.166203,0.029495,1.101521,0.089617,-0.750187,0.163538,0.634385
25,4,512000,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200371,0.045609,0.919142,0.485941,-0.521999,-0.580178,-0.393410
25,4,512000,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",0.040218,-0.145443,0.004850,0.045363,0.475919,0.874444,0.082409
25,4,512000,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205120,0.045067,0.869532,0.999996,-0.000001,-0.000001,0.002744
25,4,512000,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.239422,-0.079517,0.871288,0.996676,-0.000236,-0.001003,-0.081466
25,4,512000,9,gripper,0,"","put ketchup bottle on cloth",-0.216328,0.044380,0.962572,-0.054732,-0.765094,-0.044357,0.640053
25,4,512000,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202454,-0.079266,0.885715,-0.326095,0.612424,-0.656028,-0.297028
25,4,512000,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131824,-0.079617,0.889647,0.566496,0.024074,-0.036004,0.822925
25,4,512000,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.199783,-0.068451,0.869532,0.966460,0.000000,-0.000000,-0.256819
25,4,512000,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000045
25,4,512000,10,gripper,0,"","put ketchup bottle on cloth",-0.298517,-0.119820,0.913187,0.251884,-0.716272,0.028970,0.650130
25,4,512000,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.105818,0.109112,0.879722,-0.621391,-0.009491,0.005347,-0.783425
25,4,512000,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.174562,-0.006363,0.884937,0.691218,-0.057622,0.023624,0.719958
25,4,512000,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.066429,-0.004204,0.873728,0.985380,-0.067695,-0.022095,-0.154777
25,4,512000,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.107014,-0.079605,0.871288,0.999851,-0.000136,-0.001021,0.017219
25,4,512000,11,gripper,0,"","put ketchup bottle on cloth",-0.130292,-0.032387,0.936547,-0.098627,-0.760891,-0.061514,0.638384
25,4,512000,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.264625,0.034760,0.879116,0.087749,-0.464585,0.879984,0.045693
25,4,512000,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.168596,0.085304,0.885759,0.614616,0.031420,-0.016495,0.788027
25,4,512000,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.224810,0.084568,0.869532,0.997380,-0.000001,0.000000,0.072339
25,4,512000,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.050345,-0.145180,0.871289,0.992618,-0.000029,-0.001030,0.121279
25,4,512000,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.291222,-0.009310,0.915231,0.057860,-0.741755,0.017728,0.667935
25,4,512000,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.232988,-0.095554,0.885122,0.514740,0.450774,-0.628462,0.369974
25,4,512000,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.238289,0.049919,0.889583,0.741856,0.004393,-0.045061,0.669029
25,4,512000,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205799,-0.081028,0.869532,0.999627,0.000000,-0.000000,-0.027304
25,4,512000,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235025,0.045021,0.871328,0.999997,-0.002097,-0.001275,0.000095
25,4,512000,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.224648,0.053089,0.921573,0.075969,-0.700334,0.082875,0.704906
25,4,512000,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.164944,-0.179554,0.879125,0.478667,0.506463,-0.584508,0.415600
25,4,512000,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.020203,-0.060837,0.889185,0.982861,-0.057574,0.053210,0.166846
25,4,512000,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205318,0.076199,0.869532,0.999997,0.000000,-0.000000,0.002550
25,4,512000,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.000607,-0.096523,0.871398,0.990618,-0.002113,-0.002211,0.136623
25,4,512000,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.060305,-0.041790,0.914624,0.151070,-0.764223,0.275218,0.563380
25,4,512000,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199371,-0.025082,0.913975,-0.545906,-0.504121,0.290807,-0.602726
25,4,512000,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.074425,-0.069702,0.881642,0.360764,-0.038862,0.010278,0.931790
25,4,512000,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000041
25,4,512000,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.261536,-0.058670,0.871288,0.992194,-0.000026,-0.001031,0.124700
25,4,512000,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.228304,-0.035950,0.957228,-0.040943,-0.714082,-0.117499,0.688915
25,4,512000,16,obj,0,"003_bread_1","put 7up can on carpet",-0.247925,0.086338,0.886572,0.912181,0.006717,-0.006165,0.409685
25,4,512000,16,obj,1,"005_7up can_1","put 7up can on carpet",0.214554,-0.011051,0.017049,-0.095823,-0.717740,-0.096719,0.682871
25,4,512000,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.115028,0.045372,0.869489,1.000000,0.000180,0.000874,-0.000443
25,4,512000,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.235016,0.074970,0.870364,0.999987,-0.000454,-0.001659,0.004732
25,4,512000,16,gripper,0,"","put 7up can on carpet",-0.110744,0.054262,0.960580,0.160113,-0.748934,0.167696,0.620758
25,4,512000,17,obj,0,"003_bread_1","put 7up can on carpet",-0.060509,-0.040272,0.886363,0.010789,-0.522336,0.847886,0.090212
25,4,512000,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.013107,0.136711,0.885855,-0.426144,0.568644,0.531369,0.461186
25,4,512000,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.094490,0.095886,0.869490,0.999979,0.000185,0.000873,-0.006376
25,4,512000,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.101658,-0.016762,0.870462,0.991099,0.000057,-0.000152,0.133123
25,4,512000,17,gripper,0,"","put 7up can on carpet",-0.075720,0.006962,0.978570,-0.050669,-0.788873,0.068210,0.608654
25,4,512000,18,obj,0,"003_bread_1","put 7up can on carpet",-0.194595,-0.045300,0.886549,0.990137,-0.000468,-0.011980,-0.139586
25,4,512000,18,obj,1,"005_7up can_1","put 7up can on carpet",0.097988,0.096870,0.017195,0.127661,-0.500817,-0.853314,-0.068844
25,4,512000,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
25,4,512000,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.205235,-0.075649,0.870368,0.999980,0.000148,-0.001131,-0.006186
25,4,512000,18,gripper,0,"","put 7up can on carpet",-0.024302,0.084007,0.937526,-0.073265,-0.779587,0.033968,0.621066
25,4,512000,19,obj,0,"003_bread_1","put 7up can on carpet",-0.201702,0.063572,0.886202,0.991023,-0.002001,0.002851,-0.133648
25,4,512000,19,obj,1,"005_7up can_1","put 7up can on carpet",0.098436,-0.019444,0.016815,0.919353,-0.061576,0.142221,0.361622
25,4,512000,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.206558,0.045517,0.869490,0.999978,0.000559,0.001424,-0.006425
25,4,512000,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.116549,-0.042843,0.871121,0.999807,-0.000050,0.005910,0.018745
25,4,512000,19,gripper,0,"","put 7up can on carpet",-0.124062,0.063156,1.004226,0.102627,-0.668441,0.106999,0.728838
25,4,512000,20,obj,0,"003_bread_1","put bread on newspaper",-0.120919,-0.065868,0.886812,0.676377,0.010443,-0.003515,0.736473
25,4,512000,20,obj,1,"005_7up can_1","put bread on newspaper",-0.245636,-0.044460,0.889007,-0.835796,-0.059740,0.060120,-0.542460
25,4,512000,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.231963,-0.073296,0.869489,0.999674,0.000203,0.000869,-0.025510
25,4,512000,20,recep,1,"003_carpet_1","put bread on newspaper",-0.082115,-0.076366,0.870448,0.999980,-0.000918,-0.000852,0.006224
25,4,512000,20,gripper,0,"","put bread on newspaper",-0.245850,-0.055607,0.934044,0.055703,-0.719984,-0.018822,0.691496
25,4,512000,21,obj,0,"003_bread_1","put bread on newspaper",-0.192699,-0.029984,0.885887,0.999059,0.002916,0.007611,0.042592
25,4,512000,21,obj,1,"005_7up can_1","put bread on newspaper",-0.327644,0.048485,0.885673,-0.909373,-0.036270,-0.403446,0.094645
25,4,512000,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,-0.074978,0.869490,1.000000,0.000180,0.000875,-0.000176
25,4,512000,21,recep,1,"003_carpet_1","put bread on newspaper",-0.098734,0.078323,0.870447,0.996725,-0.003325,-0.002473,-0.080758
25,4,512000,21,gripper,0,"","put bread on newspaper",-0.078845,0.066109,0.962500,0.127476,-0.760228,0.019042,0.636742
25,4,512000,22,obj,0,"003_bread_1","put bread on newspaper",-0.185188,0.013405,0.886234,0.199178,0.008499,0.015333,0.979806
25,4,512000,22,obj,1,"005_7up can_1","put bread on newspaper",-0.265579,-0.379177,0.016873,0.444242,-0.356770,0.191830,0.799103
25,4,512000,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.204964,0.075005,0.869489,1.000000,0.000182,0.000875,0.000160
25,4,512000,22,recep,1,"003_carpet_1","put bread on newspaper",-0.212921,-0.043583,0.870448,0.990439,-0.000313,-0.000416,0.137953
25,4,512000,22,gripper,0,"","put bread on newspaper",-0.113079,0.048372,0.979985,0.121308,-0.676510,0.138215,0.713102
25,4,512000,23,obj,0,"003_bread_1","put bread on newspaper",-0.139988,-0.087204,0.886576,0.341134,-0.000429,-0.018276,-0.939837
25,4,512000,23,obj,1,"005_7up can_1","put bread on newspaper",-0.150154,0.120373,0.885772,-0.256709,-0.036999,-0.011249,0.965715
25,4,512000,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.084869,-0.075027,0.869490,1.000000,0.000180,0.000875,0.000069
25,4,512000,23,recep,1,"003_carpet_1","put bread on newspaper",-0.204571,-0.077965,0.870367,0.999990,0.000124,-0.001098,0.004450
25,4,512000,23,gripper,0,"","put bread on newspaper",-0.196749,0.094038,0.920089,0.147675,-0.705180,0.020747,0.693169
25,4,512000,24,obj,0,"003_bread_1","put bread on carpet",-0.211472,-0.037605,0.886495,0.206620,0.011328,0.005038,0.978342
25,4,512000,24,obj,1,"005_7up can_1","put bread on carpet",40.245125,-87.199890,-4389.420410,-0.286656,-0.744934,0.382986,0.464999
25,4,512000,24,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,-0.044998,0.869490,1.000000,0.000180,0.000874,-0.000002
25,4,512000,24,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.074944,0.870466,0.999999,-0.000945,-0.001043,-0.000211
25,4,512000,24,gripper,0,"","put bread on carpet",-0.065594,-0.042263,0.986682,-0.020209,-0.748149,0.012166,0.663112
25,4,512000,25,obj,0,"003_bread_1","put bread on carpet",-0.212807,0.079573,0.886656,0.874785,-0.011811,0.001445,-0.484365
25,4,512000,25,obj,1,"005_7up can_1","put bread on carpet",-0.215260,0.042368,0.888785,0.562950,0.278678,0.238527,-0.740629
25,4,512000,25,recep,0,"004_newspaper_1","put bread on carpet",-0.201546,0.076895,0.869489,0.999816,0.000163,0.000877,0.019167
25,4,512000,25,recep,1,"003_carpet_1","put bread on carpet",-0.081833,0.074402,0.870448,0.999975,-0.000933,-0.000846,-0.006914
25,4,512000,25,gripper,0,"","put bread on carpet",-0.185736,-0.029775,1.005825,0.025518,-0.749534,-0.060081,0.658739
25,4,512000,26,obj,0,"003_bread_1","put bread on carpet",-0.189899,0.024294,0.886070,0.987339,-0.001802,0.004374,-0.158551
25,4,512000,26,obj,1,"005_7up can_1","put bread on carpet",-0.098167,0.059668,0.889114,0.213849,0.733691,0.576555,-0.289052
25,4,512000,26,recep,0,"004_newspaper_1","put bread on carpet",-0.197273,0.045433,0.869490,0.998995,0.000141,0.000880,0.044808
25,4,512000,26,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075033,0.870461,1.000000,0.000019,-0.000158,-0.000216
25,4,512000,26,gripper,0,"","put bread on carpet",-0.169094,0.067662,1.005613,-0.006955,-0.760403,0.038105,0.648295
25,4,512000,27,obj,0,"003_bread_1","put bread on carpet",-0.195702,-0.033966,0.886645,0.813345,0.010869,-0.002818,0.581673
25,4,512000,27,obj,1,"005_7up can_1","put bread on carpet",-0.132967,-0.063025,0.889132,0.231515,0.653981,-0.663878,0.279242
25,4,512000,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084604,-0.074965,0.869490,0.999996,0.000182,0.000872,-0.002716
25,4,512000,27,recep,1,"003_carpet_1","put bread on carpet",-0.205894,-0.074728,0.870447,0.999982,-0.000131,-0.000164,0.006053
25,4,512000,27,gripper,0,"","put bread on carpet",-0.074045,0.101732,0.926731,0.365004,-0.694081,0.260383,0.563227
25,4,512000,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.118949,-0.010349,0.886488,0.882848,0.015726,0.005373,0.469365
25,4,512000,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.425840,0.679443,0.016964,0.734595,0.233743,0.549695,-0.321824
25,4,512000,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115027,-0.045002,0.869490,1.000000,0.000180,0.000874,-0.000034
25,4,512000,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085829,0.098988,0.870263,0.974714,-0.000291,0.001500,-0.223452
25,4,512000,28,gripper,0,"","put 7up can on newspaper",-0.116948,0.099786,0.919101,0.097115,-0.746608,0.033351,0.657292
25,4,512000,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.211132,-0.046177,0.886734,0.944838,0.007658,-0.004978,0.327411
25,4,512000,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.152145,-0.215502,0.885877,-0.402028,-0.594386,0.545458,-0.433076
25,4,512000,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.082020,0.079882,0.869484,0.978204,-0.000020,0.000963,0.207642
25,4,512000,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.202797,-0.081060,0.870448,0.998909,-0.000703,-0.000599,-0.046692
25,4,512000,29,gripper,0,"","put 7up can on newspaper",-0.108809,0.007668,0.915705,-0.027181,-0.758308,-0.039019,0.650160
25,4,512000,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.197350,0.069651,0.888039,0.993054,-0.051680,-0.078132,-0.071194
25,4,512000,30,obj,1,"005_7up can_1","put 7up can on newspaper",0.190491,0.039011,0.017136,0.404530,-0.056663,0.912561,0.019428
25,4,512000,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.222889,0.078703,0.869489,0.997206,0.000438,0.001458,0.074689
25,4,512000,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081448,-0.075638,0.870418,0.999971,-0.000227,-0.000846,-0.007504
25,4,512000,30,gripper,0,"","put 7up can on newspaper",-0.233223,0.047782,0.940536,0.103144,-0.667812,0.170166,0.717239
25,4,512000,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.094025,-0.050146,0.886566,0.502719,0.013507,-0.004038,0.864335
25,4,512000,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.176277,-0.207962,0.885866,0.338357,-0.666497,0.456594,0.482513
25,4,512000,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.237724,-0.076645,0.869490,0.999962,0.000172,0.000875,0.008666
25,4,512000,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.086258,-0.070415,0.870348,0.999950,-0.000285,-0.001646,-0.009869
25,4,512000,31,gripper,0,"","put 7up can on newspaper",-0.191336,-0.011407,0.935566,0.135904,-0.715343,0.213453,0.651346
25,4,512000,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.096970,-0.065794,0.887524,0.923508,-0.016304,0.039835,0.381156
25,4,512000,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234703,0.044694,0.878547,0.923699,0.011478,0.006974,0.382885
25,4,512000,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000021
25,4,512000,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
25,4,512000,32,gripper,0,"","put banana on flat bowl",-0.224895,0.054402,0.993286,0.051352,-0.706389,0.082800,0.701086
25,4,512000,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.214470,0.040187,0.899257,0.998991,0.000525,0.042902,-0.013246
25,4,512000,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
25,4,512000,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
25,4,512000,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.234997,0.075000,0.874362,1.000000,0.000001,-0.000000,0.000027
25,4,512000,33,gripper,0,"","put banana on flat bowl",-0.161469,0.085491,1.018676,0.056960,-0.714348,-0.041669,0.696223
25,4,512000,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.104156,0.066838,0.887428,0.253658,-0.037278,0.012604,0.966493
25,4,512000,34,obj,1,"013_banana_1","put banana on flat bowl",-0.114697,-0.044686,0.878547,0.382310,0.003190,0.013071,0.923936
25,4,512000,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
25,4,512000,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
25,4,512000,34,gripper,0,"","put banana on flat bowl",-0.078739,-0.004985,0.996276,0.173094,-0.706576,0.245240,0.640817
25,4,512000,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205502,0.076779,0.887529,0.708701,-0.030467,0.030661,0.704184
25,4,512000,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007946,0.010851,0.707290
25,4,512000,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
25,4,512000,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
25,4,512000,35,gripper,0,"","put banana on flat bowl",-0.079959,-0.017887,1.003710,-0.007966,-0.701203,0.062020,0.710214
25,4,512000,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.124499,0.063280,0.887524,0.394209,-0.039583,0.016848,0.918013
25,4,512000,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074683,0.878547,0.382179,0.003179,0.013040,0.923991
25,4,512000,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
25,4,512000,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,0.045000,0.874362,1.000000,-0.000000,0.000001,-0.000002
25,4,512000,36,gripper,0,"","put carrot on sheet metal",-0.111879,0.071386,0.956823,0.192180,-0.689851,0.261225,0.647251
25,4,512000,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089424,-0.115341,0.887565,0.574016,-0.026144,0.014972,0.818290
25,4,512000,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011497,0.006986,0.382998
25,4,512000,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
25,4,512000,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
25,4,512000,37,gripper,0,"","put carrot on sheet metal",-0.057263,-0.063599,0.986216,0.289048,-0.669914,0.312221,0.608428
25,4,512000,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.106922,0.073340,0.887366,0.634537,-0.021796,0.022634,0.772254
25,4,512000,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007951,0.010850,0.707323
25,4,512000,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
25,4,512000,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
25,4,512000,38,gripper,0,"","put carrot on sheet metal",-0.070368,0.071542,0.993255,0.132153,-0.711098,0.058213,0.688104
25,4,512000,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087894,0.082422,0.887422,0.654418,-0.031363,0.023469,0.755117
25,4,512000,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.204559,-0.074995,0.878547,0.706802,0.007976,0.010879,0.707283
25,4,512000,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
25,4,512000,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
25,4,512000,39,gripper,0,"","put carrot on sheet metal",-0.139029,-0.035204,0.946915,0.047841,-0.666070,0.031651,0.743680
25,4,512000,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122421,0.039938,0.887519,0.748439,-0.022408,0.023942,0.662392
25,4,512000,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234566,0.075026,0.878547,0.708335,0.007968,0.010829,0.705749
25,4,512000,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075047,0.871345,0.999999,-0.000157,0.001163,-0.000133
25,4,512000,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.045000,0.874362,1.000000,0.000001,-0.000001,0.000265
25,4,512000,40,gripper,0,"","put carrot on flat bowl",-0.097672,0.085635,0.963653,0.071643,-0.749431,0.090259,0.651977
25,4,512000,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.341599,-0.057978,0.018691,0.827353,-0.020744,0.029909,0.560502
25,4,512000,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084984,0.074560,0.878547,0.999909,0.013298,0.002040,-0.000791
25,4,512000,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
25,4,512000,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
25,4,512000,41,gripper,0,"","put carrot on flat bowl",-0.191053,-0.003849,1.029259,-0.063828,-0.701322,0.049016,0.708287
25,4,512000,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095848,-0.072210,0.887149,0.924830,-0.019992,0.022781,0.379171
25,4,512000,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204571,0.074623,0.878547,0.924644,0.011509,0.006952,0.380594
25,4,512000,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
25,4,512000,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
25,4,512000,42,gripper,0,"","put carrot on flat bowl",-0.053629,-0.057075,0.975833,0.038589,-0.771092,0.032038,0.634745
25,4,512000,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.214561,-0.054787,0.887370,0.992341,-0.005943,0.025785,0.120658
25,4,512000,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234989,0.074562,0.878547,0.999909,0.013284,0.002032,-0.001167
25,4,512000,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
25,4,512000,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
25,4,512000,43,gripper,0,"","put carrot on flat bowl",-0.217724,-0.013727,0.972061,0.100368,-0.693350,0.094971,0.707228
25,4,512000,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236662,0.086132,0.887408,0.984691,-0.008388,0.032857,0.170978
25,4,512000,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234685,-0.075314,0.878547,0.923619,0.011535,0.007007,0.383074
25,4,512000,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084992,-0.075003,0.871344,0.999999,-0.000158,0.001164,-0.000033
25,4,512000,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000002
25,4,512000,44,gripper,0,"","put banana on sheet metal",-0.206652,-0.059995,0.968159,-0.011536,-0.722976,-0.027891,0.690213
25,4,512000,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097593,-0.078554,0.887273,0.764749,-0.016129,0.029946,0.643430
25,4,512000,45,obj,1,"013_banana_1","put banana on sheet metal",-0.100700,0.069164,0.878547,0.637499,0.006924,0.011590,0.770333
25,4,512000,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
25,4,512000,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874362,1.000000,0.000000,-0.000001,-0.000005
25,4,512000,45,gripper,0,"","put banana on sheet metal",-0.077844,0.106100,0.994000,0.116217,-0.725609,0.117053,0.668044
25,4,512000,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.257381,0.073168,0.887507,0.749084,-0.016295,0.020597,0.661955
25,4,512000,46,obj,1,"013_banana_1","put banana on sheet metal",-0.204544,-0.044973,0.878547,0.707995,0.007976,0.010845,0.706089
25,4,512000,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
25,4,512000,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
25,4,512000,46,gripper,0,"","put banana on sheet metal",-0.170641,-0.017377,0.958897,0.071230,-0.706270,0.046576,0.702808
25,4,512000,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.215733,0.068235,0.895977,0.987212,0.109388,0.050433,-0.104419
25,4,512000,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,0.074690,0.878547,0.924165,0.011516,0.006976,0.381756
25,4,512000,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
25,4,512000,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205017,0.045166,0.874362,0.999997,0.000000,-0.000002,-0.002530
25,4,512000,47,gripper,0,"","put banana on sheet metal",-0.075542,0.059295,0.946025,0.122574,-0.698208,0.322767,0.627138
25,4,512000,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.219421,-0.033810,0.890405,0.620741,-0.026808,-0.006890,0.783527
25,4,512000,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.154457,-0.039585,0.017292,0.903307,-0.001534,0.022386,-0.428408
25,4,512000,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
25,4,512000,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235001,-0.075027,0.870870,1.000000,0.000000,-0.000001,0.000479
25,4,512000,48,gripper,0,"","put plastic bottle on cutting board",-0.180363,0.001823,1.022295,0.160276,-0.704291,0.119352,0.681206
25,4,512000,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.180779,-0.116421,0.891735,0.073477,-0.817101,-0.033901,-0.570786
25,4,512000,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.214577,0.072094,0.889538,0.470397,-0.536030,0.466689,0.523069
25,4,512000,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.087566,-0.088528,0.872199,0.999671,-0.000000,-0.000001,0.025654
25,4,512000,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.250290,0.069153,0.870882,0.999212,0.000668,0.000741,0.039690
25,4,512000,49,gripper,0,"","put plastic bottle on cutting board",-0.181242,0.078297,0.954939,-0.063382,-0.740629,0.020509,0.668604
25,4,512000,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.177124,0.091190,0.890496,0.993784,-0.024155,0.017563,-0.107243
25,4,512000,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115292,0.057484,0.894268,0.660708,-0.016344,0.001392,0.750463
25,4,512000,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084812,0.049488,0.872200,0.999841,0.000000,-0.000001,0.017830
25,4,512000,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206066,0.073383,0.870870,0.999993,0.000002,0.000000,-0.003726
25,4,512000,50,gripper,0,"","put plastic bottle on cutting board",-0.128082,0.036751,0.967904,0.127934,-0.756384,0.039665,0.640268
25,4,512000,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.221464,-0.033455,0.891272,0.948703,0.015703,-0.077157,0.306208
25,4,512000,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.264544,-0.050262,0.910424,0.604023,-0.596546,0.219530,0.480724
25,4,512000,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.215322,0.076302,0.872199,0.996454,-0.000001,-0.000001,0.084135
25,4,512000,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235390,-0.075970,0.870870,0.999977,-0.000003,-0.000011,0.006770
25,4,512000,51,gripper,0,"","put plastic bottle on cutting board",-0.173570,-0.014193,1.004799,-0.122196,-0.702908,-0.071234,0.697075
25,4,512000,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.209633,-0.040588,0.890587,0.549860,-0.024722,-0.008164,0.834851
25,4,512000,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.197750,0.029064,0.898106,-0.072603,-0.664756,0.742236,-0.043747
25,4,512000,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.232372,0.043087,0.872199,0.998855,0.000000,-0.000001,0.047845
25,4,512000,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.211018,-0.086609,0.870870,0.998372,-0.000000,-0.000000,0.057036
25,4,512000,52,gripper,0,"","put hamburger on frying pan",-0.160571,-0.042540,0.945411,-0.236544,-0.754668,-0.063547,0.608675
25,4,512000,53,obj,0,"014_hamburger_1","put hamburger on frying pan",0.120802,1.723511,0.021787,0.362598,-0.280758,0.809705,-0.366162
25,4,512000,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.116543,0.057060,0.889697,0.485230,-0.523056,0.481896,0.508666
25,4,512000,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235695,0.076260,0.872199,0.999854,0.000000,-0.000001,0.017096
25,4,512000,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,0.044941,0.870870,1.000000,-0.000000,-0.000001,0.000375
25,4,512000,53,gripper,0,"","put hamburger on frying pan",-0.054025,-0.002357,0.939128,0.080129,-0.769806,0.108522,0.623859
25,4,512000,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.213108,-0.090561,0.891911,0.976454,-0.173798,-0.091532,-0.089185
25,4,512000,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.199402,-0.014046,0.888110,-0.402847,-0.598152,0.546832,-0.425328
25,4,512000,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235157,0.045246,0.872199,1.000000,-0.000000,-0.000001,-0.000695
25,4,512000,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085403,-0.074638,0.870870,0.999997,-0.000000,-0.000001,-0.002625
25,4,512000,54,gripper,0,"","put hamburger on frying pan",-0.215151,-0.089521,0.923523,-0.110048,-0.764395,-0.065035,0.631949
25,4,512000,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.076698,-0.072792,0.891729,0.998312,-0.032631,0.031677,-0.036121
25,4,512000,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",1.023018,0.290665,0.017293,0.922570,-0.017242,0.013203,0.385218
25,4,512000,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.068565,0.059010,0.872200,0.999078,-0.000001,-0.000001,-0.042922
25,4,512000,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084282,-0.075455,0.870868,0.999997,0.000009,-0.000094,0.002367
25,4,512000,55,gripper,0,"","put hamburger on frying pan",-0.099150,-0.066212,0.917240,0.051175,-0.760429,0.115963,0.636932
25,4,512000,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.087990,0.048786,0.890774,0.858112,-0.028957,0.002960,0.512637
25,4,512000,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.080559,0.092453,0.889705,0.529879,-0.479508,0.523253,0.464227
25,4,512000,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.124062,-0.050198,0.872199,0.996302,-0.000000,-0.000001,0.085924
25,4,512000,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.058784,0.068920,0.870871,0.999854,0.000000,-0.000005,0.017076
25,4,512000,56,gripper,0,"","put hamburger on cutting board",-0.198803,0.011780,0.964713,0.090128,-0.718140,-0.039688,0.688895
25,4,512000,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.233044,0.093445,0.895108,0.955168,0.046158,-0.062637,0.285657
25,4,512000,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205673,-0.023613,0.889472,0.563703,-0.435116,0.562900,0.419592
25,4,512000,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.233391,0.081326,0.872199,0.996343,0.000000,-0.000001,0.085439
25,4,512000,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.223892,-0.069069,0.870872,0.997253,-0.000017,0.000005,-0.074074
25,4,512000,57,gripper,0,"","put hamburger on cutting board",-0.199385,0.107952,0.966718,-0.087125,-0.699471,-0.014497,0.709183
25,4,512000,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.410408,0.564262,0.021787,-0.188458,-0.061948,-0.854761,0.479615
25,4,512000,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.141464,0.179157,0.886091,-0.699030,0.021668,-0.005833,-0.714740
25,4,512000,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.241627,0.076183,0.872199,0.999997,-0.000000,-0.000001,0.002543
25,4,512000,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.078804,0.084949,0.870870,0.995876,-0.000000,-0.000001,0.090727
25,4,512000,58,gripper,0,"","put hamburger on cutting board",-0.072699,0.099035,0.978604,0.072083,-0.761146,0.068882,0.640872
25,4,512000,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.103863,0.117764,0.890454,0.978213,-0.028063,0.010750,0.205417
25,4,512000,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.181746,-0.177155,0.017292,0.821961,0.002117,0.022348,-0.569101
25,4,512000,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.206747,0.077549,0.872199,1.000000,-0.000000,-0.000001,-0.000939
25,4,512000,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085003,0.074997,0.870870,1.000000,0.000000,0.000000,0.000050
25,4,512000,59,gripper,0,"","put hamburger on cutting board",-0.125813,0.078894,1.011037,0.017189,-0.676417,0.000040,0.736318
25,4,512000,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.070859,0.075378,0.888112,0.597181,-0.025648,-0.010039,0.801634
25,4,512000,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.096872,-0.054745,0.894192,0.356813,0.615788,-0.369501,0.597460
25,4,512000,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085009,-0.074989,0.872200,1.000000,-0.000017,-0.000006,0.000028
25,4,512000,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.190240,0.065414,0.870870,0.999528,-0.000000,-0.000002,-0.030710
25,4,512000,60,gripper,0,"","put plastic bottle on frying pan",-0.121440,-0.032854,0.953438,-0.278722,-0.663214,-0.248715,0.648538
25,4,512000,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.063816,-0.056858,0.890448,0.856206,-0.028972,0.002518,0.515816
25,4,512000,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.208746,-0.059753,0.898025,0.029122,-0.730098,0.681963,0.032194
25,4,512000,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.196272,-0.075924,0.872199,0.994401,0.000000,-0.000001,-0.105671
25,4,512000,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.070698,-0.093086,0.870870,0.998545,-0.000000,-0.000001,-0.053927
25,4,512000,61,gripper,0,"","put plastic bottle on frying pan",-0.185196,0.006542,1.018158,-0.098666,-0.701612,0.043845,0.704332
25,4,512000,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.170383,-0.102707,0.892091,0.517560,-0.797701,-0.152693,0.269239
25,4,512000,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.100426,-0.020168,0.895386,-0.466948,-0.521182,-0.481912,0.527342
25,4,512000,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114990,-0.045074,0.872199,0.999999,0.000000,-0.000001,0.001046
25,4,512000,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.233158,-0.081059,0.870873,0.999592,0.000719,0.000610,-0.028549
25,4,512000,62,gripper,0,"","put plastic bottle on frying pan",-0.195421,-0.015026,1.016235,0.321482,-0.677474,0.181447,0.636204
25,4,512000,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.060268,-0.002804,0.889340,-0.096124,-0.020887,-0.100841,0.990028
25,4,512000,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.100506,-0.009048,0.970301,-0.292266,-0.766954,0.571259,0.005012
25,4,512000,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000064
25,4,512000,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.065422,0.059883,0.870883,0.990760,0.000597,0.000802,0.135620
25,4,512000,63,gripper,0,"","put plastic bottle on frying pan",-0.110359,-0.012856,1.005116,-0.049170,-0.748582,-0.064106,0.658101
26,1,517120,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078354,0.095238,0.885083,0.657861,0.308756,-0.344164,0.594507
26,1,517120,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084244,-0.075584,0.884082,0.708692,0.053871,-0.003087,0.703451
26,1,517120,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084991,0.075012,0.869532,1.000000,-0.000001,-0.000000,-0.000035
26,1,517120,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205002,-0.045006,0.871288,0.999999,-0.000155,-0.001020,-0.000051
26,1,517120,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.321125,-0.044483,0.914195,0.035365,-0.649962,0.034461,0.758361
26,1,517120,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.152023,0.049316,0.885119,0.468493,0.520769,-0.570714,0.428486
26,1,517120,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235111,-0.075989,0.881637,0.706896,0.024498,-0.030810,0.706221
26,1,517120,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205009,0.044998,0.869532,1.000000,0.000001,-0.000001,0.000235
26,1,517120,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
26,1,517120,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.082140,-0.055592,0.974054,-0.029805,-0.736071,0.021673,0.675901
26,1,517120,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.075897,-0.043907,0.885083,0.531942,0.368904,-0.278693,0.709420
26,1,517120,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205112,0.074059,0.881638,0.706768,0.024485,-0.030788,0.706351
26,1,517120,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084995,-0.075012,0.869532,1.000000,0.000001,-0.000002,0.000096
26,1,517120,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
26,1,517120,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.196814,-0.057331,0.938526,-0.150337,-0.680911,-0.086345,0.711550
26,1,517120,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.235020,0.065262,0.879088,0.626168,0.326583,-0.328298,0.627278
26,1,517120,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.214666,-0.049248,0.887568,0.644248,0.020498,-0.025810,0.764106
26,1,517120,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.232988,-0.073875,0.869532,0.999674,-0.000001,-0.000000,-0.025519
26,1,517120,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114191,-0.044983,0.871288,0.999999,-0.000155,-0.001019,-0.001051
26,1,517120,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.235513,0.032478,0.944027,-0.027289,-0.706689,0.095754,0.700483
26,1,517120,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.100027,-0.185486,0.879088,0.657282,0.309449,-0.344491,0.594599
26,1,517120,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205752,0.074440,0.881638,0.923232,0.010854,-0.037836,0.382221
26,1,517120,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.246157,-0.038048,0.874606,0.985632,0.076248,0.019341,-0.149468
26,1,517120,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084992,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000005
26,1,517120,4,gripper,0,"","put ketchup bottle on cloth",-0.253945,-0.087677,0.922525,0.198449,-0.592238,0.276077,0.730516
26,1,517120,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.046274,-0.055031,0.879007,0.639181,0.355189,0.551199,-0.401830
26,1,517120,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235954,0.045113,0.881638,0.999226,-0.004451,-0.039079,-0.000115
26,1,517120,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.115000,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000017
26,1,517120,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000010
26,1,517120,5,gripper,0,"","put ketchup bottle on cloth",-0.073975,-0.047165,0.913789,0.002108,-0.747284,0.002177,0.664498
26,1,517120,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.156399,0.027374,0.879334,-0.020922,0.108891,0.993721,-0.014936
26,1,517120,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.243549,-0.074997,0.881638,0.992302,0.000178,-0.039339,0.117427
26,1,517120,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000014
26,1,517120,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000018
26,1,517120,6,gripper,0,"","put ketchup bottle on cloth",-0.240814,0.037155,0.913618,0.078030,-0.709187,0.050046,0.698900
26,1,517120,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.177483,-0.071907,0.888430,-0.024197,0.939090,-0.327798,-0.100362
26,1,517120,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234383,0.044273,0.881638,0.382414,0.034440,-0.019079,0.923152
26,1,517120,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
26,1,517120,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.204659,-0.079620,0.871660,0.999799,-0.007033,-0.004145,0.018315
26,1,517120,7,gripper,0,"","put ketchup bottle on cloth",-0.223700,-0.058361,0.923693,-0.015057,-0.761539,0.013567,0.647803
26,1,517120,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.097336,0.062283,0.879125,0.585594,0.295404,-0.714782,0.242700
26,1,517120,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.157799,0.054787,0.892662,0.679757,0.060053,-0.098676,0.724284
26,1,517120,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204964,0.075039,0.869532,1.000000,0.000000,-0.000001,-0.000832
26,1,517120,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000098
26,1,517120,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.220741,-0.004171,0.956103,0.005981,-0.754895,-0.025427,0.655326
26,1,517120,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235062,0.065327,0.879088,0.626435,0.326440,-0.328433,0.627014
26,1,517120,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.211636,0.046112,0.926631,0.852214,0.091291,0.115968,0.501945
26,1,517120,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.044998,0.869532,1.000000,-0.000000,-0.000000,0.000000
26,1,517120,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
26,1,517120,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.213345,0.050207,0.966583,0.169891,-0.617763,0.189723,0.743983
26,1,517120,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.126228,0.032185,0.886103,0.459302,0.340024,-0.234278,0.786473
26,1,517120,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.084385,-0.075764,0.881638,0.382577,0.034406,-0.019073,0.923086
26,1,517120,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.112789,0.047386,0.871221,0.996901,0.011061,-0.026384,-0.073275
26,1,517120,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
26,1,517120,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.174461,0.010952,0.915001,-0.157259,-0.798169,-0.148250,0.562332
26,1,517120,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210608,-0.081047,0.885209,0.216183,0.602432,-0.748075,0.175282
26,1,517120,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.194942,0.047279,0.885438,0.860324,-0.035947,0.009468,0.508390
26,1,517120,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.243710,-0.075901,0.869532,0.998820,0.000001,-0.000001,0.048558
26,1,517120,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
26,1,517120,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.194367,0.040939,0.916100,0.221050,-0.748712,0.143831,0.608177
26,1,517120,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078054,0.068161,0.879089,0.338394,0.427373,-0.178299,0.819177
26,1,517120,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204405,0.074242,0.881638,0.382555,0.034427,-0.019079,0.923094
26,1,517120,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.065551,-0.084579,0.869662,0.999547,0.000937,0.001983,0.030011
26,1,517120,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.178759,-0.052795,0.871283,0.934319,-0.000882,-0.001014,-0.356435
26,1,517120,12,gripper,0,"","put kitchen shovel on cloth",-0.160075,-0.034306,0.929723,0.047712,-0.747624,0.099216,0.654934
26,1,517120,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108164,-0.051743,0.879088,0.339490,0.427134,-0.178871,0.818723
26,1,517120,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.218811,0.066864,0.887287,0.680663,0.015393,-0.033159,0.731684
26,1,517120,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204952,0.074829,0.869532,0.999996,-0.000001,-0.000001,0.002873
26,1,517120,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
26,1,517120,13,gripper,0,"","put kitchen shovel on cloth",-0.228756,0.028746,0.958155,0.003182,-0.735758,-0.051763,0.675256
26,1,517120,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.207264,0.064484,0.879500,0.762788,0.076436,-0.088048,0.636050
26,1,517120,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.104652,-0.066135,0.882107,0.082146,0.808758,-0.577814,-0.072754
26,1,517120,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234394,-0.046001,0.869532,0.999730,0.000000,-0.000001,-0.023242
26,1,517120,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.112888,-0.072109,0.871288,0.999787,-0.000174,-0.001015,-0.020599
26,1,517120,14,gripper,0,"","put kitchen shovel on cloth",-0.176424,-0.060898,0.961916,-0.134385,-0.703752,-0.070687,0.694029
26,1,517120,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",1.572487,-1.216179,0.010633,-0.708698,0.191289,-0.217797,-0.643210
26,1,517120,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",21.500557,0.371548,-2.200692,-0.102469,0.257806,-0.373341,-0.885241
26,1,517120,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",1.956688,1.387798,0.000732,0.524658,0.000000,0.000000,-0.851313
26,1,517120,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",1.408276,-0.979443,0.002488,-0.933656,0.000512,0.000895,0.358170
26,1,517120,15,gripper,0,"","put kitchen shovel on cloth",0.428501,0.028481,1.407992,-0.273032,-0.960317,-0.015575,0.054798
26,1,517120,16,obj,0,"003_bread_1","put bread on newspaper",-0.224709,-0.033470,0.886561,0.918130,0.008215,-0.008414,0.396105
26,1,517120,16,obj,1,"005_7up can_1","put bread on newspaper",-0.082344,-0.056999,0.887533,0.681327,0.290221,-0.363383,0.565259
26,1,517120,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000042
26,1,517120,16,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.045006,0.870446,0.999999,-0.000726,-0.001047,0.000058
26,1,517120,16,gripper,0,"","put bread on newspaper",-0.068321,-0.060007,0.931028,0.063531,-0.750147,0.073127,0.654138
26,1,517120,17,obj,0,"003_bread_1","put bread on newspaper",-0.235100,-0.045498,0.883544,0.708799,0.010125,-0.007591,0.705297
26,1,517120,17,obj,1,"005_7up can_1","put bread on newspaper",-0.127132,-0.066257,0.939076,0.358865,0.726195,-0.291606,0.508746
26,1,517120,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
26,1,517120,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
26,1,517120,17,gripper,0,"","put bread on newspaper",-0.127245,-0.072889,0.969881,-0.166025,-0.609578,-0.256272,0.731556
26,1,517120,18,obj,0,"003_bread_1","put bread on newspaper",-0.190674,-0.164299,0.883614,0.082468,0.946199,0.311068,-0.033797
26,1,517120,18,obj,1,"005_7up can_1","put bread on newspaper",-0.164906,-0.103104,0.897422,0.528628,0.589120,-0.515033,0.328987
26,1,517120,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
26,1,517120,18,recep,1,"003_carpet_1","put bread on newspaper",-0.084061,-0.075012,0.870351,0.999998,-0.000674,-0.002013,0.000395
26,1,517120,18,gripper,0,"","put bread on newspaper",-0.202599,-0.094748,0.932132,0.164643,-0.737524,0.138054,0.640228
26,1,517120,19,obj,0,"003_bread_1","put bread on newspaper",-0.084482,-0.075470,0.883544,0.383905,0.012268,-0.003131,0.923286
26,1,517120,19,obj,1,"005_7up can_1","put bread on newspaper",-0.193262,-0.060013,0.888041,-0.598117,0.074116,-0.069318,-0.794958
26,1,517120,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.204956,-0.075005,0.869489,1.000000,0.000180,0.000877,-0.000126
26,1,517120,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204994,0.074993,0.870452,0.999998,0.001568,0.001265,0.000014
26,1,517120,19,gripper,0,"","put bread on newspaper",-0.124862,0.032072,1.021646,-0.006649,-0.683807,0.085280,0.724632
26,1,517120,20,obj,0,"003_bread_1","put bread on carpet",-0.098668,0.053257,0.886534,0.983810,0.000582,-0.006814,-0.179083
26,1,517120,20,obj,1,"005_7up can_1","put bread on carpet",-0.092592,-0.074814,0.885627,0.972476,-0.005078,-0.232946,0.001102
26,1,517120,20,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
26,1,517120,20,recep,1,"003_carpet_1","put bread on carpet",-0.115003,0.044998,0.870448,0.999998,-0.001355,-0.001219,0.000010
26,1,517120,20,gripper,0,"","put bread on carpet",-0.111223,0.000320,0.965533,-0.056440,-0.742385,-0.047642,0.665890
26,1,517120,21,obj,0,"003_bread_1","put bread on carpet",-0.099264,-0.043297,0.886678,0.932491,0.006263,-0.005998,0.361088
26,1,517120,21,obj,1,"005_7up can_1","put bread on carpet",-0.183222,-0.253742,0.885746,0.484522,0.471988,-0.365862,0.639226
26,1,517120,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
26,1,517120,21,recep,1,"003_carpet_1","put bread on carpet",-0.084982,-0.075001,0.870447,0.999999,-0.000923,-0.000845,-0.000066
26,1,517120,21,gripper,0,"","put bread on carpet",-0.165021,-0.025969,0.979014,-0.040191,-0.691057,0.006300,0.721655
26,1,517120,22,obj,0,"003_bread_1","put bread on carpet",-0.235134,0.074444,0.883544,0.709273,0.010112,-0.007602,0.704821
26,1,517120,22,obj,1,"005_7up can_1","put bread on carpet",-0.140770,-0.066383,0.889461,0.251083,0.570269,-0.729313,0.282583
26,1,517120,22,recep,0,"004_newspaper_1","put bread on carpet",-0.215786,-0.035152,0.869479,0.999948,0.000362,0.001267,-0.010096
26,1,517120,22,recep,1,"003_carpet_1","put bread on carpet",-0.084595,-0.075127,0.870448,0.999999,-0.000588,-0.000559,0.000590
26,1,517120,22,gripper,0,"","put bread on carpet",-0.181120,-0.053242,0.917513,-0.015908,-0.740837,0.125090,0.659742
26,1,517120,23,obj,0,"003_bread_1","put bread on carpet",-0.081779,-0.059750,0.886603,0.964969,0.005791,-0.008965,0.262147
26,1,517120,23,obj,1,"005_7up can_1","put bread on carpet",-0.242599,-0.074829,0.885626,0.972476,-0.005057,-0.232945,0.001191
26,1,517120,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
26,1,517120,23,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000035
26,1,517120,23,gripper,0,"","put bread on carpet",-0.107172,0.070108,0.948811,-0.050632,-0.734093,-0.117718,0.666848
26,1,517120,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.085495,-0.075508,0.883545,0.924256,0.006465,-0.010889,0.381564
26,1,517120,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.234955,0.123562,0.888866,-0.098165,-0.625982,0.770811,-0.066034
26,1,517120,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.075024,0.869490,1.000000,0.000180,0.000874,-0.000138
26,1,517120,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,-0.075001,0.870368,0.999999,0.000183,-0.001150,-0.000001
26,1,517120,24,gripper,0,"","put 7up can on newspaper",-0.087795,0.047071,1.006010,0.145514,-0.692013,0.069309,0.703662
26,1,517120,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.234486,-0.075497,0.883544,0.383807,0.012270,-0.003115,0.923327
26,1,517120,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.231567,0.037237,0.888480,-0.182759,0.796841,-0.479610,-0.318775
26,1,517120,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235027,0.074987,0.869490,0.999999,0.000551,0.001428,-0.000065
26,1,517120,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
26,1,517120,25,gripper,0,"","put 7up can on newspaper",-0.238100,0.026098,0.943560,-0.011047,-0.774392,-0.086218,0.626707
26,1,517120,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.206062,-0.030645,0.885430,0.933308,0.009642,0.005063,0.358911
26,1,517120,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.081051,0.049482,0.886101,0.922799,-0.056626,0.096745,0.368615
26,1,517120,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234970,-0.045050,0.869487,1.000000,0.000201,0.000873,-0.000318
26,1,517120,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
26,1,517120,26,gripper,0,"","put 7up can on newspaper",-0.087374,0.050189,0.915891,0.307756,-0.704706,0.251186,0.587862
26,1,517120,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.084490,-0.075480,0.883545,0.383767,0.012265,-0.003123,0.923343
26,1,517120,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.136049,0.054535,0.889087,0.671495,0.095255,-0.063719,0.732093
26,1,517120,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115000,0.045002,0.869490,1.000000,0.000180,0.000875,-0.000011
26,1,517120,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204952,-0.075266,0.870367,0.999999,0.000176,-0.001145,0.000141
26,1,517120,27,gripper,0,"","put 7up can on newspaper",-0.168668,0.021430,0.976951,0.005809,-0.726426,0.005240,0.687200
26,1,517120,28,obj,0,"003_bread_1","put 7up can on carpet",-0.235125,-0.075546,0.883544,0.709230,0.010126,-0.007600,0.704863
26,1,517120,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.227603,-0.006927,0.886043,-0.467142,0.448624,-0.308160,-0.696816
26,1,517120,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000005
26,1,517120,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
26,1,517120,28,gripper,0,"","put 7up can on carpet",-0.237009,-0.006923,0.915483,-0.163291,-0.739935,-0.102217,0.644503
26,1,517120,29,obj,0,"003_bread_1","put 7up can on carpet",-0.084490,-0.075480,0.883545,0.383767,0.012265,-0.003123,0.923343
26,1,517120,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.177998,-0.079370,0.888748,0.377980,-0.618837,0.444756,0.525704
26,1,517120,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075001,0.869490,1.000000,0.000180,0.000875,-0.000014
26,1,517120,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204714,-0.075232,0.870448,1.000000,-0.000127,-0.000158,-0.000672
26,1,517120,29,gripper,0,"","put 7up can on carpet",-0.166115,-0.077292,0.969509,-0.140050,-0.735324,-0.066183,0.659776
26,1,517120,30,obj,0,"003_bread_1","put 7up can on carpet",-0.055431,0.061821,0.899849,0.899287,0.000152,-0.022570,0.436775
26,1,517120,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.227982,-0.047503,0.888682,0.749646,0.075123,-0.077778,0.652946
26,1,517120,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
26,1,517120,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.234909,-0.075016,0.870448,0.999999,-0.000784,-0.000725,-0.000523
26,1,517120,30,gripper,0,"","put 7up can on carpet",-0.058344,0.060837,0.942613,0.047942,-0.756630,0.030792,0.651355
26,1,517120,31,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,-0.074871,0.883544,0.999915,0.001786,-0.012534,-0.003130
26,1,517120,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.132534,0.069010,0.885856,0.738525,0.003371,0.674212,-0.002653
26,1,517120,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.048615,0.080807,0.869490,0.998562,0.000133,0.000883,0.053606
26,1,517120,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
26,1,517120,31,gripper,0,"","put 7up can on carpet",-0.155140,0.050933,0.928713,-0.124002,-0.751834,-0.161388,0.627155
26,1,517120,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.235092,-0.038910,0.887529,0.364636,-0.040243,0.015775,0.930146
26,1,517120,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204689,0.075325,0.878547,0.382234,0.003182,0.013050,0.923968
26,1,517120,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
26,1,517120,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,-0.075000,0.874363,1.000000,0.000000,-0.000001,0.000000
26,1,517120,32,gripper,0,"","put carrot on sheet metal",-0.189323,-0.006400,0.983283,0.056559,-0.662729,0.120750,0.736893
26,1,517120,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.097569,0.085162,0.887559,0.502850,-0.027318,0.013014,0.863844
26,1,517120,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.114700,-0.074684,0.878547,0.382218,0.003192,0.013082,0.923974
26,1,517120,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
26,1,517120,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000001
26,1,517120,33,gripper,0,"","put carrot on sheet metal",-0.078245,0.075779,0.962204,0.204471,-0.739636,0.138591,0.626037
26,1,517120,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088146,0.074459,0.887552,0.744262,-0.022015,0.022300,0.667152
26,1,517120,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204556,0.075008,0.878547,0.706825,0.007976,0.010888,0.707259
26,1,517120,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
26,1,517120,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
26,1,517120,34,gripper,0,"","put carrot on sheet metal",-0.083023,0.057780,0.958586,0.116730,-0.742742,0.009020,0.659263
26,1,517120,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.116682,0.047339,0.887295,0.907582,-0.014593,0.020104,0.419140
26,1,517120,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.204672,-0.045309,0.878547,0.923637,0.011492,0.006983,0.383033
26,1,517120,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,1,517120,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
26,1,517120,35,gripper,0,"","put carrot on sheet metal",-0.113643,0.040498,0.955115,0.076806,-0.765049,0.054551,0.637044
26,1,517120,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.118851,0.046561,0.887402,0.908394,-0.011691,0.021665,0.417389
26,1,517120,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084682,-0.075307,0.878547,0.923623,0.011473,0.006974,0.383067
26,1,517120,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
26,1,517120,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000000
26,1,517120,36,gripper,0,"","put carrot on flat bowl",-0.103545,0.040993,0.991635,-0.224903,-0.749507,-0.075105,0.618075
26,1,517120,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.116886,0.049179,0.887502,0.996306,-0.003868,0.041998,0.074809
26,1,517120,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234991,-0.075435,0.878546,0.999910,0.013262,0.002051,0.000311
26,1,517120,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,1,517120,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
26,1,517120,37,gripper,0,"","put carrot on flat bowl",-0.089715,0.081385,0.970974,0.121192,-0.765173,0.152779,0.613580
26,1,517120,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206551,0.076776,0.894042,0.127540,-0.001157,-0.033056,0.991282
26,1,517120,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044708,0.878547,0.382233,0.003189,0.013064,0.923968
26,1,517120,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
26,1,517120,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205006,0.074998,0.874362,1.000000,0.000000,-0.000001,0.000033
26,1,517120,38,gripper,0,"","put carrot on flat bowl",-0.183962,0.058165,1.101228,0.158813,-0.658409,0.107195,0.727864
26,1,517120,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.207748,-0.076078,0.887371,0.348465,-0.036218,0.009052,0.936578
26,1,517120,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114689,0.075316,0.878547,0.382210,0.003190,0.013077,0.923977
26,1,517120,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
26,1,517120,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
26,1,517120,39,gripper,0,"","put carrot on flat bowl",-0.191061,-0.061230,0.961359,0.049443,-0.727922,0.124950,0.672363
26,1,517120,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.238083,-0.082987,0.887403,0.982076,-0.006306,0.024440,0.186786
26,1,517120,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075304,0.878547,0.923904,0.011489,0.006971,0.382389
26,1,517120,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
26,1,517120,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874362,1.000000,0.000000,-0.000001,0.000134
26,1,517120,40,gripper,0,"","put banana on sheet metal",-0.186005,-0.027962,1.018836,-0.009925,-0.642182,0.101353,0.759758
26,1,517120,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205933,0.079647,0.887116,0.364512,-0.021571,0.020115,0.930731
26,1,517120,41,obj,1,"013_banana_1","put banana on sheet metal",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
26,1,517120,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
26,1,517120,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
26,1,517120,41,gripper,0,"","put banana on sheet metal",-0.050909,-0.051365,0.947489,0.040767,-0.771691,0.063065,0.631549
26,1,517120,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086510,0.074554,0.887481,0.741599,-0.020850,0.022992,0.670125
26,1,517120,42,obj,1,"013_banana_1","put banana on sheet metal",-0.204556,0.075018,0.878547,0.707200,0.007956,0.010848,0.706886
26,1,517120,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
26,1,517120,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
26,1,517120,42,gripper,0,"","put banana on sheet metal",-0.183800,0.098701,0.996434,0.134826,-0.710049,0.046808,0.689537
26,1,517120,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.203850,0.076551,0.887529,0.920995,-0.016752,0.039844,0.387170
26,1,517120,43,obj,1,"013_banana_1","put banana on sheet metal",-0.114672,-0.075308,0.878547,0.923754,0.011529,0.006998,0.382748
26,1,517120,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,0.044989,0.871344,0.999999,-0.000158,0.001164,-0.000057
26,1,517120,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000137
26,1,517120,43,gripper,0,"","put banana on sheet metal",-0.102762,-0.057742,0.968122,-0.176596,-0.689930,-0.116999,0.692186
26,1,517120,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117300,-0.077747,0.887552,0.369748,-0.022569,0.012071,0.928780
26,1,517120,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234725,-0.044712,0.878546,0.382257,0.003182,0.013049,0.923958
26,1,517120,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001164,0.000003
26,1,517120,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000000
26,1,517120,44,gripper,0,"","put banana on flat bowl",-0.219796,-0.032276,0.941061,0.005622,-0.750999,0.013955,0.660132
26,1,517120,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
26,1,517120,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075333,0.878547,0.382793,0.003196,0.013066,0.923736
26,1,517120,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
26,1,517120,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
26,1,517120,45,gripper,0,"","put banana on flat bowl",-0.131522,0.073628,1.006821,-0.134790,-0.592801,-0.198591,0.768752
26,1,517120,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236378,0.077219,0.887492,0.909963,-0.011506,0.022653,0.413911
26,1,517120,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204670,-0.045311,0.878547,0.923898,0.011472,0.006962,0.382403
26,1,517120,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
26,1,517120,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
26,1,517120,46,gripper,0,"","put banana on flat bowl",-0.174076,-0.028479,0.953809,-0.257662,-0.660608,-0.155555,0.687757
26,1,517120,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
26,1,517120,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084560,-0.074993,0.878547,0.707241,0.007952,0.010846,0.706844
26,1,517120,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
26,1,517120,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
26,1,517120,47,gripper,0,"","put banana on flat bowl",-0.046083,-0.005207,0.993478,0.110424,-0.781950,0.125241,0.600563
26,1,517120,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.211884,-0.029491,0.896841,0.326175,-0.010878,0.037606,0.944498
26,1,517120,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106415,0.095158,0.887027,0.263857,-0.663824,0.251045,0.653218
26,1,517120,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235504,-0.043640,0.872203,0.999858,0.000026,0.000071,0.016834
26,1,517120,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205002,0.074993,0.870870,1.000000,0.000001,0.000000,0.000000
26,1,517120,48,gripper,0,"","put hamburger on frying pan",-0.201736,-0.069916,0.958969,0.067684,-0.705261,0.110737,0.696967
26,1,517120,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
26,1,517120,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175926,-0.071232,0.887026,0.704474,-0.010308,0.709634,-0.005504
26,1,517120,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
26,1,517120,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
26,1,517120,49,gripper,0,"","put hamburger on frying pan",-0.172634,-0.024565,0.976063,-0.309062,-0.726855,-0.180751,0.586081
26,1,517120,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.107124,0.023003,0.956466,0.973532,-0.005939,0.015652,-0.227938
26,1,517120,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.155453,0.076046,0.891018,0.270697,-0.016612,0.962462,0.010626
26,1,517120,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084961,0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000234
26,1,517120,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
26,1,517120,50,gripper,0,"","put hamburger on frying pan",-0.106201,0.028774,1.006070,0.094471,-0.702620,0.206984,0.674209
26,1,517120,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.219486,0.073692,0.889874,0.700512,0.056782,0.056021,0.709169
26,1,517120,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235769,-0.045361,0.887026,0.497935,-0.513138,0.490286,0.498368
26,1,517120,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
26,1,517120,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
26,1,517120,51,gripper,0,"","put hamburger on frying pan",-0.207516,0.075413,0.916081,-0.037343,-0.731587,-0.007526,0.680683
26,1,517120,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.129096,-0.008461,0.890728,0.665938,-0.026231,-0.004361,0.745533
26,1,517120,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235809,-0.045353,0.887026,0.497857,-0.513214,0.490202,0.498449
26,1,517120,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
26,1,517120,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115000,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000000
26,1,517120,52,gripper,0,"","put hamburger on cutting board",-0.192197,-0.036278,0.987377,-0.139092,-0.715325,-0.084325,0.679598
26,1,517120,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.080006,-0.025826,0.894735,0.192814,0.234351,0.537476,0.786780
26,1,517120,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256496,0.064960,0.887026,0.267458,-0.662424,0.254703,0.651757
26,1,517120,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
26,1,517120,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.111822,0.077011,0.870870,0.999800,0.000000,-0.000000,-0.019989
26,1,517120,53,gripper,0,"","put hamburger on cutting board",-0.117946,0.103510,0.927402,0.078458,-0.767640,0.058991,0.633319
26,1,517120,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.194603,-0.005150,0.889138,0.428605,-0.014422,0.078610,0.899950
26,1,517120,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256359,0.094910,0.887026,0.266267,-0.662893,0.253495,0.652238
26,1,517120,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000008
26,1,517120,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.232655,-0.071014,0.870870,0.999542,0.000000,0.000000,0.030247
26,1,517120,54,gripper,0,"","put hamburger on cutting board",-0.210148,-0.023796,0.969744,0.092597,-0.668451,0.108946,0.729884
26,1,517120,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.131371,0.063519,0.890788,0.741148,-0.027114,-0.004868,0.670777
26,1,517120,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064964,-0.053429,0.887027,0.649404,-0.289679,0.647893,0.273121
26,1,517120,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000106
26,1,517120,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,0.044991,0.870870,1.000000,0.000000,-0.000000,0.000055
26,1,517120,55,gripper,0,"","put hamburger on cutting board",-0.216074,0.078337,0.987823,0.176111,-0.663651,0.156016,0.710078
26,1,517120,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085846,0.075687,0.888112,0.715082,-0.026900,-0.005908,0.698498
26,1,517120,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.083771,-0.036041,0.895474,0.388982,-0.603595,0.428859,0.548129
26,1,517120,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084991,-0.074825,0.872199,0.999998,0.000000,-0.000001,-0.001908
26,1,517120,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000012
26,1,517120,56,gripper,0,"","put plastic bottle on frying pan",-0.086575,0.038969,0.958869,-0.061780,-0.741141,-0.007198,0.668462
26,1,517120,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
26,1,517120,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.035259,0.038128,0.018226,0.275377,-0.659276,0.262755,0.648446
26,1,517120,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
26,1,517120,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.251678,0.044697,0.870870,0.976715,-0.000000,-0.000001,0.214540
26,1,517120,57,gripper,0,"","put plastic bottle on frying pan",0.042833,0.039190,0.910224,0.196002,-0.851319,0.010329,0.486552
26,1,517120,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.194805,-0.016491,0.896915,0.873768,-0.240026,-0.001699,-0.422982
26,1,517120,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.017673,0.052242,0.887026,0.685360,0.148820,0.693931,-0.163073
26,1,517120,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.231091,-0.040504,0.887590,0.979860,-0.141073,0.136186,0.037772
26,1,517120,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
26,1,517120,58,gripper,0,"","put plastic bottle on frying pan",-0.203899,-0.009205,0.951876,0.028653,-0.731485,0.088781,0.675445
26,1,517120,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.114376,-0.044094,0.888112,0.999513,-0.023155,0.014912,-0.014661
26,1,517120,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.076670,0.058002,0.888386,0.458020,0.539496,-0.431619,0.559344
26,1,517120,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
26,1,517120,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.076565,0.075005,0.870884,0.999487,0.000687,0.000741,0.032016
26,1,517120,59,gripper,0,"","put plastic bottle on frying pan",-0.217055,-0.053202,0.931968,0.147653,-0.756368,0.105019,0.628552
26,1,517120,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.203336,-0.049603,0.891109,0.655401,-0.177237,-0.008347,0.734143
26,1,517120,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106384,-0.051250,0.889708,0.395536,-0.595993,0.385314,0.582989
26,1,517120,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
26,1,517120,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085050,-0.074970,0.870870,1.000000,0.000001,-0.000001,0.000082
26,1,517120,60,gripper,0,"","put plastic bottle on cutting board",-0.213996,-0.054003,0.919984,-0.132229,-0.733300,-0.119798,0.656075
26,1,517120,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205965,-0.044403,0.888112,0.712835,-0.026880,-0.005995,0.700791
26,1,517120,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.098881,-0.066696,0.889694,0.469622,-0.539549,0.460153,0.525928
26,1,517120,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000010
26,1,517120,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084791,-0.074959,0.870870,1.000000,-0.000000,0.000001,-0.000155
26,1,517120,61,gripper,0,"","put plastic bottle on cutting board",-0.143064,-0.038326,1.025792,0.037060,-0.716754,-0.017513,0.696121
26,1,517120,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.046711,0.084133,0.888113,0.949085,-0.026764,0.006495,0.313816
26,1,517120,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.199169,-0.036255,0.889392,0.479834,-0.527998,0.476401,0.513828
26,1,517120,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
26,1,517120,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235275,-0.074997,0.870870,0.999999,-0.000001,-0.000007,0.001649
26,1,517120,62,gripper,0,"","put plastic bottle on cutting board",-0.213768,-0.038408,0.960727,-0.031511,-0.712565,-0.040157,0.699747
26,1,517120,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.125221,0.030052,0.917400,0.922989,-0.024828,0.015122,0.383727
26,1,517120,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064972,0.096619,0.887027,0.649615,-0.289174,0.648123,0.272610
26,1,517120,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
26,1,517120,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204998,0.044987,0.870870,1.000000,-0.000004,-0.000004,0.000021
26,1,517120,63,gripper,0,"","put plastic bottle on cutting board",-0.129725,0.030348,0.965340,0.104688,-0.761220,0.115738,0.629435
26,2,522240,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.075264,0.111099,0.885369,0.728640,-0.176905,0.214763,0.625831
26,2,522240,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084244,-0.075645,0.884083,0.710036,0.053873,-0.003183,0.702095
26,2,522240,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084496,0.075691,0.869532,0.999934,-0.000000,-0.000002,-0.011469
26,2,522240,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205002,-0.045006,0.871288,0.999999,-0.000156,-0.001020,-0.000051
26,2,522240,0,gripper,0,"","put ketchup bottle on cloth",-0.092339,-0.089535,0.916902,0.035759,-0.791498,-0.038882,0.608885
26,2,522240,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.152195,0.050674,0.885118,0.465673,0.524520,-0.567254,0.431568
26,2,522240,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.230232,-0.091400,0.881637,0.638401,0.027253,-0.028411,0.768696
26,2,522240,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204575,0.045013,0.869532,0.999980,-0.000001,-0.000001,0.006302
26,2,522240,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
26,2,522240,1,gripper,0,"","put ketchup bottle on cloth",-0.215693,-0.047985,0.992918,-0.001442,-0.687658,0.081894,0.721400
26,2,522240,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.087849,0.063858,0.888512,0.204318,0.583217,-0.769646,0.160491
26,2,522240,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205112,0.074059,0.881638,0.706769,0.024508,-0.030809,0.706349
26,2,522240,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.082310,-0.072266,0.869532,0.999891,-0.000001,-0.000001,0.014732
26,2,522240,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000045
26,2,522240,2,gripper,0,"","put ketchup bottle on cloth",-0.098850,0.072781,0.937002,0.112279,-0.821545,0.092740,0.551232
26,2,522240,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.113970,-0.036507,0.888583,0.538458,0.389609,-0.279771,0.692817
26,2,522240,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.214655,-0.049622,0.887567,0.643475,0.036080,-0.037489,0.763697
26,2,522240,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.233000,-0.073883,0.869531,0.999675,0.000000,-0.000001,-0.025473
26,2,522240,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114185,-0.044983,0.871288,0.999999,-0.000155,-0.001019,-0.001042
26,2,522240,3,gripper,0,"","put ketchup bottle on cloth",-0.250288,-0.042599,0.965458,-0.044981,-0.738529,-0.024211,0.672284
26,2,522240,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.100027,-0.185486,0.879088,0.657281,0.309452,-0.344493,0.594598
26,2,522240,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.260066,-0.026718,0.887165,0.844686,-0.035256,0.024300,0.533546
26,2,522240,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.241849,-0.042397,0.869532,0.998221,0.000000,-0.000001,-0.059627
26,2,522240,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084992,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000005
26,2,522240,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.228853,-0.009800,1.005058,0.031752,-0.704842,0.140411,0.694603
26,2,522240,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.046328,-0.054932,0.878982,0.642650,0.352822,0.547215,-0.403823
26,2,522240,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.228533,0.031151,0.881628,0.965437,-0.015083,-0.040148,-0.257083
26,2,522240,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,0.074997,0.869532,1.000000,-0.000001,-0.000001,0.000012
26,2,522240,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205763,-0.087059,0.871289,0.998818,-0.000104,-0.001025,0.048602
26,2,522240,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.225543,0.054943,0.930447,0.125970,-0.703084,0.040315,0.698699
26,2,522240,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.092827,0.006805,0.879703,0.360320,0.556358,0.684238,-0.304061
26,2,522240,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.243557,-0.074997,0.881638,0.992269,0.000190,-0.039346,0.117700
26,2,522240,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.040775,0.077354,0.869532,0.918458,-0.000000,-0.000001,0.395519
26,2,522240,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.092148,-0.070206,0.871436,0.997588,-0.004444,-0.006146,-0.068998
26,2,522240,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.121958,-0.008606,0.921507,-0.119723,-0.764567,-0.121009,0.621659
26,2,522240,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.154095,-0.123573,0.888168,-0.027250,0.850330,-0.522277,-0.058514
26,2,522240,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.143818,-0.051193,0.883791,0.695585,-0.064481,0.046871,0.714007
26,2,522240,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.063877,-0.099686,0.870093,0.992764,-0.007855,0.003274,0.119781
26,2,522240,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.180752,-0.120041,0.871288,0.981421,-0.000346,-0.000970,-0.191862
26,2,522240,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.170374,-0.045406,0.915009,-0.091205,-0.770567,0.043537,0.629295
26,2,522240,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097298,0.070713,0.879090,0.812891,0.183191,-0.424605,0.354063
26,2,522240,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.166122,0.088779,0.891841,0.791029,0.109811,-0.193713,0.569816
26,2,522240,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.207123,0.097435,0.869532,0.937027,0.000001,-0.000001,-0.349257
26,2,522240,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001020,0.000128
26,2,522240,8,gripper,0,"","put kitchen shovel on cloth",-0.084988,0.058758,0.913531,0.299273,-0.647227,0.263409,0.649729
26,2,522240,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.289577,0.046516,0.879463,0.479391,0.340210,-0.208574,0.781626
26,2,522240,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.274426,0.031761,0.876057,0.103904,0.830652,-0.547012,-0.000097
26,2,522240,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.044994,0.869532,1.000000,0.000001,-0.000001,0.000056
26,2,522240,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
26,2,522240,9,gripper,0,"","put kitchen shovel on cloth",-0.303076,0.035318,0.915859,-0.190783,-0.742961,-0.131534,0.627941
26,2,522240,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.227245,-0.075539,0.888061,0.685195,0.291029,-0.368133,0.557036
26,2,522240,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084389,-0.075760,0.881638,0.382483,0.034439,-0.019081,0.923123
26,2,522240,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.112949,0.044884,0.869532,0.998493,-0.000000,0.000000,-0.054883
26,2,522240,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074978,0.871288,0.999999,-0.000166,-0.001026,0.000094
26,2,522240,10,gripper,0,"","put kitchen shovel on cloth",-0.246645,-0.059246,0.944460,0.155509,-0.771740,0.048825,0.614696
26,2,522240,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.210608,-0.081024,0.885209,0.216126,0.602656,-0.747898,0.175339
26,2,522240,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.140381,0.082672,0.887525,0.754186,0.004575,-0.064070,0.653512
26,2,522240,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.243710,-0.075901,0.869532,0.998809,-0.000000,-0.000000,0.048789
26,2,522240,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084820,0.075020,0.871288,0.999999,-0.000153,-0.001019,-0.000394
26,2,522240,11,gripper,0,"","put kitchen shovel on cloth",-0.201549,0.093689,0.913778,-0.018226,-0.747511,-0.019539,0.663712
26,2,522240,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.004284,0.078495,0.879213,0.089743,0.908129,-0.312806,0.263437
26,2,522240,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204405,0.074242,0.881638,0.382555,0.034421,-0.019077,0.923094
26,2,522240,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.065551,-0.084579,0.869662,0.999547,0.000936,0.001983,0.030011
26,2,522240,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.178759,-0.052795,0.871283,0.934319,-0.000882,-0.001014,-0.356435
26,2,522240,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.066590,0.056650,0.955319,0.092575,-0.792021,0.054824,0.600938
26,2,522240,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.143391,0.161095,0.879373,-0.773042,0.160506,-0.227304,-0.570067
26,2,522240,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.219347,0.067101,0.887279,0.683041,0.015282,-0.033435,0.729454
26,2,522240,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205009,0.074829,0.869532,0.999995,-0.000000,-0.000000,0.003003
26,2,522240,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
26,2,522240,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.226994,-0.017509,0.970143,0.120289,-0.709108,0.081824,0.689928
26,2,522240,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.226105,-0.015045,0.885369,0.607739,-0.211764,0.180453,0.743805
26,2,522240,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.104652,-0.066132,0.882106,0.082149,0.808782,-0.577780,-0.072752
26,2,522240,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234406,-0.046001,0.869532,0.999734,0.000000,0.000000,-0.023054
26,2,522240,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.112888,-0.072109,0.871288,0.999788,-0.000175,-0.001016,-0.020578
26,2,522240,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.117012,-0.004637,1.000557,0.101992,-0.738206,0.081265,0.661850
26,2,522240,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",1.572483,-1.216419,0.010572,-0.711057,0.182785,-0.209792,-0.645736
26,2,522240,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",21.500557,0.371548,-1273.839111,-0.102469,0.257806,-0.373341,-0.885241
26,2,522240,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",1.956688,1.387798,0.000732,0.524658,-0.000000,0.000000,-0.851313
26,2,522240,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",1.408276,-0.979443,0.002488,-0.933658,0.000512,0.000895,0.358163
26,2,522240,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.216930,-0.003712,0.960017,-0.003583,-0.697467,0.109401,0.708208
26,2,522240,16,obj,0,"003_bread_1","put bread on carpet",-0.224625,-0.033325,0.886541,0.917809,0.005350,-0.008952,0.396885
26,2,522240,16,obj,1,"005_7up can_1","put bread on carpet",-0.223488,-0.037960,0.934074,-0.737672,-0.215448,0.423438,-0.479711
26,2,522240,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000095
26,2,522240,16,recep,1,"003_carpet_1","put bread on carpet",-0.234848,-0.044949,0.870447,0.999991,-0.003112,-0.002731,-0.000247
26,2,522240,16,gripper,0,"","put bread on carpet",-0.243713,-0.030319,0.960572,0.137796,-0.732334,0.123980,0.655231
26,2,522240,17,obj,0,"003_bread_1","put bread on carpet",-0.072998,-0.100693,0.886509,0.776862,0.012201,-0.006329,0.629521
26,2,522240,17,obj,1,"005_7up can_1","put bread on carpet",-0.128609,-0.069012,0.889183,0.322512,0.672289,-0.393557,0.537704
26,2,522240,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
26,2,522240,17,recep,1,"003_carpet_1","put bread on carpet",-0.084641,-0.074425,0.870447,0.999998,-0.000923,-0.000841,-0.001194
26,2,522240,17,gripper,0,"","put bread on carpet",-0.073895,0.072056,0.922355,0.124339,-0.730378,0.113142,0.662032
26,2,522240,18,obj,0,"003_bread_1","put bread on carpet",-0.190674,-0.164345,0.883614,0.082372,0.947056,0.308451,-0.034026
26,2,522240,18,obj,1,"005_7up can_1","put bread on carpet",-0.122955,-0.057159,0.888966,0.713554,0.162754,-0.181978,0.656686
26,2,522240,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
26,2,522240,18,recep,1,"003_carpet_1","put bread on carpet",-0.082523,-0.073128,0.870427,0.999998,-0.000758,-0.001277,-0.000966
26,2,522240,18,gripper,0,"","put bread on carpet",-0.196123,-0.055731,0.961659,-0.020882,-0.709083,0.098885,0.697845
26,2,522240,19,obj,0,"003_bread_1","put bread on carpet",-0.206236,0.065514,0.886589,0.450058,0.018022,-0.004018,0.892808
26,2,522240,19,obj,1,"005_7up can_1","put bread on carpet",-0.193230,-0.059914,0.888007,-0.598140,0.073765,-0.070331,-0.794884
26,2,522240,19,recep,0,"004_newspaper_1","put bread on carpet",-0.204832,-0.075001,0.869489,1.000000,0.000180,0.000879,0.000329
26,2,522240,19,recep,1,"003_carpet_1","put bread on carpet",-0.204996,0.074993,0.870452,0.999998,0.001568,0.001265,-0.000003
26,2,522240,19,gripper,0,"","put bread on carpet",-0.112333,0.116671,0.941642,0.137073,-0.712647,0.192968,0.660385
26,2,522240,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.085756,0.073544,0.886511,0.933052,-0.003058,-0.008214,-0.359635
26,2,522240,20,obj,1,"005_7up can_1","put 7up can on newspaper",0.020152,-0.001324,0.016933,0.817714,-0.171429,0.446830,0.319841
26,2,522240,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
26,2,522240,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.109118,0.052326,0.870461,0.999931,0.000020,-0.000158,0.011714
26,2,522240,20,gripper,0,"","put 7up can on newspaper",-0.110989,0.059202,0.947563,-0.007473,-0.778813,-0.031807,0.626405
26,2,522240,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.177874,0.548042,0.883615,0.077377,0.978607,0.185429,-0.044230
26,2,522240,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.181316,-0.252953,0.885757,0.469057,0.492861,-0.375606,0.629279
26,2,522240,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
26,2,522240,21,recep,1,"003_carpet_1","put 7up can on newspaper",106.807022,-10.248009,-394.015259,0.441835,-0.276254,0.489485,-0.699192
26,2,522240,21,gripper,0,"","put 7up can on newspaper",-0.165651,-0.166264,1.000635,-0.076163,-0.694500,-0.017540,0.715235
26,2,522240,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.218655,0.001720,0.886476,0.574353,0.025893,0.004164,0.818187
26,2,522240,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.141399,-0.066498,0.888496,0.232506,0.564879,-0.747041,0.262263
26,2,522240,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.215775,-0.035149,0.869490,0.999951,0.000187,0.000865,-0.009828
26,2,522240,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084614,-0.075111,0.870448,0.999999,-0.000923,-0.000846,0.000642
26,2,522240,22,gripper,0,"","put 7up can on newspaper",-0.068928,-0.028316,1.008615,0.025109,-0.756662,0.081032,0.648279
26,2,522240,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.030952,-0.094368,0.886621,0.999237,0.003664,-0.010213,-0.037507
26,2,522240,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.077801,-0.018494,0.885866,-0.408514,0.588373,-0.553651,-0.424740
26,2,522240,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
26,2,522240,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.042946,-0.105164,0.870451,0.952960,-0.000397,-0.000237,-0.303095
26,2,522240,23,gripper,0,"","put 7up can on newspaper",-0.138910,-0.060083,0.955141,-0.035368,-0.742288,-0.019662,0.668858
26,2,522240,24,obj,0,"003_bread_1","put 7up can on carpet",-0.161095,-0.031439,0.885797,0.946589,-0.052080,0.015695,0.317823
26,2,522240,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.234909,0.123583,0.888865,-0.098238,-0.625726,0.771009,-0.066047
26,2,522240,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.075045,0.869490,1.000000,0.000180,0.000874,-0.000302
26,2,522240,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.208916,-0.079178,0.870421,0.999975,-0.000209,-0.000788,-0.006988
26,2,522240,24,gripper,0,"","put 7up can on carpet",-0.159279,-0.022492,0.942426,-0.099201,-0.746865,-0.090896,0.651222
26,2,522240,25,obj,0,"003_bread_1","put 7up can on carpet",-0.237381,-0.071922,0.883544,0.316862,0.012457,-0.002242,0.948387
26,2,522240,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.113964,0.035385,0.889048,0.553737,-0.383312,0.334196,0.659364
26,2,522240,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235027,0.074982,0.869490,1.000000,0.000180,0.000874,-0.000039
26,2,522240,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.078709,0.074560,0.870449,0.999420,0.001474,0.001310,0.033987
26,2,522240,25,gripper,0,"","put 7up can on carpet",-0.124613,0.041792,0.935446,0.047321,-0.737240,0.038906,0.672848
26,2,522240,26,obj,0,"003_bread_1","put 7up can on carpet",-0.206062,-0.030645,0.885431,0.933541,0.009607,0.005075,0.358306
26,2,522240,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.142624,0.091917,0.887809,0.019771,-0.493312,0.867905,0.054708
26,2,522240,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234970,-0.045053,0.869487,1.000000,0.000201,0.000873,-0.000476
26,2,522240,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.206013,0.075048,0.870448,0.999997,-0.000132,-0.000163,0.002335
26,2,522240,26,gripper,0,"","put 7up can on carpet",-0.155684,0.096628,0.934941,0.198283,-0.714419,0.204984,0.638961
26,2,522240,27,obj,0,"003_bread_1","put 7up can on carpet",-0.084490,-0.075480,0.883545,0.383771,0.012264,-0.003124,0.923342
26,2,522240,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.134365,0.050924,0.889119,0.621896,-0.067859,0.066789,0.777290
26,2,522240,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.111927,0.037636,0.869490,0.999392,0.000149,0.000880,0.034868
26,2,522240,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.204889,-0.075520,0.870447,1.000000,-0.000544,-0.000513,-0.000017
26,2,522240,27,gripper,0,"","put 7up can on carpet",-0.153209,0.027714,0.950117,-0.130365,-0.713058,-0.130553,0.676394
26,2,522240,28,obj,0,"003_bread_1","put bread on newspaper",-0.105402,-0.034433,0.955936,0.629927,-0.055125,0.005868,0.774674
26,2,522240,28,obj,1,"005_7up can_1","put bread on newspaper",-0.231646,-0.118521,0.885615,-0.657471,0.119094,-0.099164,-0.737371
26,2,522240,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.084998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000006
26,2,522240,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
26,2,522240,28,gripper,0,"","put bread on newspaper",-0.124613,-0.026804,0.985802,0.008712,-0.755650,0.099626,0.647295
26,2,522240,29,obj,0,"003_bread_1","put bread on newspaper",-0.270462,-0.112144,0.883614,-0.086787,-0.590589,-0.802036,-0.020274
26,2,522240,29,obj,1,"005_7up can_1","put bread on newspaper",-0.179876,-0.072998,0.888828,0.276171,-0.710863,0.513698,0.393087
26,2,522240,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234995,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000033
26,2,522240,29,recep,1,"003_carpet_1","put bread on newspaper",-0.204710,-0.075228,0.870448,1.000000,-0.000126,-0.000158,-0.000623
26,2,522240,29,gripper,0,"","put bread on newspaper",-0.105191,0.041616,0.971590,0.119709,-0.678476,-0.010099,0.724733
26,2,522240,30,obj,0,"003_bread_1","put bread on newspaper",-0.243191,-0.111450,0.886701,-0.031870,0.295313,-0.951179,-0.083860
26,2,522240,30,obj,1,"005_7up can_1","put bread on newspaper",-0.227974,-0.047495,0.888682,0.749663,0.075098,-0.077757,0.652932
26,2,522240,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
26,2,522240,30,recep,1,"003_carpet_1","put bread on newspaper",-0.234909,-0.075012,0.870448,0.999999,-0.000788,-0.000727,-0.000577
26,2,522240,30,gripper,0,"","put bread on newspaper",-0.148106,0.044793,0.993977,-0.011040,-0.700331,-0.010841,0.713651
26,2,522240,31,obj,0,"003_bread_1","put bread on newspaper",-0.094566,-0.074230,0.886679,0.992029,0.003734,-0.009514,0.125591
26,2,522240,31,obj,1,"005_7up can_1","put bread on newspaper",0.108730,0.056801,0.017173,0.346834,-0.183714,0.917486,0.064619
26,2,522240,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.031158,0.086918,0.869490,0.999333,0.000148,0.000881,0.036521
26,2,522240,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085007,-0.074955,0.870448,0.999999,-0.000923,-0.000845,-0.000100
26,2,522240,31,gripper,0,"","put bread on newspaper",-0.086422,0.049246,0.921070,0.136862,-0.731478,-0.107353,0.659306
26,2,522240,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.225708,-0.049162,0.887529,0.348820,-0.040506,0.015095,0.936192
26,2,522240,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204689,0.075325,0.878547,0.382233,0.003192,0.013080,0.923968
26,2,522240,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
26,2,522240,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
26,2,522240,32,gripper,0,"","put carrot on flat bowl",-0.171867,-0.045805,0.999949,0.003019,-0.683875,0.005024,0.729576
26,2,522240,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.102036,0.082212,0.887257,0.517168,-0.031682,0.010855,0.855228
26,2,522240,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.114700,-0.074684,0.878547,0.382218,0.003183,0.013054,0.923974
26,2,522240,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
26,2,522240,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000000
26,2,522240,33,gripper,0,"","put carrot on flat bowl",-0.074728,0.077945,0.993372,0.273297,-0.672758,0.158328,0.669057
26,2,522240,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.093166,0.072946,0.887275,0.746503,-0.026112,0.019609,0.664580
26,2,522240,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204556,0.075008,0.878547,0.706826,0.007959,0.010869,0.707259
26,2,522240,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
26,2,522240,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
26,2,522240,34,gripper,0,"","put carrot on flat bowl",-0.071228,0.093448,0.952847,0.049075,-0.736981,0.035583,0.673190
26,2,522240,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.119795,0.047920,0.887262,0.908091,-0.007271,0.032847,0.417419
26,2,522240,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.204672,-0.045309,0.878547,0.923637,0.011497,0.006986,0.383033
26,2,522240,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
26,2,522240,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
26,2,522240,35,gripper,0,"","put carrot on flat bowl",-0.195914,0.078056,0.971398,0.152570,-0.742735,0.266623,0.594962
26,2,522240,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120818,0.047059,0.887165,0.912630,-0.001094,0.023397,0.408114
26,2,522240,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084682,-0.075307,0.878547,0.923623,0.011469,0.006972,0.383067
26,2,522240,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
26,2,522240,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,-0.000001,0.000000
26,2,522240,36,gripper,0,"","put banana on sheet metal",-0.078914,-0.052091,0.986977,0.037196,-0.768306,0.174205,0.614797
26,2,522240,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118122,0.050126,0.887519,0.997315,-0.004022,0.021379,0.069927
26,2,522240,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234991,-0.075435,0.878547,0.999909,0.013289,0.002054,0.000312
26,2,522240,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
26,2,522240,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
26,2,522240,37,gripper,0,"","put banana on sheet metal",-0.226668,-0.055742,0.951262,-0.043897,-0.757793,0.010382,0.650934
26,2,522240,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.206551,0.076776,0.894042,0.127540,-0.001157,-0.033055,0.991282
26,2,522240,38,obj,1,"013_banana_1","put banana on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003198,0.013091,0.923968
26,2,522240,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000158,0.001164,-0.000024
26,2,522240,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205006,0.074998,0.874362,1.000000,-0.000000,-0.000000,0.000033
26,2,522240,38,gripper,0,"","put banana on sheet metal",-0.181980,-0.050820,0.955755,-0.117649,-0.714291,-0.006766,0.689856
26,2,522240,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209072,-0.079464,0.887367,0.358669,-0.014195,0.006862,0.933332
26,2,522240,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114689,0.075316,0.878547,0.382210,0.003187,0.013071,0.923978
26,2,522240,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
26,2,522240,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
26,2,522240,39,gripper,0,"","put banana on sheet metal",-0.052004,0.033758,0.965743,0.278455,-0.655647,0.368128,0.597555
26,2,522240,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.242828,-0.078836,0.887419,0.982323,-0.003424,0.022634,0.185786
26,2,522240,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075304,0.878547,0.924116,0.011515,0.006976,0.381875
26,2,522240,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
26,2,522240,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000215
26,2,522240,40,gripper,0,"","put banana on flat bowl",-0.115559,0.039306,1.025106,0.149792,-0.704107,0.109848,0.685368
26,2,522240,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205936,0.079643,0.887116,0.364876,-0.021562,0.020123,0.930589
26,2,522240,41,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
26,2,522240,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
26,2,522240,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
26,2,522240,41,gripper,0,"","put banana on flat bowl",-0.049355,0.008293,1.006389,0.171142,-0.670103,0.210557,0.690897
26,2,522240,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090992,0.073957,0.887540,0.751665,-0.018019,0.023542,0.658879
26,2,522240,42,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075022,0.878547,0.707560,0.007961,0.010843,0.706525
26,2,522240,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
26,2,522240,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
26,2,522240,42,gripper,0,"","put banana on flat bowl",-0.175367,0.043978,1.024379,0.161538,-0.674926,0.149040,0.704391
26,2,522240,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203850,0.076551,0.887529,0.920996,-0.016753,0.039846,0.387167
26,2,522240,43,obj,1,"013_banana_1","put banana on flat bowl",-0.114668,-0.075308,0.878547,0.923871,0.011519,0.006988,0.382468
26,2,522240,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,0.044977,0.871344,0.999999,-0.000158,0.001164,-0.000082
26,2,522240,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000256
26,2,522240,43,gripper,0,"","put banana on flat bowl",-0.086931,-0.058392,0.964326,-0.170156,-0.741088,-0.089462,0.643298
26,2,522240,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120029,-0.083876,0.887473,0.395020,-0.013644,0.008010,0.918536
26,2,522240,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234725,-0.044712,0.878547,0.382257,0.003189,0.013070,0.923958
26,2,522240,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001163,0.000003
26,2,522240,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000001
26,2,522240,44,gripper,0,"","put carrot on sheet metal",-0.084826,-0.047352,0.946955,0.141801,-0.733772,0.215251,0.628600
26,2,522240,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
26,2,522240,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,0.075336,0.878547,0.383286,0.003202,0.013062,0.923532
26,2,522240,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
26,2,522240,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
26,2,522240,45,gripper,0,"","put carrot on sheet metal",-0.140300,-0.008571,1.009909,-0.099806,-0.738267,-0.046634,0.665452
26,2,522240,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.181366,0.030483,0.950323,0.953968,-0.069264,0.002272,0.291791
26,2,522240,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.204662,-0.045311,0.878547,0.924150,0.011473,0.006954,0.381794
26,2,522240,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
26,2,522240,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
26,2,522240,46,gripper,0,"","put carrot on sheet metal",-0.161022,0.053988,1.002483,-0.219964,-0.732196,-0.108224,0.635447
26,2,522240,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205143,0.076708,0.887529,0.706080,-0.030582,0.030548,0.706812
26,2,522240,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074989,0.878547,0.707617,0.007956,0.010840,0.706468
26,2,522240,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
26,2,522240,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
26,2,522240,47,gripper,0,"","put carrot on sheet metal",-0.159597,0.099125,0.967910,0.152153,-0.742831,0.178091,0.627164
26,2,522240,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.175117,0.102493,0.890448,0.423914,-0.023431,-0.012461,0.905313
26,2,522240,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106415,0.095158,0.887027,0.263857,-0.663825,0.251046,0.653217
26,2,522240,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235504,-0.043640,0.872199,0.999859,-0.000001,-0.000001,0.016817
26,2,522240,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,0.074993,0.870870,1.000000,-0.000003,-0.000003,-0.000026
26,2,522240,48,gripper,0,"","put hamburger on cutting board",-0.182507,0.055849,1.031548,0.002759,-0.757593,-0.031829,0.651945
26,2,522240,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.084385,0.075966,0.888112,0.999591,-0.023258,0.014749,-0.007678
26,2,522240,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175926,-0.071232,0.887026,0.704473,-0.010298,0.709634,-0.005513
26,2,522240,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.200603,0.076115,0.872199,0.998297,-0.000001,-0.000001,-0.058339
26,2,522240,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000009
26,2,522240,49,gripper,0,"","put hamburger on cutting board",-0.154676,0.075949,0.970937,0.092751,-0.736753,0.007797,0.669725
26,2,522240,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197021,-0.000168,0.892069,0.957227,0.100697,0.020746,-0.270455
26,2,522240,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175446,0.075996,0.887027,0.704496,-0.016444,0.709518,0.000589
26,2,522240,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.087574,0.075603,0.872199,0.999393,-0.000001,-0.000001,0.034839
26,2,522240,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045006,0.870870,1.000000,-0.000001,-0.000001,0.000004
26,2,522240,50,gripper,0,"","put hamburger on cutting board",-0.184105,-0.017340,1.004787,-0.216833,-0.719052,-0.122068,0.648881
26,2,522240,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.206991,0.046677,0.888555,0.776826,-0.017106,0.010770,0.629391
26,2,522240,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235769,-0.045361,0.887026,0.497970,-0.513103,0.490321,0.498333
26,2,522240,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
26,2,522240,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000017
26,2,522240,51,gripper,0,"","put hamburger on cutting board",-0.230499,0.042358,0.916456,-0.174404,-0.721946,-0.086864,0.663951
26,2,522240,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.127239,-0.007568,0.890729,0.670862,-0.026251,-0.004206,0.741105
26,2,522240,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.214570,0.091076,0.895295,0.477386,-0.532255,0.463567,0.523366
26,2,522240,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204947,0.075024,0.872199,1.000000,-0.000000,-0.000001,-0.000683
26,2,522240,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.113624,-0.044292,0.870870,0.999979,0.000000,-0.000001,-0.006533
26,2,522240,52,gripper,0,"","put plastic bottle on frying pan",-0.142353,0.081667,1.003017,-0.015824,-0.700341,0.019140,0.713376
26,2,522240,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.080046,-0.025818,0.894735,0.176952,0.223497,0.542080,0.790498
26,2,522240,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.201424,-0.071461,0.894063,0.551775,-0.032384,-0.002388,0.833361
26,2,522240,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205099,-0.075233,0.872200,1.000000,-0.000000,-0.000001,0.000623
26,2,522240,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.111818,0.077011,0.870870,0.999800,0.000000,-0.000000,-0.020001
26,2,522240,53,gripper,0,"","put plastic bottle on frying pan",-0.185788,-0.063974,0.975214,-0.167233,-0.700800,-0.129764,0.681230
26,2,522240,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.194355,-0.004768,0.889052,0.422280,-0.013113,0.076508,0.903136
26,2,522240,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.284271,0.113197,0.889928,-0.014073,-0.798128,0.602311,-0.003929
26,2,522240,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000014
26,2,522240,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.232655,-0.071014,0.870870,0.999547,0.000001,0.000001,0.030111
26,2,522240,54,gripper,0,"","put plastic bottle on frying pan",-0.297752,0.108980,0.914272,-0.094926,-0.624842,-0.078198,0.771003
26,2,522240,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.131367,0.063515,0.890788,0.740556,-0.027105,-0.004852,0.671430
26,2,522240,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.230946,0.063347,0.895017,0.576923,-0.433973,0.563643,0.401414
26,2,522240,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235413,0.075069,0.872199,0.999999,-0.000000,-0.000001,-0.001121
26,2,522240,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,0.044987,0.870870,1.000000,0.000000,-0.000000,0.000045
26,2,522240,55,gripper,0,"","put plastic bottle on frying pan",-0.231720,0.036854,1.005070,0.080454,-0.696970,0.091118,0.706723
26,2,522240,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085838,0.075691,0.888112,0.719597,-0.026937,-0.005733,0.693845
26,2,522240,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.202576,0.068932,0.889472,0.568029,-0.429584,0.567523,0.413180
26,2,522240,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085915,-0.067432,0.872199,0.998887,-0.000000,-0.000001,-0.047162
26,2,522240,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234497,0.041912,0.870870,0.999998,0.000028,0.000027,-0.001812
26,2,522240,56,gripper,0,"","put plastic bottle on cutting board",-0.213989,0.033365,1.017529,0.133508,-0.701733,0.148903,0.683794
26,2,522240,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.267708,0.144054,0.890586,0.015774,-0.393737,-0.761196,0.515075
26,2,522240,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.035259,0.038128,0.018226,0.275377,-0.659276,0.262755,0.648446
26,2,522240,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
26,2,522240,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.251495,0.044670,0.870870,0.976965,-0.000000,-0.000001,0.213402
26,2,522240,57,gripper,0,"","put plastic bottle on cutting board",-0.220766,0.043535,0.998596,0.104344,-0.726844,0.102710,0.671015
26,2,522240,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.202225,-0.029270,0.896461,0.879666,-0.012363,0.021624,-0.474939
26,2,522240,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.118652,-0.069851,0.016920,-0.446520,-0.547633,0.422195,-0.567864
26,2,522240,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234020,-0.043507,0.872199,0.999349,-0.000001,-0.000000,0.036086
26,2,522240,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000001,-0.000001,0.000020
26,2,522240,58,gripper,0,"","put plastic bottle on cutting board",-0.029087,0.087383,0.970078,0.175475,-0.790005,0.370085,0.456220
26,2,522240,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.114370,-0.044102,0.888112,0.999402,-0.023061,0.015056,-0.020922
26,2,522240,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.076677,0.057972,0.888388,0.457850,0.539733,-0.432987,0.558197
26,2,522240,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000329
26,2,522240,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.076649,0.075001,0.870884,0.999471,0.000685,0.000738,0.032518
26,2,522240,59,gripper,0,"","put plastic bottle on cutting board",-0.155202,0.045383,1.109558,0.135520,-0.734430,0.115934,0.654833
26,2,522240,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.229584,0.073689,0.894891,0.651524,-0.100974,-0.035444,0.751042
26,2,522240,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.105561,-0.052250,0.889753,0.404791,-0.571820,0.380625,0.603565
26,2,522240,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235000,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000000
26,2,522240,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085046,-0.074970,0.870870,1.000000,-0.000000,0.000000,0.000217
26,2,522240,60,gripper,0,"","put hamburger on frying pan",-0.098142,-0.044195,0.935586,-0.097715,-0.749371,-0.059823,0.652163
26,2,522240,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.055889,0.118832,0.891601,0.478137,0.185517,0.826114,0.233461
26,2,522240,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.099146,-0.066540,0.889704,0.465942,-0.542659,0.457363,0.528431
26,2,522240,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,0.000000,-0.000000,-0.000007
26,2,522240,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084831,-0.074959,0.870870,1.000000,-0.000000,-0.000006,-0.000057
26,2,522240,61,gripper,0,"","put hamburger on frying pan",-0.121069,-0.064754,0.951653,-0.068359,-0.751419,-0.017278,0.656047
26,2,522240,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.046715,0.084133,0.888113,0.949074,-0.026767,0.006494,0.313847
26,2,522240,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.089046,-0.064281,0.894872,0.440871,-0.556715,0.401846,0.578118
26,2,522240,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085266,-0.074986,0.872199,0.999998,0.000000,-0.000001,-0.002007
26,2,522240,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235107,-0.074398,0.870870,0.999993,0.000001,-0.000000,0.003717
26,2,522240,62,gripper,0,"","put hamburger on frying pan",-0.140146,-0.048252,1.025879,-0.154022,-0.739576,-0.076765,0.650700
26,2,522240,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.094769,0.043926,0.888112,0.761092,-0.027243,-0.004057,0.648058
26,2,522240,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064972,0.096619,0.887027,0.649604,-0.289199,0.648112,0.272635
26,2,522240,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
26,2,522240,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.207394,0.044365,0.870870,1.000000,0.000001,-0.000001,-0.000699
26,2,522240,63,gripper,0,"","put hamburger on frying pan",-0.111544,0.049850,0.940603,0.034045,-0.794440,0.080248,0.601054
26,3,527360,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.075241,0.110992,0.885369,0.728615,-0.176898,0.214757,0.625865
26,3,527360,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.090424,0.041649,0.887254,0.723857,0.028889,-0.049794,0.687544
26,3,527360,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084488,0.075699,0.869532,0.999932,-0.000000,-0.000000,-0.011631
26,3,527360,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.206139,-0.032501,0.871288,0.993325,-0.000035,-0.001030,0.115346
26,3,527360,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.184879,-0.038029,0.938650,-0.111847,-0.720173,-0.036960,0.683721
26,3,527360,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.152191,0.050491,0.885118,0.465919,0.524165,-0.567683,0.431169
26,3,527360,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.187901,-0.092857,0.882387,0.599423,-0.090200,0.061186,0.792977
26,3,527360,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204563,0.045013,0.869532,0.999980,-0.000001,-0.000001,0.006239
26,3,527360,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.081303,-0.074211,0.871288,0.999997,-0.000160,-0.001019,-0.002157
26,3,527360,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.256002,-0.090794,0.929720,-0.091035,-0.750580,-0.117873,0.643776
26,3,527360,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.088657,0.063774,0.888541,0.173843,0.573960,-0.780257,0.177617
26,3,527360,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.120663,-0.027977,0.884437,0.492087,-0.092887,0.031946,0.864987
26,3,527360,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.080696,-0.075432,0.869585,0.999987,-0.000802,-0.002177,-0.004561
26,3,527360,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084984,0.075005,0.871288,0.999999,-0.000150,-0.001018,0.000117
26,3,527360,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.153357,-0.034088,0.914197,-0.277652,-0.831858,-0.130926,0.462364
26,3,527360,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.113886,-0.036766,0.888589,0.540483,0.388879,-0.280932,0.691179
26,3,527360,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.214582,-0.049637,0.887565,0.643766,0.036091,-0.037579,0.763447
26,3,527360,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.233000,-0.073883,0.869531,0.999671,0.000000,-0.000001,-0.025655
26,3,527360,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114185,-0.044983,0.871288,0.999999,-0.000155,-0.001019,-0.001001
26,3,527360,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.188072,-0.055649,0.950204,-0.045830,-0.708467,-0.012481,0.704144
26,3,527360,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.100027,-0.185486,0.879088,0.657281,0.309450,-0.344492,0.594598
26,3,527360,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.156424,-0.069580,0.888127,0.659360,-0.003409,-0.006396,0.751792
26,3,527360,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.251401,-0.051857,0.869532,0.987305,0.000000,-0.000001,-0.158833
26,3,527360,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084980,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000003
26,3,527360,4,gripper,0,"","put kitchen shovel on cloth",-0.201502,-0.083611,0.931537,-0.069490,-0.760926,-0.040622,0.643827
26,3,527360,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.046328,-0.054932,0.878982,0.642650,0.352822,0.547215,-0.403823
26,3,527360,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.219643,0.023926,0.881933,0.972255,-0.019327,-0.062233,-0.224664
26,3,527360,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000017
26,3,527360,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205755,-0.087059,0.871289,0.998818,-0.000104,-0.001025,0.048595
26,3,527360,5,gripper,0,"","put kitchen shovel on cloth",0.638594,0.028267,1.123729,-0.917251,0.000005,-0.398309,0.000003
26,3,527360,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091526,0.013733,0.879373,0.685961,0.198824,0.194673,-0.672331
26,3,527360,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.243557,-0.074997,0.881638,0.992263,0.000195,-0.039367,0.117744
26,3,527360,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.040775,0.077354,0.869532,0.918440,-0.000001,-0.000000,0.395560
26,3,527360,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.098064,-0.079300,0.871288,0.999392,-0.000189,-0.001013,-0.034859
26,3,527360,6,gripper,0,"","put kitchen shovel on cloth",-0.105837,0.011059,0.936979,-0.061800,-0.729791,-0.052972,0.678808
26,3,527360,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.153061,-0.125648,0.887906,-0.045765,0.845082,-0.525320,-0.088210
26,3,527360,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.141655,-0.051414,0.882856,0.691546,-0.094011,0.080434,0.711658
26,3,527360,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.062096,-0.102425,0.869758,0.992898,-0.002134,0.003181,0.118906
26,3,527360,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.179966,-0.121262,0.871288,0.980614,-0.000354,-0.000969,-0.195946
26,3,527360,7,gripper,0,"","put kitchen shovel on cloth",-0.215302,-0.093899,0.957308,-0.176458,-0.709187,-0.123678,0.671283
26,3,527360,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.088303,0.049664,0.886116,0.616756,0.323629,-0.340615,0.631551
26,3,527360,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.187073,0.060905,0.890525,0.833974,0.134995,-0.277243,0.457602
26,3,527360,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.209221,0.098389,0.869532,0.932909,0.000001,-0.000001,-0.360111
26,3,527360,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000161
26,3,527360,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.082886,0.048338,0.922142,0.014140,-0.738820,-0.015798,0.673569
26,3,527360,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.298008,0.058266,0.879088,0.390156,0.415079,-0.205302,0.795826
26,3,527360,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.248104,0.018593,0.873649,0.073056,0.776148,-0.623495,-0.059258
26,3,527360,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,0.044994,0.869532,1.000000,0.000001,-0.000001,0.000065
26,3,527360,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
26,3,527360,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.239128,0.019564,0.915317,-0.165395,-0.765373,-0.142212,0.605496
26,3,527360,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.108894,0.026215,0.885210,0.193234,0.689188,-0.668952,0.200458
26,3,527360,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,-0.075760,0.881638,0.382397,0.034409,-0.019066,0.923161
26,3,527360,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.112957,0.044872,0.869532,0.998496,0.000000,0.000001,-0.054829
26,3,527360,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.239811,-0.081707,0.871288,0.998638,-0.000102,-0.001026,0.052160
26,3,527360,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.161810,-0.017374,0.956444,-0.004062,-0.743411,-0.055515,0.666514
26,3,527360,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.210600,-0.081085,0.885210,0.216277,0.602231,-0.748213,0.175269
26,3,527360,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.129496,-0.003353,0.881917,0.592107,0.048787,-0.041884,0.803290
26,3,527360,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.243696,-0.075928,0.869532,0.998827,0.000001,-0.000001,0.048411
26,3,527360,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.075508,0.071266,0.871289,0.998423,-0.000097,-0.001026,0.056122
26,3,527360,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.152332,-0.007093,0.937025,-0.108897,-0.784521,-0.081240,0.605036
26,3,527360,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.004284,0.078495,0.879213,0.089744,0.908129,-0.312806,0.263440
26,3,527360,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.204079,0.066513,0.881640,0.493978,0.041710,-0.028169,0.868016
26,3,527360,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.065551,-0.084579,0.869662,0.999547,0.000936,0.001983,0.030011
26,3,527360,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.178759,-0.052795,0.871283,0.934319,-0.000882,-0.001013,-0.356435
26,3,527360,12,gripper,0,"","put ketchup bottle on cloth",-0.262849,0.037043,0.914225,-0.021609,-0.805225,-0.028676,0.591881
26,3,527360,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.143391,0.161098,0.879373,-0.773055,0.160501,-0.227308,-0.570049
26,3,527360,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.184053,0.083168,0.888759,0.729613,0.003374,-0.070651,0.680192
26,3,527360,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.151987,0.077263,0.873235,0.996021,0.024787,-0.057823,-0.063114
26,3,527360,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084917,0.075108,0.871289,0.999999,-0.000161,-0.001020,-0.000788
26,3,527360,13,gripper,0,"","put ketchup bottle on cloth",-0.180632,0.035902,0.978233,-0.124402,-0.710729,-0.074615,0.688346
26,3,527360,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.226105,-0.015045,0.885369,0.607731,-0.211797,0.180481,0.743796
26,3,527360,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.104652,-0.066132,0.882107,0.082150,0.808810,-0.577741,-0.072751
26,3,527360,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234406,-0.046001,0.869532,0.999734,0.000000,-0.000001,-0.023041
26,3,527360,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.112888,-0.072109,0.871288,0.999788,-0.000174,-0.001016,-0.020554
26,3,527360,14,gripper,0,"","put ketchup bottle on cloth",-0.220659,0.025572,0.996798,-0.085294,-0.691119,-0.054545,0.715615
26,3,527360,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",1.572483,-1.216423,0.010572,-0.711071,0.182780,-0.209796,-0.645721
26,3,527360,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",21.500557,0.371548,-2545.477051,-0.102469,0.257806,-0.373341,-0.885242
26,3,527360,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",1.956688,1.387798,0.000732,0.524658,-0.000000,0.000000,-0.851313
26,3,527360,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",1.408276,-0.979443,0.002488,-0.933655,0.000508,0.000896,0.358172
26,3,527360,15,gripper,0,"","put ketchup bottle on cloth",-0.180574,-0.019571,0.965544,-0.011876,-0.725350,0.049206,0.686516
26,3,527360,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.274689,0.011497,0.883986,-0.224410,-0.795655,-0.560089,-0.053601
26,3,527360,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.236595,-0.040703,0.888812,-0.649366,0.357804,0.476039,0.472956
26,3,527360,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000134
26,3,527360,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.242973,-0.060226,0.870447,0.986403,-0.000901,-0.000593,-0.164343
26,3,527360,16,gripper,0,"","put 7up can on newspaper",-0.246063,0.043234,0.965216,-0.028781,-0.650384,-0.011810,0.758968
26,3,527360,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.071968,-0.099438,0.886424,0.757401,0.013297,-0.006369,0.652784
26,3,527360,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.148178,0.008312,0.912722,0.582269,-0.163106,0.166452,0.778879
26,3,527360,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000179,0.000874,0.000043
26,3,527360,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085445,-0.073277,0.870462,0.999960,0.000035,-0.000159,-0.008913
26,3,527360,17,gripper,0,"","put 7up can on newspaper",-0.174257,0.002710,0.951036,-0.035470,-0.758879,-0.053584,0.648054
26,3,527360,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.190674,-0.164383,0.883614,0.082313,0.947591,0.306803,-0.034168
26,3,527360,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.076534,-0.045517,0.888702,0.735416,0.178168,-0.216607,0.616847
26,3,527360,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
26,3,527360,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081215,-0.069870,0.870448,0.999871,-0.000931,-0.000827,-0.016014
26,3,527360,18,gripper,0,"","put 7up can on newspaper",-0.174477,-0.085756,0.992801,-0.078688,-0.700755,-0.043359,0.707722
26,3,527360,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.199875,0.065197,0.886651,0.234935,0.016789,-0.001226,0.971865
26,3,527360,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.192974,-0.059822,0.888006,-0.598170,0.073563,-0.070213,-0.794891
26,3,527360,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204634,-0.074993,0.869490,0.999999,0.000180,0.000880,0.000669
26,3,527360,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.197493,0.071655,0.870461,0.998670,0.000024,-0.000160,0.051558
26,3,527360,19,gripper,0,"","put 7up can on newspaper",-0.184231,-0.005529,0.989587,0.019300,-0.736925,0.091285,0.669505
26,3,527360,20,obj,0,"003_bread_1","put 7up can on carpet",-0.081141,0.075619,0.886453,0.959710,-0.002596,-0.009390,-0.280822
26,3,527360,20,obj,1,"005_7up can_1","put 7up can on carpet",0.020152,-0.001324,0.016933,0.817714,-0.171429,0.446830,0.319841
26,3,527360,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
26,3,527360,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.109703,0.060406,0.870448,0.999098,-0.001293,-0.001265,0.042427
26,3,527360,20,gripper,0,"","put 7up can on carpet",-0.131670,0.066050,0.944011,-0.045290,-0.761783,-0.033597,0.645373
26,3,527360,21,obj,0,"003_bread_1","put 7up can on carpet",-0.177874,0.548000,0.883615,0.077562,0.977803,0.189625,-0.043897
26,3,527360,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.181316,-0.252953,0.885757,0.469052,0.492856,-0.375585,0.629300
26,3,527360,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
26,3,527360,21,recep,1,"003_carpet_1","put 7up can on carpet",106.807022,-10.248009,-1665.652832,0.441835,-0.276254,0.489485,-0.699192
26,3,527360,21,gripper,0,"","put 7up can on carpet",-0.233343,-0.091526,0.916021,-0.053103,-0.749715,0.003737,0.659616
26,3,527360,22,obj,0,"003_bread_1","put 7up can on carpet",-0.214672,0.000443,0.886488,0.551422,0.026273,0.004754,0.833799
26,3,527360,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.107437,-0.010113,0.885930,0.366934,-0.602253,0.604847,0.369879
26,3,527360,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.209877,-0.036282,0.869472,0.999869,0.000531,0.001212,0.016159
26,3,527360,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.072437,-0.076851,0.870448,0.999862,-0.000936,-0.000829,-0.016582
26,3,527360,22,gripper,0,"","put 7up can on carpet",-0.132345,0.009838,0.949815,0.084995,-0.767232,0.069792,0.631870
26,3,527360,23,obj,0,"003_bread_1","put 7up can on carpet",-0.030941,-0.094383,0.886621,0.999242,0.003918,-0.010146,-0.037378
26,3,527360,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.077053,-0.011257,0.885883,0.424123,0.576276,-0.501304,0.486538
26,3,527360,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000039
26,3,527360,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.042923,-0.105190,0.870447,0.952871,-0.000175,-0.000109,-0.303376
26,3,527360,23,gripper,0,"","put 7up can on carpet",-0.086851,-0.022755,0.942224,0.034114,-0.746539,0.028721,0.663845
26,3,527360,24,obj,0,"003_bread_1","put bread on newspaper",-0.163460,-0.039122,0.886319,0.950401,-0.009456,0.008542,0.310765
26,3,527360,24,obj,1,"005_7up can_1","put bread on newspaper",-0.234909,0.123585,0.888864,-0.098313,-0.625900,0.770849,-0.066143
26,3,527360,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.075047,0.869490,1.000000,0.000180,0.000874,-0.000159
26,3,527360,24,recep,1,"003_carpet_1","put bread on newspaper",-0.208908,-0.079088,0.870368,0.999988,0.000111,-0.001096,-0.004873
26,3,527360,24,gripper,0,"","put bread on newspaper",0.030296,-0.011959,0.916562,-0.163137,-0.744204,-0.146812,0.630867
26,3,527360,25,obj,0,"003_bread_1","put bread on newspaper",-0.237381,-0.071922,0.883544,0.316567,0.012459,-0.002239,0.948486
26,3,527360,25,obj,1,"005_7up can_1","put bread on newspaper",-0.256042,0.056454,0.889068,-0.734245,-0.072175,0.052273,-0.673010
26,3,527360,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.228806,0.076033,0.869465,0.999478,0.000214,0.001008,0.032281
26,3,527360,25,recep,1,"003_carpet_1","put bread on newspaper",-0.078712,0.074570,0.870448,0.999422,-0.000887,-0.000870,0.033970
26,3,527360,25,gripper,0,"","put bread on newspaper",-0.234562,0.080747,0.949426,0.072155,-0.694335,0.039836,0.714917
26,3,527360,26,obj,0,"003_bread_1","put bread on newspaper",-0.206062,-0.030645,0.885432,0.933859,0.009551,0.005050,0.357477
26,3,527360,26,obj,1,"005_7up can_1","put bread on newspaper",-0.226280,0.083036,0.889109,0.135686,-0.780675,0.580044,0.188905
26,3,527360,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.234970,-0.045055,0.869487,0.999999,0.000202,0.000873,-0.000649
26,3,527360,26,recep,1,"003_carpet_1","put bread on newspaper",-0.213036,0.083712,0.870447,0.991898,-0.002742,-0.003106,0.126965
26,3,527360,26,gripper,0,"","put bread on newspaper",-0.063967,0.075783,0.937686,0.011975,-0.762925,0.117571,0.635594
26,3,527360,27,obj,0,"003_bread_1","put bread on newspaper",-0.084490,-0.075480,0.883545,0.383771,0.012266,-0.003124,0.923342
26,3,527360,27,obj,1,"005_7up can_1","put bread on newspaper",-0.134274,0.051216,0.889099,0.622619,-0.073784,0.070848,0.775811
26,3,527360,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.111837,0.037632,0.869490,0.999402,0.000149,0.000880,0.034564
26,3,527360,27,recep,1,"003_carpet_1","put bread on newspaper",-0.204840,-0.075804,0.870420,1.000000,-0.000197,-0.000803,-0.000121
26,3,527360,27,gripper,0,"","put bread on newspaper",-0.163696,0.024033,0.950519,0.002035,-0.732425,0.013967,0.680701
26,3,527360,28,obj,0,"003_bread_1","put bread on carpet",-0.098091,-0.040686,0.886692,0.658476,0.012537,-0.004959,0.752480
26,3,527360,28,obj,1,"005_7up can_1","put bread on carpet",-0.217532,-0.065125,0.935973,-0.742841,-0.116923,0.041474,-0.657872
26,3,527360,28,recep,0,"004_newspaper_1","put bread on carpet",-0.084998,0.075003,0.869490,1.000000,0.000179,0.000874,0.000005
26,3,527360,28,recep,1,"003_carpet_1","put bread on carpet",-0.085009,-0.074993,0.870448,0.999999,-0.000924,-0.000846,0.000065
26,3,527360,28,gripper,0,"","put bread on carpet",-0.228543,-0.060112,0.972221,-0.007570,-0.712062,0.072483,0.698324
26,3,527360,29,obj,0,"003_bread_1","put bread on carpet",-0.270462,-0.112125,0.883615,-0.086764,-0.590141,-0.802367,-0.020332
26,3,527360,29,obj,1,"005_7up can_1","put bread on carpet",-0.179815,-0.072952,0.888828,0.276204,-0.710821,0.513753,0.393069
26,3,527360,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.074999,0.869490,1.000000,0.000180,0.000874,-0.000041
26,3,527360,29,recep,1,"003_carpet_1","put bread on carpet",-0.204710,-0.075228,0.870448,1.000000,-0.000126,-0.000157,-0.000588
26,3,527360,29,gripper,0,"","put bread on carpet",-0.058485,0.121440,0.915248,-0.036890,-0.754264,-0.079004,0.650756
26,3,527360,30,obj,0,"003_bread_1","put bread on carpet",-0.243252,-0.111345,0.886677,-0.032748,0.293024,-0.951927,-0.083063
26,3,527360,30,obj,1,"005_7up can_1","put bread on carpet",-0.227951,-0.047480,0.888682,0.749707,0.075126,-0.077808,0.652872
26,3,527360,30,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000128
26,3,527360,30,recep,1,"003_carpet_1","put bread on carpet",-0.234909,-0.074989,0.870448,0.999999,-0.000788,-0.000728,-0.000752
26,3,527360,30,gripper,0,"","put bread on carpet",-0.217657,0.010350,0.983654,0.080182,-0.655432,0.129650,0.739710
26,3,527360,31,obj,0,"003_bread_1","put bread on carpet",-0.094566,-0.074232,0.886679,0.992028,0.003734,-0.009515,0.125604
26,3,527360,31,obj,1,"005_7up can_1","put bread on carpet",0.108486,0.056728,0.017149,0.354210,-0.183514,0.914649,0.065391
26,3,527360,31,recep,0,"004_newspaper_1","put bread on carpet",-0.031960,0.089771,0.869490,0.999368,0.000148,0.000880,0.035551
26,3,527360,31,recep,1,"003_carpet_1","put bread on carpet",-0.085007,-0.074957,0.870448,0.999999,-0.000923,-0.000845,-0.000096
26,3,527360,31,gripper,0,"","put bread on carpet",-0.066965,0.073595,0.928878,0.091806,-0.762277,-0.000334,0.640707
26,3,527360,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.225868,-0.047199,0.887710,0.338793,-0.044336,0.015982,0.939680
26,3,527360,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204689,0.075325,0.878547,0.382234,0.003189,0.013071,0.923968
26,3,527360,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
26,3,527360,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
26,3,527360,32,gripper,0,"","put banana on sheet metal",-0.181458,0.090852,0.965615,0.050007,-0.739532,0.016812,0.671051
26,3,527360,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.105694,0.079174,0.887420,0.530479,-0.016731,0.010144,0.847472
26,3,527360,33,obj,1,"013_banana_1","put banana on sheet metal",-0.114700,-0.074684,0.878547,0.382218,0.003190,0.013076,0.923974
26,3,527360,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
26,3,527360,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,0.000000,0.000001
26,3,527360,33,gripper,0,"","put banana on sheet metal",-0.077913,-0.054720,0.970692,-0.374696,-0.705107,-0.213259,0.562980
26,3,527360,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097836,0.072349,0.887478,0.756675,-0.019220,0.022144,0.653133
26,3,527360,34,obj,1,"013_banana_1","put banana on sheet metal",-0.204556,0.075008,0.878547,0.706826,0.007967,0.010878,0.707259
26,3,527360,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
26,3,527360,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
26,3,527360,34,gripper,0,"","put banana on sheet metal",-0.158474,0.116019,0.974916,0.063023,-0.734333,0.062045,0.673004
26,3,527360,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.123772,0.049544,0.887387,0.913245,-0.006299,0.012974,0.407156
26,3,527360,35,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,-0.045347,0.878547,0.924135,0.011496,0.006967,0.381830
26,3,527360,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,3,527360,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
26,3,527360,35,gripper,0,"","put banana on sheet metal",-0.184170,-0.039315,0.981108,-0.184198,-0.729884,-0.118755,0.647486
26,3,527360,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.124713,0.050010,0.887538,0.921361,-0.014172,0.030385,0.387259
26,3,527360,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084682,-0.075308,0.878547,0.923623,0.011478,0.006977,0.383067
26,3,527360,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
26,3,527360,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000001
26,3,527360,36,gripper,0,"","put banana on flat bowl",-0.059914,-0.041157,0.963289,-0.130991,-0.712624,-0.074340,0.685188
26,3,527360,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118395,0.050294,0.887513,0.997183,-0.003682,0.023358,0.071177
26,3,527360,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234991,-0.075435,0.878547,0.999910,0.013281,0.002053,0.000312
26,3,527360,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,3,527360,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
26,3,527360,37,gripper,0,"","put banana on flat bowl",-0.207584,-0.011266,1.013878,-0.309015,-0.699544,-0.213855,0.607794
26,3,527360,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.206551,0.076776,0.894042,0.127540,-0.001158,-0.033055,0.991282
26,3,527360,38,obj,1,"013_banana_1","put banana on flat bowl",-0.234715,-0.044707,0.878548,0.382233,0.003199,0.013096,0.923968
26,3,527360,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
26,3,527360,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205006,0.074998,0.874362,1.000000,-0.000000,-0.000001,0.000033
26,3,527360,38,gripper,0,"","put banana on flat bowl",-0.204590,-0.012967,0.938789,-0.176559,-0.732060,-0.048698,0.656158
26,3,527360,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211277,-0.082112,0.887495,0.368377,-0.033915,0.013786,0.928955
26,3,527360,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114689,0.075315,0.878547,0.382207,0.003189,0.013076,0.923979
26,3,527360,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
26,3,527360,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.045000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
26,3,527360,39,gripper,0,"","put banana on flat bowl",-0.059650,0.033968,1.023960,0.081679,-0.681745,0.088544,0.721604
26,3,527360,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.219635,0.041924,0.894229,0.987494,0.001827,0.070511,0.141000
26,3,527360,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.075302,0.878547,0.924336,0.011515,0.006968,0.381342
26,3,527360,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
26,3,527360,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045002,0.874362,1.000000,-0.000001,-0.000001,0.000383
26,3,527360,40,gripper,0,"","put carrot on sheet metal",-0.183926,0.069578,1.032777,-0.034638,-0.653747,0.031861,0.755249
26,3,527360,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205601,0.087151,0.887288,0.271596,-0.034355,0.003157,0.961793
26,3,527360,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.074665,0.878547,0.383121,0.003205,0.013082,0.923600
26,3,527360,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
26,3,527360,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
26,3,527360,41,gripper,0,"","put carrot on sheet metal",-0.195173,0.079244,0.970890,0.124487,-0.699772,0.021122,0.703119
26,3,527360,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.120358,0.069513,0.887511,0.908958,-0.010872,0.026572,0.415897
26,3,527360,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.204552,0.075026,0.878546,0.707918,0.007954,0.010825,0.706167
26,3,527360,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
26,3,527360,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
26,3,527360,42,gripper,0,"","put carrot on sheet metal",-0.104265,0.064119,0.960153,0.024871,-0.817055,0.120627,0.563251
26,3,527360,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.169029,0.053169,0.885532,0.619899,0.642421,0.295931,0.339772
26,3,527360,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.114666,-0.075308,0.878547,0.923986,0.011504,0.006977,0.382190
26,3,527360,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084984,0.044975,0.871415,0.999994,-0.003343,-0.000970,-0.000640
26,3,527360,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000365
26,3,527360,43,gripper,0,"","put carrot on sheet metal",-0.188610,0.038202,0.968957,-0.041265,-0.764591,0.034293,0.642278
26,3,527360,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.124067,-0.087505,0.887528,0.411559,-0.038617,0.017493,0.910396
26,3,527360,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234725,-0.044712,0.878547,0.382257,0.003186,0.013059,0.923958
26,3,527360,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000003
26,3,527360,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.045000,0.874363,1.000000,-0.000001,-0.000001,0.000001
26,3,527360,44,gripper,0,"","put carrot on flat bowl",-0.103069,-0.055859,1.009085,-0.243311,-0.663175,-0.084782,0.702717
26,3,527360,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.057096,0.043959,0.887298,0.640802,-0.011983,0.015230,0.767462
26,3,527360,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204695,0.075342,0.878547,0.383789,0.003211,0.013065,0.923323
26,3,527360,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
26,3,527360,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
26,3,527360,45,gripper,0,"","put carrot on flat bowl",-0.063124,0.038012,0.937000,0.380959,-0.641703,0.427316,0.510381
26,3,527360,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.188152,0.030136,0.887133,0.929573,-0.020063,0.022069,0.367429
26,3,527360,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.204659,-0.045309,0.878547,0.924400,0.011487,0.006951,0.381188
26,3,527360,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
26,3,527360,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084446,0.075001,0.874363,0.999947,0.000000,-0.000000,-0.010307
26,3,527360,46,gripper,0,"","put carrot on flat bowl",-0.149834,0.067724,0.999044,-0.138002,-0.664411,-0.058789,0.732160
26,3,527360,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205143,0.076704,0.887529,0.706060,-0.030583,0.030547,0.706832
26,3,527360,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074986,0.878547,0.707979,0.007950,0.010822,0.706105
26,3,527360,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074955,0.871344,0.999999,-0.000157,0.001163,-0.000088
26,3,527360,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
26,3,527360,47,gripper,0,"","put carrot on flat bowl",-0.169495,0.070671,0.984274,0.009202,-0.718603,-0.037597,0.694343
26,3,527360,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.207687,0.143295,0.890333,0.209324,-0.019766,-0.017317,0.977493
26,3,527360,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.216599,-0.031425,0.896480,0.574088,-0.322278,0.218141,0.720399
26,3,527360,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235870,-0.043617,0.872199,0.999846,-0.000000,-0.000001,0.017574
26,3,527360,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.225266,0.084709,0.870870,0.985108,-0.000001,-0.000000,0.171935
26,3,527360,48,gripper,0,"","put plastic bottle on frying pan",-0.174835,-0.049496,0.994931,-0.104557,-0.747798,-0.121869,0.644216
26,3,527360,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075966,0.888112,0.999591,-0.023256,0.014751,-0.007765
26,3,527360,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.159000,-0.071194,0.890944,0.337980,0.002552,0.941149,-0.001309
26,3,527360,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.200607,0.076115,0.872199,0.998297,-0.000000,-0.000001,-0.058344
26,3,527360,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000019
26,3,527360,49,gripper,0,"","put plastic bottle on frying pan",-0.153191,-0.065371,0.952649,-0.135776,-0.698220,-0.029044,0.702289
26,3,527360,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.148586,-0.004898,0.994123,0.996740,-0.014614,0.000916,-0.079347
26,3,527360,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.135948,0.083626,0.887026,0.704409,-0.026976,0.709195,0.011049
26,3,527360,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.060646,0.076611,0.872199,0.999222,-0.000001,-0.000001,-0.039427
26,3,527360,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236008,-0.044090,0.870870,0.999960,-0.000002,-0.000002,0.008962
26,3,527360,50,gripper,0,"","put plastic bottle on frying pan",-0.149168,0.002380,1.044404,-0.278122,-0.702501,-0.202691,0.622943
26,3,527360,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.178364,0.047695,0.888163,0.730625,-0.027257,-0.007523,0.682193
26,3,527360,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.235769,-0.045361,0.887026,0.498008,-0.513065,0.490361,0.498295
26,3,527360,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
26,3,527360,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084997,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000035
26,3,527360,51,gripper,0,"","put plastic bottle on frying pan",-0.198477,0.045462,0.918490,-0.029046,-0.740960,0.004494,0.670905
26,3,527360,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.118330,-0.010849,0.890717,0.686488,-0.026420,-0.003636,0.726652
26,3,527360,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.118377,0.032196,0.890982,0.207980,-0.729931,0.599482,0.254098
26,3,527360,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.202023,0.077309,0.872199,0.998161,0.000000,-0.000001,-0.060612
26,3,527360,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.110822,-0.044594,0.870870,0.999855,0.000000,0.000000,-0.017050
26,3,527360,52,gripper,0,"","put plastic bottle on cutting board",-0.155067,-0.000591,0.989939,-0.168814,-0.724264,-0.143803,0.652890
26,3,527360,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.080084,-0.025795,0.894735,0.159530,0.211532,0.546859,0.794197
26,3,527360,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.093117,0.104214,0.888628,0.811727,-0.020542,0.012768,0.583536
26,3,527360,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205091,-0.075230,0.872200,1.000000,0.000000,-0.000001,0.000570
26,3,527360,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.106220,0.077084,0.870870,0.999246,-0.000000,-0.000001,-0.038832
26,3,527360,53,gripper,0,"","put plastic bottle on cutting board",-0.148999,0.152498,1.050614,0.159492,-0.666106,0.192388,0.702746
26,3,527360,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.200882,-0.008179,0.888305,0.558885,-0.015851,0.050657,0.827545
26,3,527360,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.212761,-0.088852,0.889573,0.303534,-0.644606,0.295180,0.636568
26,3,527360,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114594,-0.044994,0.872199,0.999998,0.000000,-0.000001,0.001869
26,3,527360,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.249466,-0.072674,0.870885,0.999489,0.000725,0.000705,-0.031940
26,3,527360,54,gripper,0,"","put plastic bottle on cutting board",-0.144808,-0.060446,0.950324,-0.176189,-0.744357,-0.076372,0.639576
26,3,527360,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.125477,0.063675,0.890789,0.755681,-0.027236,-0.004297,0.654360
26,3,527360,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.151684,0.008553,0.888386,0.552972,0.451971,-0.516966,0.471901
26,3,527360,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236736,0.075806,0.872199,0.999731,-0.000000,-0.000000,-0.023212
26,3,527360,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.112480,0.044392,0.870871,0.999966,0.000000,-0.000016,-0.008206
26,3,527360,55,gripper,0,"","put plastic bottle on cutting board",-0.176138,0.013243,1.017352,-0.021458,-0.693201,-0.051197,0.718603
26,3,527360,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085609,0.075527,0.888212,0.726479,-0.015875,0.036524,0.686033
26,3,527360,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.202896,0.068554,0.889468,0.566963,-0.431071,0.566381,0.414660
26,3,527360,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085915,-0.067432,0.872199,0.998887,-0.000000,-0.000000,-0.047167
26,3,527360,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234558,0.041374,0.870870,1.000000,0.000001,0.000001,0.000517
26,3,527360,56,gripper,0,"","put hamburger on frying pan",-0.092419,0.071989,0.917865,0.105910,-0.728053,0.024723,0.676839
26,3,527360,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.267712,0.144054,0.890586,0.016987,-0.395523,-0.760270,0.515036
26,3,527360,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.035259,0.038128,0.018226,0.275377,-0.659276,0.262755,0.648446
26,3,527360,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
26,3,527360,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.251495,0.044670,0.870870,0.976966,0.000000,-0.000001,0.213394
26,3,527360,57,gripper,0,"","put hamburger on frying pan",-0.165825,0.033321,0.979046,-0.184811,-0.708814,-0.063735,0.677765
26,3,527360,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202225,-0.029274,0.896461,0.879654,-0.012364,0.021612,-0.474962
26,3,527360,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.118652,-0.069851,0.016920,-0.446385,-0.547733,0.422066,-0.567969
26,3,527360,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234020,-0.043507,0.872199,0.999352,-0.000000,-0.000000,0.035993
26,3,527360,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000002,0.000001,0.000024
26,3,527360,58,gripper,0,"","put hamburger on frying pan",-0.161701,0.046574,1.026523,0.084337,-0.720576,0.053462,0.686148
26,3,527360,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.164927,0.021118,0.890771,0.014765,-0.994883,0.077318,0.063333
26,3,527360,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.076645,0.057972,0.888382,0.459429,0.538281,-0.431274,0.559626
26,3,527360,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000486
26,3,527360,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.076666,0.074997,0.870884,0.999468,0.000680,0.000737,0.032587
26,3,527360,59,gripper,0,"","put hamburger on frying pan",-0.153210,-0.013580,0.977081,-0.092313,-0.728240,-0.099779,0.671706
26,3,527360,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.227531,0.069618,0.895566,0.566096,-0.110426,-0.078418,0.813137
26,3,527360,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.104492,-0.052422,0.889706,0.407293,-0.588083,0.397255,0.574856
26,3,527360,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.236630,0.078739,0.872199,0.999849,-0.000001,-0.000001,0.017376
26,3,527360,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084136,-0.075771,0.870870,0.999986,0.000001,0.000000,-0.005350
26,3,527360,60,gripper,0,"","put hamburger on cutting board",-0.127847,0.094416,0.934474,-0.132939,-0.728887,-0.122457,0.660345
26,3,527360,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.055889,0.118824,0.891601,0.478072,0.185282,0.826164,0.233603
26,3,527360,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.097252,-0.066395,0.889696,0.470200,-0.539053,0.460602,0.525528
26,3,527360,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.094379,0.043003,0.872199,0.997513,-0.000001,-0.000001,0.070483
26,3,527360,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083090,-0.074886,0.870871,0.999979,0.000000,-0.000008,-0.006484
26,3,527360,61,gripper,0,"","put hamburger on cutting board",-0.120940,0.009483,1.010238,-0.324029,-0.674338,-0.174204,0.640255
26,3,527360,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.160080,-0.015785,0.888221,0.857746,-0.003739,0.045670,0.512027
26,3,527360,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.089035,-0.064278,0.894879,0.440099,-0.557099,0.401263,0.578742
26,3,527360,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085266,-0.074986,0.872199,0.999998,0.000000,-0.000000,-0.001923
26,3,527360,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235283,-0.074532,0.870862,0.999987,0.000075,-0.000000,0.005127
26,3,527360,62,gripper,0,"","put hamburger on cutting board",-0.155214,0.007141,0.950857,-0.141086,-0.706785,-0.087703,0.687647
26,3,527360,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.184540,0.058556,0.890524,0.644691,-0.027154,-0.006098,0.763936
26,3,527360,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064972,0.096619,0.887027,0.649598,-0.289213,0.648106,0.272649
26,3,527360,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
26,3,527360,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.207432,0.044353,0.870870,0.999999,-0.000000,-0.000001,-0.001016
26,3,527360,63,gripper,0,"","put hamburger on cutting board",-0.173862,0.027315,1.051333,-0.014814,-0.745882,-0.036960,0.664886
26,4,532480,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.075241,0.111031,0.885369,0.728447,-0.176967,0.214726,0.626051
26,4,532480,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.090424,0.041664,0.887254,0.723762,0.028889,-0.049783,0.687645
26,4,532480,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084488,0.075699,0.869532,0.999932,0.000001,0.000001,-0.011634
26,4,532480,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.206139,-0.032501,0.871288,0.993325,-0.000034,-0.001030,0.115344
26,4,532480,0,gripper,0,"","put kitchen shovel on cloth",-0.090931,0.030563,1.037158,0.042372,-0.698213,0.062032,0.711938
26,4,532480,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.152206,0.042412,0.885122,0.474717,0.511962,-0.579708,0.420091
26,4,532480,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.162952,-0.133957,0.881670,0.587377,0.005527,-0.009677,0.809236
26,4,532480,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205017,0.042068,0.869532,0.999193,-0.000000,-0.000000,-0.040158
26,4,532480,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.072723,-0.076134,0.871289,0.999140,-0.000128,-0.001028,0.041461
26,4,532480,1,gripper,0,"","put kitchen shovel on cloth",-0.160616,-0.108139,0.916921,-0.184783,-0.820188,0.058099,0.538304
26,4,532480,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.088669,0.063774,0.888540,0.173883,0.573910,-0.780290,0.177593
26,4,532480,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.151443,0.010117,0.882431,0.633539,0.044055,-0.046324,0.771065
26,4,532480,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.079750,-0.079262,0.869532,0.999990,0.000000,-0.000000,-0.004370
26,4,532480,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084984,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000148
26,4,532480,2,gripper,0,"","put kitchen shovel on cloth",-0.248201,-0.014915,0.915465,-0.141674,-0.778814,-0.145913,0.593369
26,4,532480,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.000437,-0.121307,0.879142,0.312391,0.418716,-0.156624,0.838187
26,4,532480,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.171288,-0.076012,0.887669,0.700922,0.024506,-0.031093,0.712139
26,4,532480,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.206757,-0.080681,0.869586,0.975329,0.000617,-0.000977,-0.220754
26,4,532480,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.110546,-0.045425,0.871288,0.999822,-0.000133,-0.001021,0.018841
26,4,532480,3,gripper,0,"","put kitchen shovel on cloth",-0.137775,-0.071800,0.952487,-0.140176,-0.747640,-0.062440,0.646132
26,4,532480,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.248135,-0.065552,0.920311,0.639759,0.436362,-0.206076,0.598188
26,4,532480,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.230338,-0.071640,0.887558,0.624392,-0.028151,0.013635,0.780485
26,4,532480,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.255185,-0.051865,0.869531,0.971774,0.000001,-0.000000,-0.235913
26,4,532480,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084130,-0.076027,0.871288,0.999971,-0.000146,-0.001020,0.007532
26,4,532480,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.280433,-0.070034,0.969667,-0.022006,-0.675195,-0.046483,0.735845
26,4,532480,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.125486,0.101616,0.884977,0.539559,0.463284,0.457473,-0.533819
26,4,532480,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.228249,0.026138,0.881680,0.991233,-0.010290,-0.051286,-0.121329
26,4,532480,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,0.074982,0.869532,1.000000,-0.000000,-0.000001,0.000164
26,4,532480,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205875,-0.088203,0.871288,0.998588,-0.000100,-0.001026,0.053107
26,4,532480,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.218023,0.073524,0.947604,0.063143,-0.749667,-0.057511,0.656281
26,4,532480,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.063236,0.071312,0.885369,0.694163,0.196422,0.197104,-0.663856
26,4,532480,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.243557,-0.074997,0.881638,0.992258,0.000197,-0.039365,0.117787
26,4,532480,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.040775,0.077377,0.869532,0.918463,-0.000000,-0.000000,0.395508
26,4,532480,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.098064,-0.079300,0.871288,0.999392,-0.000189,-0.001013,-0.034861
26,4,532480,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.240461,-0.065243,0.940109,0.049838,-0.692093,0.034783,0.719245
26,4,532480,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.153408,-0.124573,0.887923,-0.047691,0.828368,-0.551614,-0.085170
26,4,532480,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.141647,-0.051262,0.882782,0.690974,-0.092243,0.079033,0.712601
26,4,532480,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.061848,-0.102425,0.869716,0.992808,-0.001736,0.002580,0.119677
26,4,532480,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.179951,-0.121262,0.871288,0.980642,-0.000350,-0.000969,-0.195805
26,4,532480,7,gripper,0,"","put ketchup bottle on yellow_plate",0.055056,0.471375,0.741888,-0.458436,0.569190,-0.429645,-0.530343
26,4,532480,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.222954,-0.185078,0.879088,0.611588,0.334030,-0.320691,0.641514
26,4,532480,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.184395,0.062019,0.886522,0.899704,-0.014600,0.034689,0.434874
26,4,532480,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.209229,0.098389,0.869532,0.932922,0.000001,0.000000,-0.360077
26,4,532480,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234993,-0.074986,0.871288,0.999999,-0.000157,-0.001019,0.000197
26,4,532480,8,gripper,0,"","put ketchup bottle on cloth",-0.221542,0.058853,0.936173,0.135338,-0.658688,0.069013,0.736920
26,4,532480,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.298008,0.058266,0.879088,0.390154,0.415076,-0.205298,0.795830
26,4,532480,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.158169,0.011120,0.877298,-0.050522,0.632854,-0.770261,-0.060345
26,4,532480,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114964,0.044998,0.869532,1.000000,-0.000002,-0.000000,0.000551
26,4,532480,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000154,-0.001020,0.000011
26,4,532480,9,gripper,0,"","put ketchup bottle on cloth",-0.277498,0.042130,0.958043,0.006121,-0.702603,0.018579,0.711313
26,4,532480,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.089447,0.049107,0.885122,0.545748,0.392805,-0.666215,0.322522
26,4,532480,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084393,-0.075756,0.881638,0.382319,0.034414,-0.019064,0.923193
26,4,532480,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.094166,0.056721,0.869532,0.986633,-0.000000,-0.000002,-0.162958
26,4,532480,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.239811,-0.081657,0.871288,0.998637,-0.000101,-0.001026,0.052179
26,4,532480,10,gripper,0,"","put ketchup bottle on cloth",-0.100595,0.039223,1.028099,0.079206,-0.730530,0.087234,0.672638
26,4,532480,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.248728,-0.092518,0.924390,-0.554424,0.341104,-0.497183,0.573647
26,4,532480,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.129478,-0.003418,0.881886,0.594101,0.047492,-0.040991,0.801940
26,4,532480,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.249573,-0.078297,0.873008,0.997260,-0.025238,-0.046181,0.051994
26,4,532480,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.075508,0.071266,0.871288,0.998419,-0.000097,-0.001026,0.056200
26,4,532480,11,gripper,0,"","put ketchup bottle on cloth",-0.276705,-0.079525,0.919858,-0.092716,-0.735146,-0.053170,0.669430
26,4,532480,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.004284,0.078495,0.879213,0.089743,0.908129,-0.312806,0.263437
26,4,532480,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.167078,-0.083599,0.961878,0.557981,-0.104634,-0.004560,0.823218
26,4,532480,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.065551,-0.084579,0.869662,0.999547,0.000937,0.001983,0.030012
26,4,532480,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.178759,-0.052795,0.871283,0.934319,-0.000882,-0.001013,-0.356435
26,4,532480,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.195200,-0.086855,1.002100,-0.182843,-0.770718,-0.090837,0.603582
26,4,532480,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.143391,0.161102,0.879373,-0.773049,0.160505,-0.227306,-0.570057
26,4,532480,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.184923,0.088078,0.888518,0.732660,0.003770,-0.069343,0.677042
26,4,532480,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.146677,0.081150,0.873720,0.992697,0.022721,-0.069920,-0.095639
26,4,532480,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084925,0.075104,0.871289,0.999999,-0.000161,-0.001019,-0.000706
26,4,532480,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.142967,0.008596,1.059328,0.004967,-0.799748,0.005902,0.600286
26,4,532480,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.217976,0.076252,0.878981,-0.557592,0.436131,-0.483439,-0.514944
26,4,532480,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",0.283562,-0.112408,0.251319,-0.600220,0.110667,0.210051,-0.763785
26,4,532480,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.224186,-0.086498,0.876435,0.942435,-0.105195,-0.015489,0.317032
26,4,532480,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114738,-0.073311,0.871288,0.999378,-0.000189,-0.001013,-0.035259
26,4,532480,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.238459,-0.041294,0.917691,0.003415,-0.753933,0.015488,0.656760
26,4,532480,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",1.572483,-1.216419,0.010572,-0.711078,0.182778,-0.209798,-0.645713
26,4,532480,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",21.500557,0.371548,-3817.114258,-0.102469,0.257806,-0.373341,-0.885242
26,4,532480,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",1.956688,1.387798,0.000732,0.524658,0.000000,0.000000,-0.851313
26,4,532480,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",1.408276,-0.979443,0.002488,-0.933655,0.000512,0.000895,0.358171
26,4,532480,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.226423,-0.030710,0.994611,-0.055560,-0.646333,-0.091687,0.755487
26,4,532480,16,obj,0,"003_bread_1","put 7up can on carpet",-0.274689,0.011497,0.883986,-0.224388,-0.795435,-0.560402,-0.053690
26,4,532480,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.236649,-0.040745,0.888825,-0.652773,0.354160,0.479151,0.467837
26,4,532480,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000170
26,4,532480,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.242973,-0.060261,0.870466,0.986396,-0.001107,-0.000876,-0.164381
26,4,532480,16,gripper,0,"","put 7up can on carpet",-0.109032,0.105671,0.944767,-0.119040,-0.737225,-0.107090,0.656399
26,4,532480,17,obj,0,"003_bread_1","put 7up can on carpet",-0.072113,-0.099499,0.886442,0.760334,0.013696,-0.006339,0.649356
26,4,532480,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.147270,-0.009037,0.885830,0.463947,-0.527088,0.444723,0.556014
26,4,532480,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084854,0.075146,0.869490,1.000000,0.000179,0.000875,0.000323
26,4,532480,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.085426,-0.073299,0.870462,0.999958,0.000035,-0.000159,-0.009114
26,4,532480,17,gripper,0,"","put 7up can on carpet",-0.198671,-0.026291,0.913737,-0.167714,-0.723778,-0.183215,0.643778
26,4,532480,18,obj,0,"003_bread_1","put 7up can on carpet",-0.190674,-0.164406,0.883614,0.082269,0.947983,0.305590,-0.034275
26,4,532480,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.072544,-0.045792,0.888620,0.750334,0.174090,-0.224541,0.596886
26,4,532480,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
26,4,532480,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.078625,-0.068596,0.870335,0.999404,-0.000361,-0.001796,-0.034467
26,4,532480,18,gripper,0,"","put 7up can on carpet",-0.262877,-0.011719,0.948607,-0.057154,-0.632892,0.115362,0.763461
26,4,532480,19,obj,0,"003_bread_1","put 7up can on carpet",-0.199873,0.065197,0.886651,0.234741,0.016782,-0.001215,0.971912
26,4,532480,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.224825,-0.063843,0.887579,-0.475232,0.406500,-0.314205,-0.714274
26,4,532480,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.226473,-0.091572,0.869532,0.999618,0.000137,0.001282,0.027605
26,4,532480,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.197493,0.071655,0.870461,0.998670,0.000027,-0.000156,0.051549
26,4,532480,19,gripper,0,"","put 7up can on carpet",-0.193761,-0.045937,0.945095,0.104731,-0.682515,0.121517,0.713049
26,4,532480,20,obj,0,"003_bread_1","put bread on newspaper",-0.100886,0.072460,0.886593,0.947489,-0.002662,-0.008387,-0.319667
26,4,532480,20,obj,1,"005_7up can_1","put bread on newspaper",0.020152,-0.001324,0.016933,0.817714,-0.171429,0.446830,0.319841
26,4,532480,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
26,4,532480,20,recep,1,"003_carpet_1","put bread on newspaper",-0.109705,0.060406,0.870460,0.999096,0.000025,-0.000157,0.042513
26,4,532480,20,gripper,0,"","put bread on newspaper",-0.110055,0.039381,1.001053,0.044252,-0.714435,0.025879,0.697821
26,4,532480,21,obj,0,"003_bread_1","put bread on newspaper",-0.177874,0.547993,0.883615,0.077708,0.977189,0.192762,-0.043647
26,4,532480,21,obj,1,"005_7up can_1","put bread on newspaper",-0.181316,-0.252953,0.885757,0.469043,0.492872,-0.375597,0.629288
26,4,532480,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
26,4,532480,21,recep,1,"003_carpet_1","put bread on newspaper",106.807022,-10.248009,-2937.290527,0.441835,-0.276254,0.489485,-0.699192
26,4,532480,21,gripper,0,"","put bread on newspaper",-0.067747,0.025478,0.951444,0.005240,-0.755057,-0.047025,0.653950
26,4,532480,22,obj,0,"003_bread_1","put bread on newspaper",-0.214630,0.000458,0.886510,0.551478,0.026463,0.004875,0.833755
26,4,532480,22,obj,1,"005_7up can_1","put bread on newspaper",-0.177139,-0.034519,0.887621,0.066009,-0.693143,0.712872,0.083716
26,4,532480,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.209843,-0.036270,0.869490,0.999866,0.000539,0.001444,0.016323
26,4,532480,22,recep,1,"003_carpet_1","put bread on newspaper",-0.072437,-0.076843,0.870448,0.999861,-0.000936,-0.000829,-0.016600
26,4,532480,22,gripper,0,"","put bread on newspaper",-0.090240,-0.001730,0.974581,0.027142,-0.744184,0.040185,0.666212
26,4,532480,23,obj,0,"003_bread_1","put bread on newspaper",-0.030167,-0.092995,0.886629,0.998954,0.003774,-0.010147,-0.044417
26,4,532480,23,obj,1,"005_7up can_1","put bread on newspaper",-0.083138,-0.030582,0.918577,0.721849,0.149462,-0.318088,0.596167
26,4,532480,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085011,0.075005,0.869490,1.000000,0.000180,0.000874,0.000055
26,4,532480,23,recep,1,"003_carpet_1","put bread on newspaper",-0.042336,-0.105179,0.870446,0.951170,-0.000185,-0.000105,-0.308668
26,4,532480,23,gripper,0,"","put bread on newspaper",-0.110680,-0.028746,0.946756,0.037828,-0.750994,-0.009198,0.659161
26,4,532480,24,obj,0,"003_bread_1","put bread on carpet",-0.165169,-0.039892,0.886386,0.923494,0.006883,-0.002972,0.383540
26,4,532480,24,obj,1,"005_7up can_1","put bread on carpet",-0.246712,0.116644,0.888907,-0.084218,-0.739196,0.663706,-0.077396
26,4,532480,24,recep,0,"004_newspaper_1","put bread on carpet",-0.241417,0.074162,0.869490,0.998963,0.000139,0.000882,0.045528
26,4,532480,24,recep,1,"003_carpet_1","put bread on carpet",-0.208908,-0.079165,0.870448,0.999989,-0.000550,-0.000520,-0.004550
26,4,532480,24,gripper,0,"","put bread on carpet",-0.168724,0.079334,1.014645,0.086363,-0.707440,0.017702,0.701253
26,4,532480,25,obj,0,"003_bread_1","put bread on carpet",-0.208401,0.149504,0.884386,-0.383185,-0.010079,-0.029943,-0.923131
26,4,532480,25,obj,1,"005_7up can_1","put bread on carpet",-0.265427,-0.072083,0.885855,0.460408,0.532397,-0.567704,0.426954
26,4,532480,25,recep,0,"004_newspaper_1","put bread on carpet",-0.214359,0.072180,0.869490,0.993229,0.000077,0.000889,0.116170
26,4,532480,25,recep,1,"003_carpet_1","put bread on carpet",-0.078712,0.074579,0.870448,0.999423,-0.000894,-0.000875,0.033949
26,4,532480,25,gripper,0,"","put bread on carpet",-0.177204,0.052729,0.963521,0.078934,-0.702080,0.112740,0.698672
26,4,532480,26,obj,0,"003_bread_1","put bread on carpet",-0.206062,-0.030645,0.885433,0.934074,0.009526,0.005073,0.356915
26,4,532480,26,obj,1,"005_7up can_1","put bread on carpet",-0.226280,0.083050,0.889110,0.135748,-0.780450,0.580356,0.188829
26,4,532480,26,recep,0,"004_newspaper_1","put bread on carpet",-0.234970,-0.045057,0.869487,0.999999,0.000202,0.000874,-0.000837
26,4,532480,26,recep,1,"003_carpet_1","put bread on carpet",-0.213036,0.083731,0.870447,0.991907,-0.002742,-0.003106,0.126900
26,4,532480,26,gripper,0,"","put bread on carpet",-0.061335,0.082971,1.015564,0.171408,-0.689586,0.184067,0.679124
26,4,532480,27,obj,0,"003_bread_1","put bread on carpet",-0.136549,-0.088133,0.939957,0.341772,0.067791,0.039186,0.936515
26,4,532480,27,obj,1,"005_7up can_1","put bread on carpet",-0.189672,-0.060505,0.888616,0.612516,-0.121533,0.092601,0.775551
26,4,532480,27,recep,0,"004_newspaper_1","put bread on carpet",-0.111719,0.037874,0.869490,0.999420,0.000150,0.000880,0.034051
26,4,532480,27,recep,1,"003_carpet_1","put bread on carpet",-0.204800,-0.075798,0.870447,0.999999,-0.000628,-0.000589,0.000754
26,4,532480,27,gripper,0,"","put bread on carpet",-0.131559,-0.086824,0.975799,-0.034105,-0.704904,-0.006331,0.708454
26,4,532480,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.099129,-0.044525,0.886680,0.669541,0.012198,-0.005254,0.742656
26,4,532480,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212177,0.114180,0.885746,-0.312295,-0.547520,0.238449,-0.738807
26,4,532480,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084989,0.074986,0.869490,1.000000,0.000179,0.000874,0.000139
26,4,532480,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084989,-0.074968,0.870419,0.999999,-0.000630,-0.001230,-0.000386
26,4,532480,28,gripper,0,"","put 7up can on newspaper",-0.116252,-0.080508,0.942830,-0.109375,-0.753184,-0.125301,0.636436
26,4,532480,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.270660,-0.112314,0.883615,-0.086891,-0.594049,-0.799474,-0.019910
26,4,532480,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.171070,-0.096115,0.888408,0.544111,-0.292212,0.207441,0.758632
26,4,532480,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234995,0.074999,0.869490,1.000000,0.000180,0.000875,-0.000050
26,4,532480,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.203972,-0.075859,0.870448,0.999995,-0.000123,-0.000158,0.003106
26,4,532480,29,gripper,0,"","put 7up can on newspaper",-0.053721,-0.005475,0.979931,-0.047637,-0.735212,-0.002067,0.676158
26,4,532480,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.232525,-0.132471,0.886050,-0.102372,0.307345,-0.864793,-0.383655
26,4,532480,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.223686,-0.090481,0.888994,0.299233,0.624448,-0.669692,0.268398
26,4,532480,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000162
26,4,532480,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.227272,-0.081631,0.870461,0.999995,0.000019,-0.000159,-0.003127
26,4,532480,30,gripper,0,"","put 7up can on newspaper",-0.229219,-0.042897,0.950861,0.024699,-0.724183,0.006210,0.689138
26,4,532480,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.094566,-0.074232,0.886679,0.992033,0.003732,-0.009519,0.125564
26,4,532480,31,obj,1,"005_7up can_1","put 7up can on newspaper",0.108486,0.056728,0.017149,0.354200,-0.183645,0.914623,0.065441
26,4,532480,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.039551,0.093956,0.869490,1.000000,0.000180,0.000874,-0.000284
26,4,532480,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085007,-0.074957,0.870448,0.999999,-0.000923,-0.000845,-0.000101
26,4,532480,31,gripper,0,"","put 7up can on newspaper",-0.142256,0.064481,0.981653,0.105276,-0.744133,0.079018,0.654934
26,4,532480,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.225815,-0.046572,0.887528,0.336152,-0.040699,0.014540,0.940816
26,4,532480,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204689,0.075325,0.878547,0.382234,0.003183,0.013052,0.923968
26,4,532480,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
26,4,532480,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,-0.075000,0.874363,1.000000,-0.000001,-0.000001,-0.000000
26,4,532480,32,gripper,0,"","put banana on flat bowl",-0.181751,0.095005,0.967062,0.012166,-0.751738,-0.013878,0.659203
26,4,532480,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.110878,0.077213,0.887502,0.542478,-0.034959,0.023535,0.839012
26,4,532480,33,obj,1,"013_banana_1","put banana on flat bowl",-0.114700,-0.074684,0.878547,0.382218,0.003191,0.013079,0.923974
26,4,532480,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
26,4,532480,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000001
26,4,532480,33,gripper,0,"","put banana on flat bowl",-0.058857,-0.039193,0.974404,0.091387,-0.718952,0.150264,0.672442
26,4,532480,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.099815,0.071624,0.887549,0.765330,-0.019333,0.025942,0.642825
26,4,532480,34,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,0.075008,0.878547,0.706825,0.007970,0.010881,0.707259
26,4,532480,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
26,4,532480,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
26,4,532480,34,gripper,0,"","put banana on flat bowl",-0.165977,0.093244,0.994726,0.064277,-0.674359,0.029863,0.734994
26,4,532480,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.127106,0.052251,0.887371,0.919854,-0.014486,0.025867,0.391138
26,4,532480,35,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,-0.045347,0.878547,0.924135,0.011490,0.006963,0.381830
26,4,532480,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,4,532480,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
26,4,532480,35,gripper,0,"","put banana on flat bowl",-0.178701,-0.008465,0.947163,-0.095792,-0.758772,0.027482,0.643688
26,4,532480,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.128258,0.051691,0.887391,0.926667,-0.005449,0.015094,0.375541
26,4,532480,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084682,-0.075308,0.878547,0.923623,0.011484,0.006980,0.383067
26,4,532480,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000021
26,4,532480,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000002
26,4,532480,36,gripper,0,"","put carrot on sheet metal",-0.154873,0.035798,1.016627,-0.098046,-0.710368,-0.122086,0.686192
26,4,532480,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118866,0.051212,0.887502,0.997244,-0.003202,0.024888,0.069821
26,4,532480,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234991,-0.075435,0.878547,0.999910,0.013284,0.002053,0.000312
26,4,532480,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
26,4,532480,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
26,4,532480,37,gripper,0,"","put carrot on sheet metal",-0.112950,0.068906,0.965747,-0.214610,-0.677044,-0.135602,0.690772
26,4,532480,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.206551,0.076776,0.894042,0.127540,-0.001157,-0.033055,0.991282
26,4,532480,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.234715,-0.044707,0.878548,0.382233,0.003196,0.013085,0.923968
26,4,532480,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.044994,0.871345,0.999999,-0.000157,0.001164,-0.000024
26,4,532480,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205006,0.074998,0.874362,1.000000,-0.000000,-0.000001,0.000033
26,4,532480,38,gripper,0,"","put carrot on sheet metal",-0.179049,-0.003374,1.026605,0.009647,-0.770616,0.138687,0.621952
26,4,532480,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.222683,-0.098177,0.887625,0.345698,-0.042496,0.015673,0.937252
26,4,532480,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114689,0.075315,0.878547,0.382205,0.003189,0.013075,0.923979
26,4,532480,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
26,4,532480,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.045000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
26,4,532480,39,gripper,0,"","put carrot on sheet metal",-0.183937,-0.081550,0.953069,-0.040376,-0.682010,0.059497,0.727799
26,4,532480,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.219643,0.041954,0.894236,0.987779,0.001663,0.070597,0.138945
26,4,532480,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084663,-0.075302,0.878547,0.924546,0.011515,0.006959,0.380834
26,4,532480,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
26,4,532480,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045002,0.874362,1.000000,-0.000000,-0.000001,0.000643
26,4,532480,40,gripper,0,"","put carrot on flat bowl",-0.173512,0.053147,1.019650,0.054848,-0.687420,0.073292,0.720467
26,4,532480,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.198063,0.094843,0.887237,0.347513,-0.027273,0.018374,0.937098
26,4,532480,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.074661,0.878547,0.383407,0.003220,0.013113,0.923481
26,4,532480,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
26,4,532480,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
26,4,532480,41,gripper,0,"","put carrot on flat bowl",-0.150795,0.104787,1.011166,-0.016470,-0.732231,-0.043302,0.679479
26,4,532480,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.123924,0.071762,0.887491,0.912794,-0.013748,0.031122,0.407001
26,4,532480,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.204548,0.075029,0.878547,0.708272,0.007973,0.010837,0.705811
26,4,532480,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
26,4,532480,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
26,4,532480,42,gripper,0,"","put carrot on flat bowl",-0.144836,0.004080,1.021230,0.008793,-0.700662,0.162391,0.694712
26,4,532480,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.169453,0.046173,0.886423,0.635568,0.615105,0.321439,0.338195
26,4,532480,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.114662,-0.075308,0.878547,0.924096,0.011531,0.006986,0.381922
26,4,532480,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.085495,0.042170,0.871415,0.999878,-0.003327,-0.001023,0.015235
26,4,532480,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235785,-0.046217,0.874362,0.999993,0.000000,-0.000000,0.003871
26,4,532480,43,gripper,0,"","put carrot on flat bowl",-0.143665,0.060313,0.983569,-0.017191,-0.745659,0.068823,0.662541
26,4,532480,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.126232,-0.091253,0.887447,0.424548,-0.026842,0.013696,0.904904
26,4,532480,44,obj,1,"013_banana_1","put banana on sheet metal",-0.233476,-0.038670,0.878546,0.377464,0.003110,0.013054,0.925927
26,4,532480,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.075003,0.871344,0.999999,-0.000157,0.001163,0.000003
26,4,532480,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000001
26,4,532480,44,gripper,0,"","put banana on sheet metal",-0.191196,-0.032261,0.958929,0.064179,-0.725570,0.067333,0.681832
26,4,532480,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.059999,0.043169,0.887438,0.644909,-0.017810,0.014695,0.763911
26,4,532480,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204695,0.075348,0.878547,0.384305,0.003219,0.013067,0.923108
26,4,532480,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
26,4,532480,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
26,4,532480,45,gripper,0,"","put banana on sheet metal",-0.161124,0.091728,1.009608,0.129997,-0.614710,0.082967,0.773530
26,4,532480,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.191116,0.031969,0.887399,0.932004,-0.008721,0.029524,0.361138
26,4,532480,46,obj,1,"013_banana_1","put banana on sheet metal",-0.204651,-0.045309,0.878547,0.924645,0.011504,0.006950,0.380594
26,4,532480,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
26,4,532480,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084446,0.075001,0.874363,0.999948,-0.000001,-0.000000,-0.010245
26,4,532480,46,gripper,0,"","put banana on sheet metal",-0.185591,-0.012390,0.954915,-0.030996,-0.701382,0.053967,0.710063
26,4,532480,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205143,0.076702,0.887529,0.706059,-0.030584,0.030549,0.706833
26,4,532480,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,-0.074982,0.878547,0.708351,0.007955,0.010818,0.705732
26,4,532480,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074953,0.871344,0.999999,-0.000158,0.001164,-0.000070
26,4,532480,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
26,4,532480,47,gripper,0,"","put banana on sheet metal",-0.077177,-0.063196,0.942013,-0.105966,-0.836036,0.021912,0.537898
26,4,532480,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.207573,0.143242,0.890362,0.198051,-0.018555,-0.017738,0.979856
26,4,532480,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.214828,0.053291,0.889701,0.466200,-0.541738,0.459659,0.527154
26,4,532480,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235329,-0.045021,0.872199,0.999978,-0.000000,-0.000001,-0.006553
26,4,532480,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.225090,0.084579,0.870883,0.984611,0.000561,0.000819,0.174754
26,4,532480,48,gripper,0,"","put plastic bottle on cutting board",-0.182083,-0.010519,0.972253,-0.056675,-0.748737,-0.159999,0.640766
26,4,532480,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075966,0.888112,0.999590,-0.023256,0.014753,-0.007901
26,4,532480,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.155052,-0.071548,0.890953,0.249932,0.005567,0.968226,0.006401
26,4,532480,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.200607,0.076115,0.872199,0.998296,-0.000001,-0.000001,-0.058352
26,4,532480,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,-0.075001,0.870870,1.000000,0.000000,0.000001,0.000008
26,4,532480,49,gripper,0,"","put plastic bottle on cutting board",-0.160339,0.016455,0.963193,0.238626,-0.705427,0.134155,0.653783
26,4,532480,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.107170,-0.051510,0.891116,-0.462584,0.661215,0.546690,-0.223476
26,4,532480,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.073544,0.046429,0.885767,0.653064,-0.303395,-0.605971,-0.338020
26,4,532480,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",0.015705,0.039349,0.872120,0.999405,-0.008739,0.003844,-0.033134
26,4,532480,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.236008,-0.044090,0.870870,0.999960,-0.000001,-0.000002,0.008943
26,4,532480,50,gripper,0,"","put plastic bottle on cutting board",-0.089724,0.063736,0.956232,-0.044708,-0.777063,0.020011,0.627514
26,4,532480,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.178139,0.046936,0.888112,0.729696,-0.027019,-0.005340,0.683217
26,4,532480,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.093279,0.096432,0.889688,0.526830,-0.480434,0.524789,0.465006
26,4,532480,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000184
26,4,532480,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085094,0.075020,0.870871,1.000000,-0.000000,-0.000007,0.000194
26,4,532480,51,gripper,0,"","put plastic bottle on cutting board",-0.139812,0.039038,1.058260,0.040594,-0.734790,0.015487,0.676902
26,4,532480,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.175181,0.078274,0.896399,0.735778,-0.029342,-0.009488,0.676520
26,4,532480,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.114093,0.031414,0.887066,0.508253,-0.494932,0.473327,0.522191
26,4,532480,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.202379,0.080811,0.872199,0.999532,-0.000001,-0.000001,-0.030597
26,4,532480,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.108286,-0.045368,0.870870,0.999633,0.000000,-0.000001,-0.027083
26,4,532480,52,gripper,0,"","put hamburger on frying pan",-0.099705,0.040094,0.938325,0.039573,-0.748474,0.005015,0.661963
26,4,532480,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.163918,-0.035667,0.894445,0.754869,-0.131655,0.320020,0.557160
26,4,532480,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.092960,0.104107,0.888631,0.812082,-0.020553,0.012786,0.583041
26,4,532480,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205091,-0.075230,0.872200,1.000000,0.000001,-0.000001,0.000587
26,4,532480,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.106207,0.077084,0.870870,0.999245,0.000000,-0.000001,-0.038858
26,4,532480,53,gripper,0,"","put hamburger on frying pan",-0.152132,-0.024078,1.041718,-0.164404,-0.659125,-0.056819,0.731640
26,4,532480,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.072540,0.067101,0.891134,0.386387,-0.325402,0.787410,-0.353276
26,4,532480,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.212669,-0.088791,0.889573,0.300501,-0.646056,0.292063,0.637973
26,4,532480,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114594,-0.044994,0.872199,0.999998,0.000000,-0.000000,0.001866
26,4,532480,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.249287,-0.072754,0.870883,0.999447,0.000723,0.000693,-0.033225
26,4,532480,54,gripper,0,"","put hamburger on frying pan",-0.095444,0.066311,0.913801,-0.017934,-0.748756,-0.019541,0.662315
26,4,532480,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.124676,0.064751,0.890785,0.716682,-0.027076,-0.002518,0.696870
26,4,532480,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.244442,0.075596,0.893726,0.521983,0.476973,-0.472581,0.526020
26,4,532480,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236725,0.075809,0.872199,0.999731,0.000000,-0.000001,-0.023210
26,4,532480,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.109074,0.040409,0.870870,0.999768,-0.000000,-0.000001,0.021560
26,4,532480,55,gripper,0,"","put hamburger on frying pan",-0.214102,0.037567,0.982821,-0.009102,-0.729022,-0.016928,0.684221
26,4,532480,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.246010,-0.022102,0.892645,-0.527162,0.389701,-0.665177,-0.357454
26,4,532480,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.203125,0.068333,0.889469,0.566042,-0.432333,0.565372,0.415980
26,4,532480,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085915,-0.067432,0.872199,0.998887,-0.000000,-0.000001,-0.047169
26,4,532480,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234543,0.040993,0.870870,0.999996,0.000008,0.000008,0.002782
26,4,532480,56,gripper,0,"","put hamburger on cutting board",-0.186611,-0.022673,1.016147,-0.088516,-0.731918,-0.026079,0.675115
26,4,532480,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.267712,0.144058,0.890586,0.018315,-0.397489,-0.759243,0.514992
26,4,532480,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.035259,0.038128,0.018226,0.275377,-0.659276,0.262756,0.648446
26,4,532480,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001711
26,4,532480,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.251495,0.044670,0.870870,0.976968,-0.000000,-0.000001,0.213387
26,4,532480,57,gripper,0,"","put hamburger on cutting board",-0.218811,0.009443,0.993036,0.029249,-0.681677,0.031423,0.730393
26,4,532480,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.190132,0.070534,0.890775,0.887135,-0.017011,0.023469,-0.460599
26,4,532480,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.118652,-0.069851,0.016920,-0.446262,-0.547825,0.421947,-0.568065
26,4,532480,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.233665,-0.043041,0.872199,0.998935,-0.000000,-0.000001,0.046133
26,4,532480,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204998,0.074986,0.870870,1.000000,0.000014,0.000013,0.000041
26,4,532480,58,gripper,0,"","put hamburger on cutting board",-0.207888,0.074387,1.024599,-0.081739,-0.700592,-0.023775,0.708466
26,4,532480,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.216547,0.162102,0.890528,-0.071154,0.732122,-0.674346,-0.064749
26,4,532480,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.075766,0.059010,0.888388,0.462384,0.536103,-0.435899,0.555686
26,4,532480,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235008,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000316
26,4,532480,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.075939,0.075466,0.870884,0.999409,0.000692,0.000746,0.034350
26,4,532480,59,gripper,0,"","put hamburger on cutting board",-0.183831,0.003454,1.040488,-0.114649,-0.754193,-0.071811,0.642567
26,4,532480,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.228446,0.072445,0.895390,0.558198,-0.137671,-0.040706,0.817193
26,4,532480,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.313331,-0.006977,0.889773,-0.030822,0.549042,-0.834921,-0.022568
26,4,532480,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.236623,0.078739,0.872199,0.999848,-0.000001,-0.000001,0.017436
26,4,532480,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.083954,-0.075970,0.870870,0.999976,-0.000000,-0.000001,-0.006956
26,4,532480,60,gripper,0,"","put plastic bottle on frying pan",-0.238945,0.053055,0.977728,0.006934,-0.746809,0.083786,0.659703
26,4,532480,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.055889,0.118809,0.891601,0.478028,0.185140,0.826199,0.233684
26,4,532480,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.091984,0.054626,0.895048,0.468988,-0.534470,0.428313,0.557620
26,4,532480,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.094381,0.042953,0.872199,0.997476,-0.000001,-0.000001,0.071001
26,4,532480,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.082088,-0.083698,0.870870,0.999860,0.000000,-0.000001,0.016704
26,4,532480,61,gripper,0,"","put plastic bottle on frying pan",-0.206761,0.035751,0.983990,0.012992,-0.734167,-0.084306,0.673589
26,4,532480,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.136440,0.068214,0.888112,-0.999618,0.023404,-0.014516,-0.002271
26,4,532480,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.083637,-0.075733,0.896282,0.567540,-0.349981,0.241781,0.704949
26,4,532480,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.082932,-0.074898,0.872199,0.999697,0.000000,-0.000001,-0.024615
26,4,532480,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.236557,-0.073544,0.870870,0.999865,0.000000,-0.000001,0.016443
26,4,532480,62,gripper,0,"","put plastic bottle on frying pan",-0.109009,-0.021025,1.031178,0.010678,-0.730082,0.014007,0.683132
26,4,532480,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.183472,0.060162,0.890678,0.613389,-0.041082,-0.015069,0.788568
26,4,532480,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.193615,0.018166,0.892472,-0.070398,-0.633253,0.769899,-0.035929
26,4,532480,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235558,-0.074238,0.872199,0.999893,-0.000000,-0.000001,0.014639
26,4,532480,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.206432,0.044239,0.870861,0.999843,0.000292,0.000341,0.017733
26,4,532480,63,gripper,0,"","put plastic bottle on frying pan",-0.176388,0.028563,0.956472,0.026519,-0.774601,0.072424,0.627730
27,1,537600,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.124519,-0.064514,0.879089,0.591875,0.343588,-0.310419,0.659751
27,1,537600,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.213753,0.051025,0.881638,0.755527,0.022220,-0.032470,0.653934
27,1,537600,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000026
27,1,537600,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.252464,-0.066933,0.871210,0.999976,-0.003925,-0.004112,-0.003977
27,1,537600,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.140141,-0.010216,0.927536,0.051722,-0.731627,0.062148,0.676893
27,1,537600,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.061954,-0.075104,0.879172,0.439842,0.412699,-0.239815,0.760728
27,1,537600,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234383,0.044281,0.881638,0.382533,0.034430,-0.019079,0.923103
27,1,537600,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
27,1,537600,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000085
27,1,537600,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.099567,-0.089790,0.914171,0.023004,-0.818087,0.032485,0.573715
27,1,537600,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.221138,-0.065300,0.923398,0.633366,0.272985,-0.310406,0.654198
27,1,537600,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.088703,0.061432,0.881638,0.625828,0.027682,-0.027947,0.778969
27,1,537600,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
27,1,537600,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
27,1,537600,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.236349,-0.063187,0.957734,-0.022504,-0.762264,0.018063,0.646623
27,1,537600,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.151621,-0.048454,0.879212,-0.277585,-0.066340,0.958196,-0.020164
27,1,537600,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085947,0.075119,0.881638,0.999225,-0.004449,-0.039113,-0.000125
27,1,537600,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084997,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000031
27,1,537600,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000137
27,1,537600,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.214987,-0.062244,0.913327,0.041131,-0.731455,0.044451,0.679195
27,1,537600,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.024799,-0.203369,0.879094,-0.853344,0.128859,0.441105,0.246222
27,1,537600,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235059,-0.045525,0.882955,0.999813,0.018617,-0.005138,-0.000998
27,1,537600,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,0.074997,0.869532,1.000000,0.000000,-0.000000,-0.000000
27,1,537600,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205022,0.075012,0.871282,0.999999,-0.000451,-0.001265,0.000025
27,1,537600,4,gripper,0,"","put ketchup bottle on cloth",-0.085263,-0.293491,0.913994,-0.212331,-0.830686,-0.062781,0.510818
27,1,537600,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.015760,-0.072365,0.879212,-0.274786,-0.149292,0.948816,-0.044192
27,1,537600,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.203964,-0.075836,0.883201,0.998341,0.023264,0.052663,-0.000262
27,1,537600,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.234806,0.044823,0.869531,0.999995,0.000001,0.000000,-0.003088
27,1,537600,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
27,1,537600,5,gripper,0,"","put ketchup bottle on cloth",-0.037976,-0.036823,0.942261,0.017240,-0.783397,0.069500,0.617383
27,1,537600,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.193981,0.074432,0.879680,0.930935,-0.025681,0.358870,0.062550
27,1,537600,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115971,-0.074875,0.881638,0.999225,-0.004459,-0.039096,-0.000365
27,1,537600,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000021
27,1,537600,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
27,1,537600,6,gripper,0,"","put ketchup bottle on cloth",-0.217966,0.095493,0.915158,0.095856,-0.749816,0.072937,0.650590
27,1,537600,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.023293,0.014992,0.879373,-0.411019,0.248987,-0.124220,-0.868123
27,1,537600,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234383,0.044273,0.881638,0.382414,0.034440,-0.019079,0.923152
27,1,537600,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000019
27,1,537600,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001019,0.000029
27,1,537600,7,gripper,0,"","put ketchup bottle on cloth",-0.076311,-0.018986,0.959860,0.053067,-0.812415,-0.016653,0.580420
27,1,537600,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.219566,0.077900,0.885085,0.604205,0.337721,-0.316901,0.648425
27,1,537600,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083885,0.074257,0.881638,0.711581,0.024295,-0.030977,0.701500
27,1,537600,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.225266,0.073898,0.869532,0.992596,0.000000,-0.000000,0.121465
27,1,537600,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001019,0.000098
27,1,537600,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.220783,-0.052513,0.979403,-0.040629,-0.732705,-0.040977,0.678095
27,1,537600,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.085014,-0.084736,0.879089,0.626110,0.326608,-0.328260,0.627343
27,1,537600,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.141048,0.041233,0.887388,0.622160,0.038387,-0.043268,0.780751
27,1,537600,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115013,0.045017,0.869532,1.000000,-0.000000,-0.000001,-0.000138
27,1,537600,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.233429,0.076023,0.871319,0.999857,-0.000869,-0.001617,0.016813
27,1,537600,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.186865,0.013456,0.923002,-0.070713,-0.754830,-0.052731,0.649962
27,1,537600,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244732,-0.074993,0.879087,0.886578,-0.001642,-0.462576,0.000041
27,1,537600,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.169689,0.018238,0.885785,0.905466,0.003362,0.007735,0.424334
27,1,537600,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205036,0.074989,0.869532,0.999999,-0.000000,-0.000003,-0.001002
27,1,537600,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.085213,-0.075310,0.871288,0.999996,-0.000151,-0.001019,0.002568
27,1,537600,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.136921,-0.000307,0.966491,0.000799,-0.668258,-0.086586,0.738873
27,1,537600,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214922,0.051380,0.885085,0.658836,-0.310988,-0.343207,-0.592816
27,1,537600,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.232330,-0.055172,0.883167,0.998934,0.022189,-0.040214,-0.004653
27,1,537600,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204441,0.072239,0.869532,0.999914,-0.000000,-0.000002,0.013079
27,1,537600,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,1,537600,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.242527,0.051441,0.946118,0.016144,-0.723935,-0.016476,0.689483
27,1,537600,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094742,0.075005,0.879089,0.886319,-0.001259,-0.463073,0.000692
27,1,537600,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.076106,-0.072498,0.875761,-0.099032,-0.080282,-0.991277,-0.033412
27,1,537600,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,-0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000001
27,1,537600,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205299,0.045139,0.871288,0.999997,-0.000156,-0.001018,-0.002192
27,1,537600,12,gripper,0,"","put kitchen shovel on cloth",-0.091627,-0.055223,0.928893,0.085061,-0.763028,0.040740,0.639447
27,1,537600,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108164,-0.051743,0.879088,0.339490,0.427134,-0.178871,0.818723
27,1,537600,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.176556,-0.176071,0.881638,0.193338,0.037511,-0.011930,0.980342
27,1,537600,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235003,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000018
27,1,537600,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,1,537600,13,gripper,0,"","put kitchen shovel on cloth",-0.211539,-0.100157,0.914328,-0.028969,-0.760768,0.011950,0.648267
27,1,537600,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214737,-0.074997,0.879089,0.886317,-0.001416,-0.463076,0.000393
27,1,537600,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.064968,-0.073803,0.881641,0.984212,0.002509,0.040104,-0.172374
27,1,537600,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
27,1,537600,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000066
27,1,537600,14,gripper,0,"","put kitchen shovel on cloth",-0.215017,0.048302,0.952294,0.003141,-0.720098,-0.021795,0.693523
27,1,537600,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214787,-0.117168,0.879212,0.139235,0.830019,-0.483331,0.240985
27,1,537600,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.100807,-0.068558,0.888785,0.594175,0.016104,-0.069027,0.801207
27,1,537600,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078915,0.072414,0.869532,0.993865,0.000000,-0.000000,0.110599
27,1,537600,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.079235,-0.052692,0.871289,0.999157,-0.000115,-0.001025,0.041042
27,1,537600,15,gripper,0,"","put kitchen shovel on cloth",-0.136688,-0.094484,0.966512,-0.023315,-0.734510,0.077396,0.673767
27,1,537600,16,obj,0,"003_bread_1","put bread on newspaper",-0.289673,-0.153168,0.883615,-0.045013,0.175367,-0.980461,-0.076919
27,1,537600,16,obj,1,"005_7up can_1","put bread on newspaper",-0.125450,-0.044724,0.889664,0.612918,0.082842,0.040805,0.784731
27,1,537600,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000042
27,1,537600,16,recep,1,"003_carpet_1","put bread on newspaper",-0.049774,-0.071503,0.870419,0.995711,-0.000584,-0.001051,-0.092514
27,1,537600,16,gripper,0,"","put bread on newspaper",-0.170284,-0.058645,0.937478,-0.110569,-0.753637,0.058921,0.645239
27,1,537600,17,obj,0,"003_bread_1","put bread on newspaper",-0.220135,-0.051559,0.892718,0.297181,-0.049514,0.661828,0.686451
27,1,537600,17,obj,1,"005_7up can_1","put bread on newspaper",-0.228024,-0.082275,0.888924,0.395718,0.551328,-0.653383,0.335464
27,1,537600,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
27,1,537600,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,-0.074982,0.870461,1.000000,0.000018,-0.000151,0.000000
27,1,537600,17,gripper,0,"","put bread on newspaper",-0.201778,-0.027723,0.996295,-0.040522,-0.723348,0.059278,0.686740
27,1,537600,18,obj,0,"003_bread_1","put bread on newspaper",-0.240902,-0.076469,0.886684,0.393526,0.015701,-0.002568,0.919176
27,1,537600,18,obj,1,"005_7up can_1","put bread on newspaper",-0.095798,-0.059837,0.885751,0.349824,-0.473971,0.216486,0.778530
27,1,537600,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
27,1,537600,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235020,-0.075020,0.870460,1.000000,0.000019,-0.000159,-0.000024
27,1,537600,18,gripper,0,"","put bread on newspaper",-0.166903,-0.047295,1.014538,0.062761,-0.687359,0.101158,0.716495
27,1,537600,19,obj,0,"003_bread_1","put bread on newspaper",-0.171581,-0.053711,0.883565,0.546352,0.009750,-0.002284,0.837495
27,1,537600,19,obj,1,"005_7up can_1","put bread on newspaper",-0.171192,-0.103455,0.886973,0.778268,0.052000,-0.115674,0.614992
27,1,537600,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
27,1,537600,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000032
27,1,537600,19,gripper,0,"","put bread on newspaper",-0.190253,-0.096350,0.915568,0.040726,-0.772094,0.119691,0.622805
27,1,537600,20,obj,0,"003_bread_1","put bread on carpet",-0.249945,-0.021275,0.884921,-0.071170,-0.749527,0.649110,-0.108625
27,1,537600,20,obj,1,"005_7up can_1","put bread on carpet",-0.220456,-0.066982,0.888625,0.593924,0.193102,-0.152619,0.765946
27,1,537600,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
27,1,537600,20,recep,1,"003_carpet_1","put bread on carpet",-0.234995,-0.075005,0.870461,1.000000,0.000016,-0.000162,0.000014
27,1,537600,20,gripper,0,"","put bread on carpet",-0.173678,0.003399,0.996393,-0.000424,-0.731261,-0.004427,0.682083
27,1,537600,21,obj,0,"003_bread_1","put bread on carpet",-0.235487,-0.075508,0.883544,0.924393,0.006460,-0.010882,0.381230
27,1,537600,21,obj,1,"005_7up can_1","put bread on carpet",-0.100964,0.065437,0.885686,0.811324,0.187178,-0.376821,0.405861
27,1,537600,21,recep,0,"004_newspaper_1","put bread on carpet",-0.083670,-0.070141,0.869490,0.999795,0.000198,0.000870,-0.020238
27,1,537600,21,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.044998,0.870441,0.999999,-0.000676,-0.001047,0.000008
27,1,537600,21,gripper,0,"","put bread on carpet",-0.093288,0.072498,0.936861,-0.171101,-0.677423,-0.100385,0.708340
27,1,537600,22,obj,0,"003_bread_1","put bread on carpet",-0.086296,-0.062363,0.886634,0.990134,0.003824,-0.009487,0.139748
27,1,537600,22,obj,1,"005_7up can_1","put bread on carpet",-0.092781,0.075188,0.885626,0.971149,-0.005309,-0.238410,0.001353
27,1,537600,22,recep,0,"004_newspaper_1","put bread on carpet",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
27,1,537600,22,recep,1,"003_carpet_1","put bread on carpet",-0.085007,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000021
27,1,537600,22,gripper,0,"","put bread on carpet",-0.098772,0.084698,0.943686,-0.084137,-0.733414,-0.042710,0.673201
27,1,537600,23,obj,0,"003_bread_1","put bread on carpet",-0.128712,-0.059158,0.893065,-0.608357,-0.019445,0.719393,-0.334659
27,1,537600,23,obj,1,"005_7up can_1","put bread on carpet",-0.165558,-0.085045,0.885949,0.521962,0.166629,0.830175,-0.102960
27,1,537600,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
27,1,537600,23,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074993,0.870447,0.999999,-0.000923,-0.000845,-0.000041
27,1,537600,23,gripper,0,"","put bread on carpet",-0.240370,-0.099539,0.933332,-0.036893,-0.758847,0.022465,0.649835
27,1,537600,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.186584,-0.046188,0.885808,0.598836,0.022798,0.002631,0.800543
27,1,537600,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.132149,-0.084246,0.900468,0.736288,0.121591,-0.107792,0.656869
27,1,537600,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.075012,0.869490,1.000000,0.000180,0.000873,0.000138
27,1,537600,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,0.075012,0.870447,0.999991,-0.003111,-0.002731,-0.000011
27,1,537600,24,gripper,0,"","put 7up can on newspaper",-0.119892,-0.084384,0.937489,0.022669,-0.735382,0.048794,0.675513
27,1,537600,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.085476,0.074490,0.883544,0.924410,0.006459,-0.010886,0.381189
27,1,537600,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.114784,-0.070368,0.889376,0.699537,0.255669,-0.263129,0.613225
27,1,537600,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085045,-0.074972,0.869490,1.000000,0.000180,0.000876,-0.000199
27,1,537600,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.075003,0.870452,0.999998,0.001568,0.001265,0.000030
27,1,537600,25,gripper,0,"","put 7up can on newspaper",-0.184235,0.003150,0.942130,0.017759,-0.754682,0.046794,0.654179
27,1,537600,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.235538,-0.074871,0.883544,0.999915,0.001786,-0.012534,-0.003130
27,1,537600,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.060917,0.194990,0.885776,-0.474917,-0.467955,-0.341580,0.662416
27,1,537600,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085480,0.075123,0.869490,1.000000,0.000180,0.000875,0.000080
27,1,537600,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235008,0.075014,0.870447,0.999991,-0.003114,-0.002734,-0.000010
27,1,537600,26,gripper,0,"","put 7up can on newspaper",-0.118965,0.027849,1.010137,0.071016,-0.679266,0.072508,0.726840
27,1,537600,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.099606,0.065044,0.886738,0.997884,0.001968,0.002085,-0.064961
27,1,537600,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214331,-0.074829,0.885636,0.958601,-0.005135,-0.284704,0.000943
27,1,537600,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084970,0.075014,0.869490,1.000000,0.000180,0.000874,-0.000121
27,1,537600,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
27,1,537600,27,gripper,0,"","put 7up can on newspaper",-0.095343,0.056402,0.968983,0.023910,-0.756987,-0.010891,0.652901
27,1,537600,28,obj,0,"003_bread_1","put 7up can on carpet",-0.220999,0.028383,0.885850,0.907617,0.014240,0.004088,0.419538
27,1,537600,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.203651,-0.085106,0.952702,0.673146,0.444955,-0.175461,0.564007
27,1,537600,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235067,0.044897,0.869490,0.999999,0.000185,0.000881,-0.000507
27,1,537600,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.204632,-0.074968,0.870368,0.999996,0.000186,-0.001150,0.002712
27,1,537600,28,gripper,0,"","put 7up can on carpet",-0.183165,-0.081046,0.973157,-0.081779,-0.751226,-0.008996,0.654898
27,1,537600,29,obj,0,"003_bread_1","put 7up can on carpet",-0.212149,0.014513,0.886430,0.933583,0.009768,-0.008024,0.358138
27,1,537600,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.021164,-0.066690,0.902627,0.230606,0.783168,-0.284381,0.502590
27,1,537600,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.243801,-0.054342,0.869490,0.999520,0.000152,0.000879,0.030958
27,1,537600,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.219179,0.058428,0.870465,0.989886,-0.000972,-0.000823,-0.141862
27,1,537600,29,gripper,0,"","put 7up can on carpet",-0.051032,-0.084795,0.935179,-0.291432,-0.738761,-0.178744,0.580818
27,1,537600,30,obj,0,"003_bread_1","put 7up can on carpet",-0.115540,-0.044882,0.883544,0.999915,0.001794,-0.012535,-0.002976
27,1,537600,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.161015,0.059095,0.885870,0.565170,-0.248625,0.766557,0.176521
27,1,537600,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
27,1,537600,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
27,1,537600,30,gripper,0,"","put 7up can on carpet",-0.232973,0.055933,0.912706,-0.034448,-0.707356,-0.029636,0.705395
27,1,537600,31,obj,0,"003_bread_1","put 7up can on carpet",-0.184818,-0.034842,0.886464,0.993356,0.002143,-0.007743,0.114803
27,1,537600,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.248322,0.075552,0.885678,0.916476,0.001794,-0.400082,-0.001687
27,1,537600,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000052
27,1,537600,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.209393,-0.073402,0.870447,0.999447,-0.000515,-0.000526,0.033251
27,1,537600,31,gripper,0,"","put 7up can on carpet",-0.255491,0.080540,0.946405,0.055149,-0.665316,0.026291,0.744058
27,1,537600,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210152,0.040847,0.887529,-0.025479,-0.043213,-0.001100,0.998740
27,1,537600,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084656,0.075324,0.878547,0.382121,0.003190,0.013081,0.924014
27,1,537600,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000022
27,1,537600,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
27,1,537600,32,gripper,0,"","put carrot on sheet metal",-0.224697,0.027205,0.979104,-0.135513,-0.699673,-0.118751,0.691369
27,1,537600,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.062458,-0.032604,0.883267,-0.076212,0.470950,0.877910,0.040884
27,1,537600,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.114689,0.075316,0.878547,0.382210,0.003190,0.013077,0.923977
27,1,537600,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
27,1,537600,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
27,1,537600,33,gripper,0,"","put carrot on sheet metal",-0.029448,0.006323,0.981327,0.082617,-0.737950,0.139198,0.655155
27,1,537600,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087540,0.079131,0.887258,0.996658,0.004777,0.033152,0.074502
27,1,537600,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,0.074515,0.878547,0.999909,0.013286,0.002053,0.000547
27,1,537600,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
27,1,537600,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
27,1,537600,34,gripper,0,"","put carrot on sheet metal",-0.133991,-0.092334,1.002760,-0.181904,-0.682388,-0.115530,0.698506
27,1,537600,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236778,0.070873,0.887511,0.970890,-0.005110,0.026766,0.237970
27,1,537600,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011499,0.006988,0.383040
27,1,537600,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
27,1,537600,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
27,1,537600,35,gripper,0,"","put carrot on sheet metal",-0.180434,0.057401,1.008996,-0.069557,-0.649639,-0.000271,0.757054
27,1,537600,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.179253,-0.084219,0.958448,0.947192,-0.033730,-0.041020,0.316240
27,1,537600,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.234682,0.074692,0.878547,0.923638,0.011497,0.006986,0.383029
27,1,537600,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000016
27,1,537600,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000000
27,1,537600,36,gripper,0,"","put carrot on flat bowl",-0.183494,-0.079912,1.006347,-0.231302,-0.742197,-0.178836,0.603043
27,1,537600,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.086876,0.073278,0.887499,0.997426,-0.000736,0.027045,0.066408
27,1,537600,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234991,-0.075435,0.878546,0.999910,0.013262,0.002051,0.000311
27,1,537600,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
27,1,537600,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,0.000004
27,1,537600,37,gripper,0,"","put carrot on flat bowl",-0.091733,0.095998,0.970273,-0.090801,-0.716992,-0.170938,0.669669
27,1,537600,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.242889,-0.074826,0.889162,0.795090,-0.048014,0.063242,0.601271
27,1,537600,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007967,0.010869,0.707323
27,1,537600,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,1,537600,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
27,1,537600,38,gripper,0,"","put carrot on flat bowl",-0.229464,-0.060285,0.947947,0.086450,-0.776145,0.100720,0.616426
27,1,537600,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,-0.076574,0.887458,0.348966,-0.035355,0.011562,0.936397
27,1,537600,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075326,0.878547,0.382266,0.003211,0.013141,0.923953
27,1,537600,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,1,537600,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
27,1,537600,39,gripper,0,"","put carrot on flat bowl",-0.057188,-0.066024,0.976246,-0.090805,-0.683972,-0.072646,0.720180
27,1,537600,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207901,-0.072231,0.887362,0.908679,-0.007470,0.022956,0.416796
27,1,537600,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075304,0.878547,0.923904,0.011489,0.006971,0.382389
27,1,537600,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.045008,0.871344,0.999999,-0.000158,0.001163,0.000027
27,1,537600,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000156
27,1,537600,40,gripper,0,"","put banana on sheet metal",-0.176849,0.060502,1.008289,-0.005100,-0.702026,-0.038269,0.711104
27,1,537600,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087055,0.073301,0.887070,0.353321,-0.010607,0.015191,0.935319
27,1,537600,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234703,-0.074675,0.878547,0.382627,0.003186,0.013040,0.923805
27,1,537600,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074917,0.871344,0.999999,-0.000157,0.001164,-0.000015
27,1,537600,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
27,1,537600,41,gripper,0,"","put banana on sheet metal",-0.172277,-0.046608,0.959547,-0.038953,-0.691758,0.200481,0.692647
27,1,537600,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118099,0.072908,0.887272,0.356295,-0.028667,0.018251,0.933755
27,1,537600,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.044678,0.878547,0.382821,0.003193,0.013054,0.923725
27,1,537600,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
27,1,537600,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
27,1,537600,42,gripper,0,"","put banana on sheet metal",-0.084486,-0.022359,1.029586,-0.035805,-0.758425,0.025760,0.650266
27,1,537600,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.236807,-0.075451,0.887428,0.715064,-0.021481,0.019927,0.698445
27,1,537600,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234558,0.075014,0.878547,0.707097,0.007962,0.010855,0.706988
27,1,537600,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001163,-0.000055
27,1,537600,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
27,1,537600,43,gripper,0,"","put banana on sheet metal",-0.110775,0.096900,1.000903,0.127818,-0.779039,0.123672,0.601221
27,1,537600,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.201618,0.043060,0.887529,0.934875,-0.015244,0.040447,0.352336
27,1,537600,44,obj,1,"013_banana_1","put banana on flat bowl",-0.235839,-0.078602,0.878547,0.975941,0.012576,0.004907,0.217617
27,1,537600,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
27,1,537600,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
27,1,537600,44,gripper,0,"","put banana on flat bowl",-0.189717,-0.039742,1.021999,-0.318927,-0.656442,-0.118856,0.673233
27,1,537600,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.085449,0.046682,0.887476,0.907216,-0.011353,0.025150,0.419759
27,1,537600,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204691,0.074730,0.878546,0.924108,0.011463,0.006954,0.381897
27,1,537600,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114990,-0.075012,0.871345,0.999999,-0.000156,0.001164,-0.000056
27,1,537600,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000137
27,1,537600,45,gripper,0,"","put banana on flat bowl",-0.168587,0.032640,0.984615,-0.214987,-0.740795,-0.041306,0.635056
27,1,537600,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087070,-0.071491,0.887503,0.910055,-0.018045,0.038163,0.412333
27,1,537600,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234676,-0.075308,0.878547,0.923826,0.011486,0.006973,0.382576
27,1,537600,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
27,1,537600,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
27,1,537600,46,gripper,0,"","put banana on flat bowl",-0.211941,-0.063835,0.966467,-0.250200,-0.633756,-0.224691,0.696611
27,1,537600,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.203415,0.075573,0.887529,0.999053,-0.000214,0.043220,0.004929
27,1,537600,47,obj,1,"013_banana_1","put banana on flat bowl",-0.227409,-0.046974,0.878547,0.994156,0.012996,0.003456,0.107107
27,1,537600,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000047
27,1,537600,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000060
27,1,537600,47,gripper,0,"","put banana on flat bowl",-0.210077,-0.068994,0.994008,-0.109516,-0.755842,-0.107005,0.636599
27,1,537600,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.236107,0.072800,0.894091,0.363261,-0.046020,-0.029634,0.930078
27,1,537600,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.136406,0.064892,0.887027,0.266445,-0.662819,0.253674,0.652172
27,1,537600,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235008,0.075001,0.872199,1.000000,-0.000000,-0.000002,0.000093
27,1,537600,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
27,1,537600,48,gripper,0,"","put hamburger on frying pan",-0.236568,0.063120,0.976147,0.036396,-0.695242,0.056099,0.715658
27,1,537600,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.109028,-0.110771,0.889034,0.242549,-0.037450,-0.037979,0.968672
27,1,537600,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
27,1,537600,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
27,1,537600,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
27,1,537600,49,gripper,0,"","put hamburger on frying pan",-0.115698,-0.110664,0.915747,-0.185107,-0.704285,-0.118743,0.674995
27,1,537600,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.203857,-0.088638,0.889197,0.999168,-0.011166,-0.035668,0.016346
27,1,537600,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.134224,0.006161,0.888399,0.713720,0.117521,0.681725,-0.109741
27,1,537600,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.082199,-0.076576,0.872199,0.999590,-0.000000,-0.000001,0.028642
27,1,537600,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.072666,0.071007,0.870870,0.985143,0.000001,-0.000007,0.171736
27,1,537600,50,gripper,0,"","put hamburger on frying pan",-0.208172,-0.088934,0.934027,0.046187,-0.725464,0.050967,0.684815
27,1,537600,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.092154,0.092640,0.895433,0.774368,0.045515,-0.015794,0.630899
27,1,537600,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235758,0.104279,0.887026,0.497417,-0.513648,0.489748,0.498888
27,1,537600,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000126
27,1,537600,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
27,1,537600,51,gripper,0,"","put hamburger on frying pan",-0.150124,-0.012545,1.019575,-0.007010,-0.687179,0.031671,0.725763
27,1,537600,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.097160,-0.034805,0.890455,0.996333,-0.026802,0.013656,0.080104
27,1,537600,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175607,-0.044228,0.887027,0.704495,-0.017125,0.709501,0.001265
27,1,537600,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000000
27,1,537600,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000000,-0.000006
27,1,537600,52,gripper,0,"","put hamburger on cutting board",-0.189489,0.011129,0.959969,-0.079649,-0.690336,0.000364,0.719091
27,1,537600,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.094879,-0.107536,0.893208,0.483103,-0.596870,0.615576,-0.177268
27,1,537600,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.226357,0.094933,0.887026,0.267702,-0.662333,0.254953,0.651652
27,1,537600,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
27,1,537600,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114992,-0.075001,0.870883,1.000000,0.000699,0.000712,-0.000045
27,1,537600,53,gripper,0,"","put hamburger on cutting board",-0.216901,-0.007769,0.973575,-0.047789,-0.675824,0.043933,0.734199
27,1,537600,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.199081,0.067650,0.890462,0.998030,-0.024985,0.016505,-0.055139
27,1,537600,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175655,-0.074169,0.887026,0.704495,-0.017126,0.709501,0.001266
27,1,537600,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000021
27,1,537600,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,0.044994,0.870870,1.000000,0.000007,0.000005,0.000033
27,1,537600,54,gripper,0,"","put hamburger on cutting board",-0.179413,0.009892,1.054887,-0.000777,-0.714354,-0.043484,0.698432
27,1,537600,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.062153,0.105328,0.890446,0.994645,-0.027033,0.013243,0.098875
27,1,537600,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215202,0.096241,0.887026,0.649882,-0.288537,0.648407,0.271972
27,1,537600,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
27,1,537600,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084995,0.074993,0.870870,1.000000,0.000000,-0.000000,0.000002
27,1,537600,55,gripper,0,"","put hamburger on cutting board",-0.084679,0.100428,1.027922,0.129475,-0.666260,0.101701,0.727317
27,1,537600,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235229,0.076096,0.888112,0.925298,-0.027149,0.004641,0.378240
27,1,537600,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.206825,-0.055271,0.895352,0.521616,-0.488896,0.509330,0.479041
27,1,537600,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205399,-0.075092,0.872199,0.999998,-0.000001,-0.000001,0.002039
27,1,537600,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000012
27,1,537600,56,gripper,0,"","put plastic bottle on frying pan",-0.079391,0.046190,0.923350,0.259095,-0.715354,0.280891,0.585011
27,1,537600,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
27,1,537600,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.172474,-0.045990,0.887026,0.704113,0.007631,0.709665,-0.023306
27,1,537600,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
27,1,537600,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.228333,0.071747,0.870870,0.999979,0.000000,-0.000001,-0.006498
27,1,537600,57,gripper,0,"","put plastic bottle on frying pan",-0.193415,0.024822,0.971550,-0.026652,-0.715994,0.047340,0.695990
27,1,537600,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
27,1,537600,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.117626,-0.051010,0.898133,0.027778,-0.748283,0.661967,0.033172
27,1,537600,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114761,-0.074894,0.872199,0.999998,-0.000000,-0.000001,-0.001815
27,1,537600,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204372,0.074169,0.870870,0.999967,-0.000001,-0.000002,0.008084
27,1,537600,58,gripper,0,"","put plastic bottle on frying pan",-0.130705,0.027065,0.960820,-0.025481,-0.752334,0.009652,0.658218
27,1,537600,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234386,0.045918,0.888112,0.999509,-0.023151,0.014917,-0.014915
27,1,537600,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.031124,0.060917,0.887027,0.673298,0.193665,0.682772,-0.207331
27,1,537600,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
27,1,537600,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
27,1,537600,59,gripper,0,"","put plastic bottle on frying pan",-0.027719,0.091667,0.988294,0.147305,-0.725279,0.153181,0.654833
27,1,537600,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.115964,-0.074333,0.888112,0.712966,-0.026884,-0.005991,0.700658
27,1,537600,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.101440,0.066822,0.889704,0.518555,-0.491942,0.511560,0.476865
27,1,537600,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235000,-0.044998,0.872199,1.000000,0.000000,-0.000001,-0.000000
27,1,537600,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084475,0.075367,0.870871,0.999999,0.000000,-0.000004,-0.001435
27,1,537600,60,gripper,0,"","put plastic bottle on cutting board",-0.178047,0.016016,1.023094,-0.228630,-0.621690,-0.137059,0.736508
27,1,537600,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085966,0.075611,0.888112,0.712718,-0.026882,-0.006001,0.700910
27,1,537600,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.198980,0.025688,0.889692,0.439337,-0.563290,0.430690,0.551537
27,1,537600,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114916,-0.045078,0.872199,1.000000,-0.000000,-0.000001,-0.000282
27,1,537600,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205246,0.045223,0.870897,0.999999,0.001030,0.001116,-0.000119
27,1,537600,61,gripper,0,"","put plastic bottle on cutting board",-0.187142,-0.024429,0.949714,0.029482,-0.769213,0.040742,0.637011
27,1,537600,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
27,1,537600,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.178493,0.095875,0.889521,0.550250,-0.452765,0.549098,0.436715
27,1,537600,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
27,1,537600,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205189,0.074753,0.870871,0.999998,-0.000006,-0.000002,0.002162
27,1,537600,62,gripper,0,"","put plastic bottle on cutting board",-0.160366,0.082066,1.075296,0.137980,-0.695145,0.106434,0.697429
27,1,537600,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236103,0.074760,0.888112,0.387800,-0.022497,-0.015890,0.921332
27,1,537600,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.224731,-0.022827,0.887061,0.294528,-0.638101,0.275618,0.655832
27,1,537600,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
27,1,537600,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085033,0.075005,0.870870,1.000000,0.000000,-0.000000,-0.000163
27,1,537600,63,gripper,0,"","put plastic bottle on cutting board",-0.195934,-0.002504,0.928449,-0.003030,-0.721489,-0.007001,0.692384
27,2,542720,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.046402,-0.026688,0.879373,0.894802,0.106459,0.257082,-0.349148
27,2,542720,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.213753,0.051018,0.881638,0.755657,0.022226,-0.032488,0.653783
27,2,542720,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000001,0.000049
27,2,542720,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.256088,-0.066292,0.871278,0.999977,0.000076,0.000957,0.006695
27,2,542720,0,gripper,0,"","put ketchup bottle on cloth",-0.148369,-0.072601,0.923976,-0.071225,-0.770764,-0.065387,0.629741
27,2,542720,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085632,0.072861,0.887929,0.623141,0.330836,-0.316686,0.633997
27,2,542720,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.206150,0.027885,0.882269,0.717148,0.016572,-0.028545,0.696138
27,2,542720,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000015
27,2,542720,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000092
27,2,542720,1,gripper,0,"","put ketchup bottle on cloth",-0.225447,0.032097,0.941392,-0.046769,-0.759853,-0.004903,0.648392
27,2,542720,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.221069,-0.077950,0.885122,0.451304,0.542569,-0.551141,0.445182
27,2,542720,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.088703,0.061432,0.881638,0.625780,0.027682,-0.027942,0.779007
27,2,542720,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000128
27,2,542720,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
27,2,542720,2,gripper,0,"","put ketchup bottle on cloth",-0.231525,-0.097134,1.003379,-0.114227,-0.709817,0.018271,0.694822
27,2,542720,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.173552,-0.029091,0.882037,0.793023,0.003066,-0.593042,-0.139305
27,2,542720,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081282,0.069969,0.881638,0.993997,-0.000427,-0.039368,0.102076
27,2,542720,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.071478,-0.074120,0.869532,0.993710,0.000000,-0.000000,-0.111979
27,2,542720,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234999,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000145
27,2,542720,3,gripper,0,"","put ketchup bottle on cloth",-0.190183,-0.028259,0.933673,-0.057834,-0.687256,-0.124305,0.713360
27,2,542720,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.024863,-0.203323,0.879089,-0.851592,0.129913,0.444475,0.245673
27,2,542720,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.165937,-0.016510,0.884408,0.998382,0.041287,-0.037712,0.010331
27,2,542720,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
27,2,542720,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204902,0.075249,0.871288,0.999999,-0.000153,-0.001020,0.000183
27,2,542720,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.200925,-0.063248,0.915001,-0.175580,-0.742203,-0.166354,0.625006
27,2,542720,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.014124,-0.113953,0.879213,-0.174081,-0.747375,0.603298,-0.217157
27,2,542720,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.203920,-0.075836,0.883200,0.998337,0.023261,0.052747,-0.000314
27,2,542720,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234810,0.044823,0.869531,0.999995,0.000000,-0.000000,-0.003133
27,2,542720,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,-0.000014
27,2,542720,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.353862,-0.164177,0.902053,0.122831,-0.500531,0.487858,0.704539
27,2,542720,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.179790,0.074448,0.878981,0.758964,0.002096,0.651098,0.006406
27,2,542720,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.115974,-0.074875,0.881638,0.999226,-0.004467,-0.039091,-0.000551
27,2,542720,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000018
27,2,542720,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000171
27,2,542720,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.221058,0.040882,0.912697,-0.145887,-0.692241,-0.146904,0.691331
27,2,542720,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.023293,0.014992,0.879373,-0.411020,0.248983,-0.124219,-0.868124
27,2,542720,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.234386,0.044273,0.881638,0.382324,0.034437,-0.019074,0.923189
27,2,542720,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.188366,-0.072731,0.869532,0.987943,-0.000000,-0.000000,0.154818
27,2,542720,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000029
27,2,542720,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.250898,-0.100761,0.915730,-0.120138,-0.684863,-0.092089,0.712776
27,2,542720,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.219604,0.077625,0.885085,0.607363,0.336116,-0.318469,0.645534
27,2,542720,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.224480,-0.063503,0.889857,0.642800,0.023607,-0.040251,0.764612
27,2,542720,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.225349,0.073685,0.869532,0.993162,-0.000000,-0.000001,0.116743
27,2,542720,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001020,0.000135
27,2,542720,8,gripper,0,"","put kitchen shovel on cloth",-0.168259,0.011343,1.005824,0.011937,-0.685956,-0.094494,0.721382
27,2,542720,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.085014,-0.084736,0.879089,0.626107,0.326613,-0.328263,0.627342
27,2,542720,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.135105,0.039188,0.887253,0.581506,-0.027903,-0.004433,0.813051
27,2,542720,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.112785,0.044338,0.869730,0.999885,0.001554,-0.002954,0.014777
27,2,542720,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.233437,0.076019,0.871282,0.999859,-0.000430,-0.001273,0.016745
27,2,542720,9,gripper,0,"","put kitchen shovel on cloth",-0.183035,0.026180,0.920859,-0.137672,-0.766559,-0.099101,0.619364
27,2,542720,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244728,-0.074993,0.879087,0.886577,-0.001583,-0.462578,0.000155
27,2,542720,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.131405,-0.124660,0.885758,0.502947,0.024331,-0.046812,0.862705
27,2,542720,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.202332,0.073807,0.869532,0.999402,0.000000,0.000000,-0.034588
27,2,542720,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.077145,-0.078491,0.871288,0.999431,-0.000188,-0.001013,-0.033701
27,2,542720,10,gripper,0,"","put kitchen shovel on cloth",-0.239347,-0.230654,0.913590,-0.265227,-0.678798,-0.179342,0.660851
27,2,542720,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.208366,0.061050,0.950259,0.234680,-0.683857,-0.647016,-0.242148
27,2,542720,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.304243,-0.058369,0.873397,-0.066598,-0.573173,-0.813253,-0.075212
27,2,542720,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.190369,0.081139,0.869532,0.969276,0.000000,-0.000001,0.245974
27,2,542720,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,2,542720,11,gripper,0,"","put kitchen shovel on cloth",-0.208245,0.058420,0.982453,0.051107,-0.705090,-0.014105,0.707133
27,2,542720,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.005541,-0.008015,0.879160,0.856271,0.107593,-0.463632,0.200672
27,2,542720,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.104901,-0.051048,0.875625,-0.088675,-0.489571,-0.867438,-0.002829
27,2,542720,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235000,-0.075001,0.869532,1.000000,0.000001,-0.000002,-0.000001
27,2,542720,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205299,0.045139,0.871288,0.999997,-0.000156,-0.001019,-0.002192
27,2,542720,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.045549,-0.012398,0.918180,-0.079472,-0.830889,-0.121322,0.537204
27,2,542720,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.180235,0.159515,0.879213,0.166232,0.768310,-0.576433,0.223139
27,2,542720,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.176556,-0.176071,0.881638,0.193354,0.037519,-0.011932,0.980339
27,2,542720,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.237841,0.071671,0.869532,0.999771,0.000000,-0.000002,-0.021394
27,2,542720,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,2,542720,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.213961,0.148211,0.912791,-0.006500,-0.710505,-0.008723,0.703608
27,2,542720,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.347664,-0.904140,0.010362,-0.472199,0.402303,0.254875,0.741767
27,2,542720,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",1.214886,-5.102310,-48.867031,-0.489332,0.799944,0.202021,-0.282544
27,2,542720,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.318951,0.237450,0.869532,0.094299,-0.000000,0.000000,-0.995544
27,2,542720,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",2.911491,1.569557,0.007909,-0.007343,-0.741544,0.670862,0.001453
27,2,542720,14,gripper,0,"","put ketchup bottle on yellow_plate",0.562977,0.028309,0.867351,0.524554,-0.363914,-0.632400,-0.438726
27,2,542720,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.058147,0.098164,0.885209,0.229956,0.538436,-0.795372,0.156816
27,2,542720,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.100807,-0.068554,0.888785,0.594109,0.016096,-0.069014,0.801257
27,2,542720,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.078915,0.072414,0.869532,0.993862,0.000001,-0.000001,0.110629
27,2,542720,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.079235,-0.052692,0.871288,0.999156,-0.000112,-0.001025,0.041066
27,2,542720,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.253738,0.041996,0.919750,0.171946,-0.622280,0.231497,0.727744
27,2,542720,16,obj,0,"003_bread_1","put bread on carpet",-0.289673,-0.153168,0.883615,-0.045017,0.175371,-0.980459,-0.076927
27,2,542720,16,obj,1,"005_7up can_1","put bread on carpet",-0.068649,-0.044441,0.888865,0.647439,0.263991,-0.247067,0.670887
27,2,542720,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000084
27,2,542720,16,recep,1,"003_carpet_1","put bread on carpet",-0.051094,-0.071899,0.870448,0.995426,-0.000990,-0.000749,-0.095522
27,2,542720,16,gripper,0,"","put bread on carpet",-0.125183,-0.076380,0.994797,0.011025,-0.721003,0.013579,0.692711
27,2,542720,17,obj,0,"003_bread_1","put bread on carpet",-0.219589,-0.051357,0.892716,0.303623,-0.043278,0.662247,0.683644
27,2,542720,17,obj,1,"005_7up can_1","put bread on carpet",-0.228100,-0.082111,0.888918,0.399105,0.548595,-0.652804,0.337053
27,2,542720,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
27,2,542720,17,recep,1,"003_carpet_1","put bread on carpet",-0.235012,-0.075043,0.870460,1.000000,0.000019,-0.000153,0.000136
27,2,542720,17,gripper,0,"","put bread on carpet",-0.141436,0.076550,0.954165,0.008814,-0.737388,0.002219,0.675408
27,2,542720,18,obj,0,"003_bread_1","put bread on carpet",-0.240807,-0.076328,0.886670,0.397913,0.014713,-0.002059,0.917303
27,2,542720,18,obj,1,"005_7up can_1","put bread on carpet",-0.190968,-0.055828,0.891644,0.546689,-0.056359,0.198830,0.811432
27,2,542720,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
27,2,542720,18,recep,1,"003_carpet_1","put bread on carpet",-0.235023,-0.075047,0.870453,0.999999,-0.000830,-0.000818,-0.000142
27,2,542720,18,gripper,0,"","put bread on carpet",-0.104267,0.123610,0.985701,0.092557,-0.713710,0.120514,0.683760
27,2,542720,19,obj,0,"003_bread_1","put bread on carpet",-0.102726,-0.063309,0.886598,0.427857,0.011702,-0.001209,0.903770
27,2,542720,19,obj,1,"005_7up can_1","put bread on carpet",-0.160515,-0.116352,0.885627,0.684993,0.161575,-0.167863,0.690289
27,2,542720,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
27,2,542720,19,recep,1,"003_carpet_1","put bread on carpet",-0.079105,-0.077759,0.870447,0.999723,-0.003050,-0.002805,0.023180
27,2,542720,19,gripper,0,"","put bread on carpet",-0.200958,-0.085432,0.982141,-0.102700,-0.659898,-0.099866,0.737573
27,2,542720,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.250348,-0.021187,0.884886,-0.065043,-0.749222,0.648102,-0.119997
27,2,542720,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.220548,-0.066616,0.888609,0.596269,0.184142,-0.145898,0.767638
27,2,542720,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
27,2,542720,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234995,-0.075005,0.870461,1.000000,0.000019,-0.000158,0.000014
27,2,542720,20,gripper,0,"","put 7up can on newspaper",-0.080497,0.104446,0.948864,0.056844,-0.718605,0.127625,0.681239
27,2,542720,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.079754,-0.059372,0.886232,0.965965,0.010203,0.005196,0.258421
27,2,542720,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.108383,-0.022366,0.941374,0.577020,0.461615,-0.366394,0.565434
27,2,542720,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.083618,-0.070152,0.869490,0.999787,0.000198,0.000871,-0.020614
27,2,542720,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.044998,0.870441,0.999999,-0.000675,-0.001047,0.000010
27,2,542720,21,gripper,0,"","put 7up can on newspaper",-0.107315,-0.018440,0.969851,-0.082493,-0.736180,0.013914,0.671595
27,2,542720,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.086296,-0.062241,0.886634,0.990165,0.003817,-0.009493,0.139528
27,2,542720,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.052174,0.080860,0.945431,-0.104237,0.666427,0.737872,0.023559
27,2,542720,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
27,2,542720,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085007,-0.074993,0.870448,0.999999,-0.000923,-0.000845,-0.000029
27,2,542720,22,gripper,0,"","put 7up can on newspaper",-0.080027,0.081301,0.978144,0.024179,-0.717348,0.054270,0.694177
27,2,542720,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.069931,-0.049664,0.886482,-0.959154,-0.003011,0.008356,-0.282745
27,2,542720,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.042953,-0.224056,0.885999,0.097282,-0.578144,-0.807645,-0.063213
27,2,542720,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
27,2,542720,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.068947,-0.080204,0.870447,0.998729,-0.003248,-0.002574,-0.050228
27,2,542720,23,gripper,0,"","put 7up can on newspaper",-0.102829,-0.065117,0.938015,-0.033849,-0.772817,-0.054787,0.631353
27,2,542720,24,obj,0,"003_bread_1","put 7up can on carpet",-0.186584,-0.046213,0.885808,0.598625,0.022797,0.002637,0.800701
27,2,542720,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.082977,0.055876,0.885747,-0.678893,0.324869,-0.491511,-0.438156
27,2,542720,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,-0.075035,0.869490,1.000000,0.000179,0.000873,0.000302
27,2,542720,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235016,0.075016,0.870447,0.999991,-0.003114,-0.002734,-0.000025
27,2,542720,24,gripper,0,"","put 7up can on carpet",-0.107887,0.014267,0.965810,-0.056003,-0.744397,-0.000619,0.665385
27,2,542720,25,obj,0,"003_bread_1","put 7up can on carpet",-0.201176,0.070292,0.886551,0.854408,0.013385,-0.006590,0.519388
27,2,542720,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.114361,-0.065849,0.889304,0.728643,0.162817,-0.167114,0.643927
27,2,542720,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085045,-0.074972,0.869490,0.999999,0.000180,0.000875,-0.000546
27,2,542720,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.075008,0.870452,0.999998,0.001568,0.001265,-0.000131
27,2,542720,25,gripper,0,"","put 7up can on carpet",-0.178156,0.018689,0.994015,-0.021347,-0.706726,0.027243,0.706640
27,2,542720,26,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,-0.074871,0.883544,0.999915,0.001787,-0.012535,-0.003130
27,2,542720,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.055767,0.211338,0.885609,-0.588936,-0.082368,-0.067010,0.801174
27,2,542720,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.083565,0.073107,0.869536,0.999382,0.000092,0.000161,-0.035157
27,2,542720,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235008,0.075020,0.870447,0.999991,-0.003114,-0.002733,-0.000024
27,2,542720,26,gripper,0,"","put 7up can on carpet",-0.081102,0.147235,0.920949,0.169907,-0.759386,0.035383,0.627066
27,2,542720,27,obj,0,"003_bread_1","put 7up can on carpet",-0.165939,0.157038,0.883566,0.270383,0.009984,0.000746,0.962701
27,2,542720,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.214329,-0.074829,0.885636,0.958610,-0.005133,-0.284675,0.000962
27,2,542720,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.070435,0.079758,0.869490,0.994989,0.000091,0.000887,0.099981
27,2,542720,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
27,2,542720,27,gripper,0,"","put 7up can on carpet",-0.164870,0.095329,0.915603,-0.048125,-0.757089,-0.101367,0.643603
27,2,542720,28,obj,0,"003_bread_1","put bread on newspaper",-0.220999,0.028383,0.885850,0.907617,0.014240,0.004085,0.419538
27,2,542720,28,obj,1,"005_7up can_1","put bread on newspaper",-0.220533,-0.102531,0.889043,0.359142,0.575756,-0.664947,0.312038
27,2,542720,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.235067,0.044897,0.869490,0.999999,0.000184,0.000880,-0.000507
27,2,542720,28,recep,1,"003_carpet_1","put bread on newspaper",-0.204983,-0.075018,0.870448,0.999998,-0.000124,-0.000158,0.002053
27,2,542720,28,gripper,0,"","put bread on newspaper",-0.184375,0.062820,1.034204,0.075949,-0.636988,0.144470,0.753397
27,2,542720,29,obj,0,"003_bread_1","put bread on newspaper",-0.212301,0.014690,0.886432,0.934449,0.009844,-0.008117,0.355868
27,2,542720,29,obj,1,"005_7up can_1","put bread on newspaper",-0.217100,-0.024658,0.887545,0.685092,-0.022850,0.045090,0.726701
27,2,542720,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.243797,-0.054340,0.869490,0.999520,0.000496,0.001434,0.030931
27,2,542720,29,recep,1,"003_carpet_1","put bread on newspaper",-0.219181,0.058445,0.870465,0.989849,-0.000984,-0.000832,-0.142116
27,2,542720,29,gripper,0,"","put bread on newspaper",-0.059430,0.028842,0.946238,0.129487,-0.740546,0.126276,0.647209
27,2,542720,30,obj,0,"003_bread_1","put bread on newspaper",-0.115540,-0.044882,0.883544,0.999916,0.001794,-0.012535,-0.002907
27,2,542720,30,obj,1,"005_7up can_1","put bread on newspaper",-0.146957,0.008200,0.885901,0.459904,0.378781,-0.768449,0.233451
27,2,542720,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.234966,-0.075006,0.869490,1.000000,0.000180,0.000874,-0.000004
27,2,542720,30,recep,1,"003_carpet_1","put bread on newspaper",-0.075764,0.079123,0.870448,0.999231,-0.000848,-0.000725,-0.039191
27,2,542720,30,gripper,0,"","put bread on newspaper",-0.192581,0.018268,0.914401,-0.001128,-0.765644,0.031138,0.642510
27,2,542720,31,obj,0,"003_bread_1","put bread on newspaper",-0.186619,-0.040319,0.886448,0.998679,0.002089,-0.007689,0.050755
27,2,542720,31,obj,1,"005_7up can_1","put bread on newspaper",-0.140942,0.139227,0.885757,-0.782505,-0.041407,0.618285,-0.060784
27,2,542720,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000089
27,2,542720,31,recep,1,"003_carpet_1","put bread on newspaper",-0.209385,-0.073366,0.870418,0.999428,-0.000164,-0.000827,0.033796
27,2,542720,31,gripper,0,"","put bread on newspaper",-0.176956,0.002383,0.987397,-0.012100,-0.795032,0.032226,0.605591
27,2,542720,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210152,0.040847,0.887529,-0.025479,-0.043211,-0.001101,0.998740
27,2,542720,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084656,0.075323,0.878547,0.382121,0.003181,0.013051,0.924015
27,2,542720,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000022
27,2,542720,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
27,2,542720,32,gripper,0,"","put carrot on flat bowl",-0.159203,0.051872,1.056536,-0.089154,-0.692948,-0.041238,0.714265
27,2,542720,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.068874,-0.033067,0.883267,-0.077147,0.450296,0.888681,0.039092
27,2,542720,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.114689,0.075316,0.878547,0.382210,0.003187,0.013071,0.923978
27,2,542720,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
27,2,542720,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
27,2,542720,33,gripper,0,"","put carrot on flat bowl",-0.037941,-0.025384,0.946005,0.071991,-0.651568,0.090091,0.749773
27,2,542720,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088318,0.078505,0.887473,0.997025,-0.000507,0.021380,0.074052
27,2,542720,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,0.074515,0.878547,0.999909,0.013306,0.002055,0.000547
27,2,542720,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
27,2,542720,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
27,2,542720,34,gripper,0,"","put carrot on flat bowl",-0.136534,-0.039125,1.011291,-0.221521,-0.662455,-0.159620,0.697569
27,2,542720,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.238937,0.072302,0.887527,0.991744,-0.005274,0.030067,0.124547
27,2,542720,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011498,0.006987,0.383039
27,2,542720,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
27,2,542720,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
27,2,542720,35,gripper,0,"","put carrot on flat bowl",-0.223287,0.080166,0.985384,-0.206962,-0.619416,-0.212801,0.726778
27,2,542720,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.173098,-0.092223,0.888556,0.943283,-0.007451,-0.079283,0.322297
27,2,542720,36,obj,1,"013_banana_1","put banana on sheet metal",-0.234682,0.074692,0.878547,0.923638,0.011498,0.006986,0.383029
27,2,542720,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000016
27,2,542720,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084867,-0.074968,0.874362,0.999997,-0.000000,-0.000000,-0.002503
27,2,542720,36,gripper,0,"","put banana on sheet metal",-0.203162,-0.025078,0.988589,-0.216570,-0.713783,-0.049475,0.664201
27,2,542720,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.086903,0.074222,0.887538,0.997014,-0.003735,0.033122,0.069652
27,2,542720,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234991,-0.075435,0.878547,0.999909,0.013289,0.002054,0.000312
27,2,542720,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
27,2,542720,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000000,0.000003
27,2,542720,37,gripper,0,"","put banana on sheet metal",-0.183404,0.044745,1.011858,0.003998,-0.688628,0.071971,0.721523
27,2,542720,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243607,-0.076229,0.887529,0.798604,-0.025973,0.034551,0.600302
27,2,542720,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007966,0.010868,0.707323
27,2,542720,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,2,542720,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
27,2,542720,38,gripper,0,"","put banana on sheet metal",-0.043518,-0.048174,0.955247,0.065324,-0.782262,0.128090,0.606128
27,2,542720,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089123,-0.080236,0.887156,0.359635,-0.022807,-0.000399,0.932814
27,2,542720,39,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075325,0.878547,0.382267,0.003200,0.013107,0.923953
27,2,542720,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,2,542720,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
27,2,542720,39,gripper,0,"","put banana on sheet metal",-0.195850,0.049584,1.001797,0.208855,-0.744454,0.208032,0.599074
27,2,542720,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211464,-0.069977,0.887450,0.912522,-0.012262,0.030534,0.407702
27,2,542720,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075304,0.878547,0.924116,0.011515,0.006976,0.381875
27,2,542720,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.045015,0.871344,0.999999,-0.000157,0.001163,0.000037
27,2,542720,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000306
27,2,542720,40,gripper,0,"","put banana on flat bowl",-0.068058,0.064180,1.012692,0.048054,-0.717123,0.201700,0.665389
27,2,542720,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088219,0.070267,0.887451,0.367790,-0.014219,0.004022,0.929791
27,2,542720,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234707,-0.074671,0.878547,0.382987,0.003194,0.013051,0.923656
27,2,542720,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074923,0.871344,0.999999,-0.000157,0.001164,-0.000008
27,2,542720,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
27,2,542720,41,gripper,0,"","put banana on flat bowl",-0.178534,-0.082795,1.003011,-0.033634,-0.685428,0.001264,0.727362
27,2,542720,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120434,0.069315,0.887406,0.371813,-0.036893,0.011191,0.927507
27,2,542720,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.044672,0.878547,0.383340,0.003205,0.013067,0.923509
27,2,542720,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
27,2,542720,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000009
27,2,542720,42,gripper,0,"","put banana on flat bowl",-0.055017,-0.013312,0.991031,0.037022,-0.769427,0.118101,0.626629
27,2,542720,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.237772,-0.076664,0.887522,0.728559,-0.021825,0.021275,0.684305
27,2,542720,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234556,0.075016,0.878547,0.707336,0.007972,0.010861,0.706748
27,2,542720,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074980,0.871344,0.999999,-0.000158,0.001163,-0.000076
27,2,542720,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
27,2,542720,43,gripper,0,"","put banana on flat bowl",-0.187243,0.081791,1.004740,-0.058132,-0.692009,-0.052990,0.717590
27,2,542720,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.201633,0.042944,0.887529,0.935356,-0.015188,0.040469,0.351055
27,2,542720,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.235839,-0.078602,0.878547,0.975941,0.012560,0.004902,0.217616
27,2,542720,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,-0.045002,0.871344,0.999999,-0.000157,0.001164,-0.000034
27,2,542720,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
27,2,542720,44,gripper,0,"","put carrot on sheet metal",-0.172514,0.077990,0.969442,-0.046443,-0.680500,-0.105551,0.723617
27,2,542720,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088203,0.048115,0.887540,0.912089,-0.008007,0.024066,0.409206
27,2,542720,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,0.074732,0.878546,0.924307,0.011473,0.006952,0.381415
27,2,542720,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114990,-0.075024,0.871345,0.999999,-0.000156,0.001164,-0.000083
27,2,542720,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000256
27,2,542720,45,gripper,0,"","put carrot on sheet metal",-0.134807,-0.064459,0.967715,-0.246404,-0.629840,-0.284892,0.679281
27,2,542720,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090816,-0.069616,0.887508,0.916704,-0.010119,0.026217,0.398578
27,2,542720,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,-0.075308,0.878547,0.924020,0.011514,0.006980,0.382106
27,2,542720,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
27,2,542720,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
27,2,542720,46,gripper,0,"","put carrot on sheet metal",-0.091410,-0.034810,1.002467,-0.260337,-0.653812,-0.104878,0.702677
27,2,542720,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203415,0.075611,0.887529,0.999063,-0.000095,0.043222,0.002162
27,2,542720,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.227406,-0.046974,0.878547,0.994164,0.012993,0.003454,0.107037
27,2,542720,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
27,2,542720,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000139
27,2,542720,47,gripper,0,"","put carrot on sheet metal",-0.191034,0.086828,0.977839,-0.104185,-0.751114,-0.071924,0.647920
27,2,542720,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.343559,-0.053997,0.023051,0.019363,0.428694,-0.711881,-0.555943
27,2,542720,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106964,0.074753,0.887026,0.058660,-0.708389,0.043283,0.702047
27,2,542720,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.247490,-0.022697,0.874673,0.484687,-0.012606,0.025500,0.874225
27,2,542720,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235184,-0.077156,0.870870,0.999909,0.000005,0.000006,0.013527
27,2,542720,48,gripper,0,"","put hamburger on cutting board",-0.236496,0.141251,0.960805,-0.002499,-0.649302,0.168274,0.741677
27,2,542720,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.108486,0.069366,0.890695,0.350761,-0.021961,-0.014223,0.936100
27,2,542720,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251350,0.119591,0.889793,-0.047922,-0.926623,0.366099,-0.071020
27,2,542720,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
27,2,542720,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085121,0.075134,0.870870,1.000000,0.000000,-0.000000,0.000140
27,2,542720,49,gripper,0,"","put hamburger on cutting board",-0.106871,0.034277,0.965392,0.141297,-0.716790,0.102727,0.675051
27,2,542720,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.174679,-0.070572,0.894179,0.790199,-0.159858,0.573399,-0.145755
27,2,542720,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.134079,0.006187,0.888491,0.710491,0.118750,0.684892,-0.109651
27,2,542720,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.082199,-0.076576,0.872199,0.999591,-0.000000,-0.000001,0.028604
27,2,542720,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.072662,0.071098,0.870871,0.985222,0.000001,-0.000002,0.171279
27,2,542720,50,gripper,0,"","put hamburger on cutting board",-0.213961,-0.087866,0.913899,-0.252935,-0.700311,-0.227466,0.627573
27,2,542720,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.091585,0.092648,0.895398,0.783399,0.045565,-0.014592,0.619674
27,2,542720,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.096140,-0.066109,0.889701,0.360099,-0.617945,0.349043,0.605510
27,2,542720,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085001,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000348
27,2,542720,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084528,-0.074432,0.870869,0.999998,0.000000,0.000003,-0.002057
27,2,542720,51,gripper,0,"","put hamburger on cutting board",-0.131365,0.071095,0.966886,-0.170330,-0.717182,-0.141392,0.660792
27,2,542720,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.249471,0.414337,0.021728,-0.089236,0.451647,-0.886995,-0.035944
27,2,542720,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",4.570411,2.961597,0.018226,-0.295181,-0.637602,-0.311677,0.639679
27,2,542720,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",0.186726,0.514236,0.003399,0.451254,-0.000000,0.000000,0.892396
27,2,542720,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",0.036116,-0.097668,0.002070,-0.857234,0.000000,0.000000,0.514928
27,2,542720,52,gripper,0,"","put plastic bottle on frying pan",-0.315729,-0.086582,0.913952,0.186770,-0.486065,0.203095,0.829223
27,2,542720,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.073261,-0.158592,0.893296,0.355111,-0.401190,0.735324,-0.415019
27,2,542720,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.135832,-0.026871,0.887451,0.713207,0.215217,0.617150,-0.253266
27,2,542720,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000005
27,2,542720,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.076105,-0.126450,0.870883,0.963148,0.000865,0.000499,-0.268968
27,2,542720,53,gripper,0,"","put plastic bottle on frying pan",-0.130383,-0.039095,0.945883,-0.167893,-0.706037,-0.157628,0.669685
27,2,542720,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.202854,0.072514,0.890463,0.998052,-0.024993,0.016517,-0.054724
27,2,542720,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.122856,-0.008728,0.889772,0.034571,-0.379310,0.924481,0.016262
27,2,542720,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000029
27,2,542720,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.239098,0.050129,0.870870,0.999999,0.000010,0.000008,0.001535
27,2,542720,54,gripper,0,"","put plastic bottle on frying pan",-0.152702,-0.064304,0.986762,0.008460,-0.735931,-0.046510,0.675405
27,2,542720,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.062153,0.105328,0.890446,0.994553,-0.027033,0.013200,0.099801
27,2,542720,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.074814,-0.061306,0.895089,0.456708,-0.550265,0.411803,0.564840
27,2,542720,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084988,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000085
27,2,542720,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084995,0.074993,0.870870,1.000000,0.000000,-0.000001,-0.000046
27,2,542720,55,gripper,0,"","put plastic bottle on frying pan",-0.162083,-0.028746,0.963696,-0.095539,-0.683398,-0.094758,0.717537
27,2,542720,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.131462,0.008224,0.894611,0.895265,0.159273,0.261298,0.323816
27,2,542720,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.206825,-0.055351,0.895352,0.521748,-0.488759,0.509477,0.478880
27,2,542720,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205399,-0.075092,0.872199,0.999998,0.000000,-0.000001,0.002037
27,2,542720,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000023
27,2,542720,56,gripper,0,"","put plastic bottle on cutting board",-0.178082,0.021400,0.941786,-0.072979,-0.780329,0.099612,0.613056
27,2,542720,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.178295,0.078651,0.890516,0.999475,-0.025177,0.017374,0.010707
27,2,542720,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.172474,-0.045990,0.887026,0.704113,0.007640,0.709664,-0.023315
27,2,542720,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
27,2,542720,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.228920,0.073345,0.870883,0.999963,0.000694,0.000721,0.008505
27,2,542720,57,gripper,0,"","put plastic bottle on cutting board",-0.151670,0.087242,1.032042,0.078450,-0.729008,0.088772,0.674175
27,2,542720,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086124,0.074833,0.888112,0.388121,-0.022500,-0.015881,0.921197
27,2,542720,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.191837,0.093700,0.892342,0.027618,-0.546567,0.836676,0.021785
27,2,542720,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114582,-0.072887,0.872200,0.999796,-0.000001,-0.000000,-0.020206
27,2,542720,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204067,0.074013,0.870870,0.999984,0.000003,0.000000,0.005690
27,2,542720,58,gripper,0,"","put plastic bottle on cutting board",-0.159235,0.022789,1.095196,0.062968,-0.680872,0.132877,0.717490
27,2,542720,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234381,0.045910,0.888112,0.999396,-0.023060,0.015063,-0.021196
27,2,542720,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.003498,0.053581,0.887024,0.699846,0.065765,0.706641,-0.080925
27,2,542720,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
27,2,542720,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085003,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000016
27,2,542720,59,gripper,0,"","put plastic bottle on cutting board",-0.162231,-0.020414,1.006040,-0.087186,-0.740262,0.018548,0.666384
27,2,542720,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115964,-0.074333,0.888112,0.712966,-0.026883,-0.005991,0.700658
27,2,542720,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.232755,-0.033188,0.895003,0.484132,-0.523136,0.443632,0.543264
27,2,542720,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234982,-0.044983,0.872199,1.000000,-0.000000,-0.000001,-0.000301
27,2,542720,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.080211,0.083313,0.870870,0.999640,-0.000000,-0.000001,-0.026812
27,2,542720,60,gripper,0,"","put hamburger on frying pan",-0.207871,-0.015505,0.989986,-0.083692,-0.704118,0.013760,0.704999
27,2,542720,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085966,0.075611,0.888112,0.713326,-0.026887,-0.005978,0.700291
27,2,542720,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.195610,0.031322,0.950600,0.421209,-0.541210,0.401030,0.607330
27,2,542720,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114916,-0.045078,0.872199,1.000000,0.000000,-0.000001,-0.000267
27,2,542720,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.211992,0.049004,0.870865,0.999370,0.001265,0.003047,-0.035349
27,2,542720,61,gripper,0,"","put hamburger on frying pan",-0.205931,0.030672,0.991740,-0.124667,-0.689207,-0.099492,0.706791
27,2,542720,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085926,0.075630,0.888112,0.712429,-0.026877,-0.006011,0.701204
27,2,542720,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.127850,-0.021404,0.893290,0.321871,-0.701545,0.562278,0.296779
27,2,542720,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084965,-0.071999,0.872199,0.999532,0.000000,-0.000000,0.030595
27,2,542720,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.197628,0.072723,0.870870,0.999396,0.000000,-0.000001,-0.034759
27,2,542720,62,gripper,0,"","put hamburger on frying pan",-0.071024,-0.049009,0.979917,-0.099309,-0.716434,-0.054650,0.688384
27,2,542720,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.214668,0.046223,0.890037,0.099738,0.002155,0.090179,0.990916
27,2,542720,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.221889,-0.028934,0.887026,0.359961,-0.618019,0.348906,0.605595
27,2,542720,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
27,2,542720,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085033,0.075005,0.870870,1.000000,0.000000,-0.000001,-0.000178
27,2,542720,63,gripper,0,"","put hamburger on frying pan",-0.235849,0.043211,0.915025,-0.082381,-0.749711,-0.056046,0.654222
27,3,547840,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.046402,-0.026688,0.879373,0.894817,0.106447,0.257076,-0.349118
27,3,547840,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.192703,0.026733,0.881638,0.668947,0.026087,-0.029495,0.742267
27,3,547840,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.074860,0.869532,0.999998,0.000001,-0.000001,0.001847
27,3,547840,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.251076,-0.094612,0.871288,0.999046,-0.000109,-0.001025,0.043661
27,3,547840,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.178596,0.027103,0.981377,-0.076381,-0.754699,-0.096871,0.644369
27,3,547840,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.081406,0.078392,0.887930,0.598006,0.342874,-0.303520,0.657801
27,3,547840,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.179962,0.042511,0.881871,0.956775,0.013158,-0.060506,0.284161
27,3,547840,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205708,-0.075294,0.869532,0.999922,-0.000000,-0.000001,0.012485
27,3,547840,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.110870,0.078362,0.871288,0.999274,-0.000119,-0.001025,0.038091
27,3,547840,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.146988,0.025280,0.941912,0.033376,-0.729872,0.115379,0.672949
27,3,547840,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.206341,-0.100288,0.885122,0.300483,0.680591,-0.367247,0.558242
27,3,547840,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089508,0.056877,0.881638,0.598572,0.028654,-0.026988,0.800102
27,3,547840,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.222706,-0.099304,0.869532,0.980635,0.000000,-0.000001,0.195846
27,3,547840,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
27,3,547840,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.131014,0.039894,0.914638,-0.062468,-0.766673,-0.088679,0.632808
27,3,547840,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.112968,-0.034737,0.880022,0.135559,-0.151520,0.979038,0.012266
27,3,547840,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.010057,-0.033188,0.872689,-0.080895,-0.495519,0.860427,0.087073
27,3,547840,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.061222,-0.080490,0.875985,0.989938,-0.037931,-0.094494,-0.098255
27,3,547840,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000145
27,3,547840,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.132490,-0.042374,0.930441,-0.008076,-0.767577,0.001421,0.640904
27,3,547840,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.024863,-0.203323,0.879089,-0.851588,0.129915,0.444483,0.245672
27,3,547840,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.145278,-0.004662,0.883168,0.997997,0.021192,-0.038107,-0.045832
27,3,547840,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082916,0.074471,0.869532,0.999866,0.000000,-0.000000,0.016385
27,3,547840,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.197214,0.080017,0.871331,0.997921,0.001284,0.000374,0.064435
27,3,547840,4,gripper,0,"","put kitchen shovel on cloth",-0.144841,-0.007809,0.932280,-0.002318,-0.709953,-0.083963,0.699222
27,3,547840,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.014124,-0.113953,0.879213,-0.174080,-0.747374,0.603300,-0.217156
27,3,547840,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.135574,-0.057655,0.881763,0.995728,0.000159,-0.060948,0.069359
27,3,547840,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235180,0.044678,0.869532,0.999998,0.000001,-0.000001,0.002031
27,3,547840,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000009
27,3,547840,5,gripper,0,"","put kitchen shovel on cloth",-0.146487,-0.099754,0.924040,-0.058245,-0.727718,-0.022309,0.683035
27,3,547840,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.179790,0.074448,0.878981,0.758960,0.002097,0.651102,0.006407
27,3,547840,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.121872,-0.067444,0.881641,0.989188,-0.010039,0.038912,0.141037
27,3,547840,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000039
27,3,547840,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000366
27,3,547840,6,gripper,0,"","put kitchen shovel on cloth",-0.149450,-0.141132,0.913251,-0.038035,-0.728159,-0.041277,0.683106
27,3,547840,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.023293,0.014992,0.879373,-0.411020,0.248991,-0.124222,-0.868122
27,3,547840,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.241333,0.043541,0.881642,0.423368,-0.043563,0.015853,0.904771
27,3,547840,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.187973,-0.072601,0.869532,0.988015,-0.000001,0.000000,0.154359
27,3,547840,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000030
27,3,547840,7,gripper,0,"","put kitchen shovel on cloth",-0.275171,0.028053,0.913836,-0.054632,-0.748840,-0.061104,0.657663
27,3,547840,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.219604,0.077629,0.885084,0.607361,0.336135,-0.318497,0.645512
27,3,547840,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.224480,-0.063503,0.889857,0.642813,0.023608,-0.040252,0.764601
27,3,547840,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.225349,0.073685,0.869532,0.993167,-0.000000,-0.000002,0.116703
27,3,547840,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234993,-0.074989,0.871288,1.000000,-0.000154,-0.001019,0.000149
27,3,547840,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.145584,0.072428,1.135331,0.067514,-0.820025,0.085350,0.561886
27,3,547840,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.082088,-0.073982,0.879373,0.453194,-0.242573,0.136304,0.846873
27,3,547840,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.132011,0.036629,0.887191,0.577168,0.014051,-0.030151,0.815948
27,3,547840,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.110863,0.044544,0.869532,0.999426,0.000000,-0.000000,0.033874
27,3,547840,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.233437,0.076019,0.871282,0.999859,-0.000430,-0.001273,0.016732
27,3,547840,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.171349,-0.074402,0.994084,0.110382,-0.702540,0.013552,0.702901
27,3,547840,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.189476,-0.052433,0.879373,0.908052,-0.085263,0.264865,0.313078
27,3,547840,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.131409,-0.124714,0.885750,0.502752,0.027012,-0.048365,0.862653
27,3,547840,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.202332,0.073807,0.869532,0.999402,0.000001,0.000000,-0.034587
27,3,547840,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.077145,-0.078491,0.871288,0.999432,-0.000187,-0.001013,-0.033684
27,3,547840,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.242523,-0.057245,0.914567,-0.036697,-0.759175,0.007390,0.649809
27,3,547840,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.208656,0.069584,0.885113,-0.065746,-0.739744,-0.665577,0.073911
27,3,547840,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.304243,-0.058369,0.873397,-0.066598,-0.573173,-0.813253,-0.075212
27,3,547840,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.190367,0.081139,0.869532,0.969273,-0.000000,-0.000001,0.245987
27,3,547840,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,3,547840,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.167796,-0.023514,1.098672,-0.023398,-0.823846,0.039742,0.564935
27,3,547840,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.000390,-0.012371,0.879125,0.625149,0.127450,-0.762824,0.105097
27,3,547840,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.111400,-0.002682,0.873650,-0.067321,-0.709164,-0.698740,-0.065702
27,3,547840,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.262552,0.014099,0.820390,0.344687,-0.000320,-0.000089,0.938718
27,3,547840,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.218425,0.068039,0.871210,0.994174,-0.003442,-0.004525,0.107635
27,3,547840,12,gripper,0,"","put ketchup bottle on cloth",-0.251482,-0.100983,0.918116,-0.019766,-0.713789,0.037090,0.699099
27,3,547840,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.075043,0.197975,0.878982,0.487624,-0.494039,0.424092,0.581631
27,3,547840,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.176556,-0.176071,0.881638,0.193374,0.037488,-0.011928,0.980336
27,3,547840,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.237841,0.071671,0.869532,0.999771,0.000000,-0.000002,-0.021375
27,3,547840,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000003
27,3,547840,13,gripper,0,"","put ketchup bottle on cloth",-0.111885,0.191626,0.919978,0.152615,-0.800662,0.118523,0.567099
27,3,547840,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.347794,-0.904434,0.010288,-0.475914,0.391518,0.247275,0.747713
27,3,547840,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",1.214886,-5.102310,-1320.505249,-0.489332,0.799944,0.202021,-0.282544
27,3,547840,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.318951,0.237446,0.869532,0.094297,0.000000,0.000001,-0.995544
27,3,547840,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",2.911491,1.569557,0.007909,-0.007343,-0.741557,0.670848,0.001453
27,3,547840,14,gripper,0,"","put ketchup bottle on cloth",-0.125673,-0.003975,0.987751,-0.063060,-0.691564,-0.041887,0.718338
27,3,547840,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.058144,0.098171,0.885209,0.229925,0.538572,-0.795283,0.156842
27,3,547840,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.100807,-0.068562,0.888785,0.594101,0.016111,-0.069024,0.801262
27,3,547840,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078915,0.072414,0.869532,0.993867,0.000000,-0.000001,0.110586
27,3,547840,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.079235,-0.052700,0.871288,0.999155,-0.000112,-0.001024,0.041089
27,3,547840,15,gripper,0,"","put ketchup bottle on cloth",-0.180937,0.022747,1.023819,0.325694,-0.655328,0.290754,0.616385
27,3,547840,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.289673,-0.153168,0.883615,-0.045006,0.175542,-0.980429,-0.076928
27,3,547840,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.078064,-0.001934,0.885672,0.673157,-0.199241,0.200250,0.683420
27,3,547840,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000087
27,3,547840,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.055695,-0.067066,0.870473,0.990869,-0.002509,-0.001903,-0.134790
27,3,547840,16,gripper,0,"","put 7up can on newspaper",-0.133762,-0.086309,0.963540,-0.012798,-0.690521,-0.085080,0.718177
27,3,547840,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.221069,-0.085693,0.887370,0.208433,0.053931,0.006551,0.976526
27,3,547840,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.287399,-0.203064,0.886008,0.112660,-0.500713,0.856164,0.059819
27,3,547840,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
27,3,547840,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.234699,-0.076374,0.870458,0.999992,0.000063,-0.000217,-0.003906
27,3,547840,17,gripper,0,"","put 7up can on newspaper",-0.226503,-0.060341,0.939576,-0.091844,-0.697319,0.003950,0.710841
27,3,547840,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.255238,-0.060898,0.886731,0.236412,0.014911,-0.000187,0.971538
27,3,547840,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.336128,0.182163,0.885866,0.312221,-0.689835,0.420532,0.499799
27,3,547840,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204956,0.074982,0.869489,1.000000,0.000179,0.000874,0.000191
27,3,547840,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.237320,-0.063305,0.870457,0.998199,-0.000783,-0.001095,0.059966
27,3,547840,18,gripper,0,"","put 7up can on newspaper",-0.229151,-0.054447,0.944377,-0.090420,-0.821129,-0.085755,0.556972
27,3,547840,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.101963,-0.063534,0.886616,0.424123,0.011470,-0.001302,0.905531
27,3,547840,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.105484,-0.431690,0.016875,0.873111,0.129543,-0.338111,0.326461
27,3,547840,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
27,3,547840,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.079102,-0.077751,0.870477,0.999714,-0.003032,-0.003100,0.023506
27,3,547840,19,gripper,0,"","put 7up can on newspaper",-0.146824,-0.018456,0.938921,-0.203259,-0.690070,-0.227937,0.656151
27,3,547840,20,obj,0,"003_bread_1","put 7up can on carpet",-0.250415,-0.021191,0.884887,-0.065031,-0.749605,0.647624,-0.120192
27,3,547840,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.220547,-0.066608,0.888609,0.597124,0.183980,-0.146097,0.766975
27,3,547840,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084997,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
27,3,547840,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.234995,-0.075005,0.870461,1.000000,0.000018,-0.000159,0.000014
27,3,547840,20,gripper,0,"","put 7up can on carpet",-0.185820,0.044262,0.966808,0.003772,-0.704230,0.013062,0.709842
27,3,547840,21,obj,0,"003_bread_1","put 7up can on carpet",-0.079519,-0.059673,0.886223,0.969132,0.009853,0.005157,0.246290
27,3,547840,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.173851,0.040596,0.888469,-0.708281,-0.081555,0.073996,-0.697289
27,3,547840,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.083582,-0.070148,0.869490,0.999784,0.000198,0.000871,-0.020759
27,3,547840,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.205030,0.044998,0.870460,1.000000,0.000019,-0.000159,0.000044
27,3,547840,21,gripper,0,"","put 7up can on carpet",-0.189663,0.046669,0.965776,-0.082951,-0.694216,0.011664,0.714876
27,3,547840,22,obj,0,"003_bread_1","put 7up can on carpet",-0.086296,-0.062286,0.886613,0.990158,0.004428,-0.009540,0.139559
27,3,547840,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.084023,-0.040970,0.925512,-0.019918,0.473501,0.842753,-0.255279
27,3,547840,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000101
27,3,547840,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.085007,-0.075024,0.870448,0.999999,-0.000923,-0.000846,0.000064
27,3,547840,22,gripper,0,"","put 7up can on carpet",-0.115334,-0.051907,0.964323,-0.149267,-0.766414,-0.104762,0.615917
27,3,547840,23,obj,0,"003_bread_1","put 7up can on carpet",-0.071926,-0.049240,0.886699,-0.959415,-0.007367,0.005017,-0.281856
27,3,547840,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.042953,-0.224056,0.885999,0.097266,-0.578128,-0.807659,-0.063199
27,3,547840,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.046173,0.092735,0.873365,0.989494,0.006769,-0.051167,0.135048
27,3,547840,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.068920,-0.080238,0.870448,0.998720,-0.000965,-0.000801,-0.050558
27,3,547840,23,gripper,0,"","put 7up can on carpet",-0.083799,0.099537,0.916678,-0.008574,-0.736370,-0.025166,0.676057
27,3,547840,24,obj,0,"003_bread_1","put bread on newspaper",-0.185478,-0.044687,0.885655,0.590504,0.025480,0.004606,0.806619
27,3,547840,24,obj,1,"005_7up can_1","put bread on newspaper",-0.216408,-0.253828,0.885866,-0.426830,0.563403,-0.579054,-0.406311
27,3,547840,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.205002,-0.075048,0.869490,1.000000,0.000179,0.000874,0.000524
27,3,547840,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235016,0.075024,0.870447,0.999991,-0.003114,-0.002733,-0.000033
27,3,547840,24,gripper,0,"","put bread on newspaper",-0.058990,0.007746,0.957769,0.002152,-0.764495,-0.002981,0.644620
27,3,547840,25,obj,0,"003_bread_1","put bread on newspaper",-0.201176,0.070286,0.886551,0.855142,0.013370,-0.006612,0.518179
27,3,547840,25,obj,1,"005_7up can_1","put bread on newspaper",-0.114300,-0.065842,0.889302,0.728624,0.162862,-0.167163,0.643925
27,3,547840,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.085045,-0.074974,0.869490,0.999999,0.000181,0.000875,-0.000896
27,3,547840,25,recep,1,"003_carpet_1","put bread on newspaper",-0.204998,0.075003,0.870452,0.999998,0.001569,0.001264,-0.000386
27,3,547840,25,gripper,0,"","put bread on newspaper",-0.138687,-0.029931,0.998509,-0.030414,-0.715710,-0.038467,0.696673
27,3,547840,26,obj,0,"003_bread_1","put bread on newspaper",-0.247742,0.078787,0.886691,0.986170,-0.001193,-0.009973,-0.165430
27,3,547840,26,obj,1,"005_7up can_1","put bread on newspaper",-0.055767,0.211346,0.885609,-0.588756,-0.082393,-0.067000,0.801304
27,3,547840,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.083477,0.073036,0.869490,0.999382,0.000211,0.000867,-0.035151
27,3,547840,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075071,0.870447,0.999999,-0.000902,-0.000855,0.000449
27,3,547840,26,gripper,0,"","put bread on newspaper",-0.067276,0.052042,0.957926,0.043207,-0.743382,-0.018394,0.667216
27,3,547840,27,obj,0,"003_bread_1","put bread on newspaper",-0.165951,0.157116,0.883544,0.273315,0.012545,-0.001672,0.961841
27,3,547840,27,obj,1,"005_7up can_1","put bread on newspaper",-0.089121,-0.036894,0.888996,0.427338,-0.407733,-0.777840,-0.214713
27,3,547840,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.070435,0.079756,0.869490,0.994992,0.000091,0.000888,0.099948
27,3,547840,27,recep,1,"003_carpet_1","put bread on newspaper",-0.085085,-0.074841,0.870447,0.999999,-0.000922,-0.000844,0.000385
27,3,547840,27,gripper,0,"","put bread on newspaper",-0.145373,-0.060907,0.969283,-0.009618,-0.716855,-0.087534,0.691639
27,3,547840,28,obj,0,"003_bread_1","put bread on carpet",-0.220998,0.028383,0.885849,0.907617,0.014240,0.004108,0.419538
27,3,547840,28,obj,1,"005_7up can_1","put bread on carpet",-0.220533,-0.102535,0.889043,0.359073,0.575772,-0.665003,0.311967
27,3,547840,28,recep,0,"004_newspaper_1","put bread on carpet",-0.235067,0.044897,0.869490,0.999999,0.000188,0.000886,-0.000507
27,3,547840,28,recep,1,"003_carpet_1","put bread on carpet",-0.204983,-0.075018,0.870448,0.999998,-0.000125,-0.000158,0.002053
27,3,547840,28,gripper,0,"","put bread on carpet",-0.109964,0.034735,1.019833,0.004734,-0.691468,-0.046809,0.720874
27,3,547840,29,obj,0,"003_bread_1","put bread on carpet",-0.212437,0.014166,0.886386,0.932472,0.010441,-0.009231,0.360973
27,3,547840,29,obj,1,"005_7up can_1","put bread on carpet",-0.217297,-0.024981,0.887552,0.689988,-0.022639,0.045357,0.722044
27,3,547840,29,recep,0,"004_newspaper_1","put bread on carpet",-0.243814,-0.054340,0.869490,0.999517,0.000511,0.001462,0.031025
27,3,547840,29,recep,1,"003_carpet_1","put bread on carpet",-0.219181,0.058548,0.870464,0.989915,-0.000741,-0.000665,-0.141660
27,3,547840,29,gripper,0,"","put bread on carpet",-0.142985,0.075019,0.962673,-0.029954,-0.711671,-0.053869,0.699804
27,3,547840,30,obj,0,"003_bread_1","put bread on carpet",-0.195061,-0.008230,0.891804,0.997078,-0.024402,0.022330,-0.068862
27,3,547840,30,obj,1,"005_7up can_1","put bread on carpet",-0.136578,0.019764,0.885746,0.784974,0.116428,-0.585728,0.164876
27,3,547840,30,recep,0,"004_newspaper_1","put bread on carpet",-0.238174,-0.073669,0.869490,0.999480,0.000151,0.000879,0.032241
27,3,547840,30,recep,1,"003_carpet_1","put bread on carpet",-0.072731,0.078922,0.870418,0.998886,-0.000256,-0.000834,-0.047183
27,3,547840,30,gripper,0,"","put bread on carpet",-0.185383,-0.012096,0.922650,0.053527,-0.716718,-0.013999,0.695165
27,3,547840,31,obj,0,"003_bread_1","put bread on carpet",-0.187889,-0.063911,0.886449,0.997202,0.004004,-0.008016,0.074211
27,3,547840,31,obj,1,"005_7up can_1","put bread on carpet",-0.111713,0.069693,0.885929,0.449229,-0.428126,0.738309,0.264199
27,3,547840,31,recep,0,"004_newspaper_1","put bread on carpet",-0.083263,-0.074280,0.869490,0.999860,0.000194,0.000871,-0.016694
27,3,547840,31,recep,1,"003_carpet_1","put bread on carpet",-0.208298,-0.073450,0.870417,0.999532,-0.000043,-0.000703,0.030592
27,3,547840,31,gripper,0,"","put bread on carpet",-0.124443,0.090475,0.954846,0.087433,-0.722695,0.129964,0.673185
27,3,547840,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210152,0.040847,0.887529,-0.025479,-0.043216,-0.001100,0.998740
27,3,547840,32,obj,1,"013_banana_1","put banana on sheet metal",-0.084656,0.075324,0.878547,0.382121,0.003188,0.013073,0.924014
27,3,547840,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000021
27,3,547840,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000000,-0.000000
27,3,547840,32,gripper,0,"","put banana on sheet metal",-0.161846,-0.054525,0.988371,-0.087156,-0.718359,-0.040529,0.689001
27,3,547840,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.068874,-0.033067,0.883267,-0.077147,0.450296,0.888681,0.039092
27,3,547840,33,obj,1,"013_banana_1","put banana on sheet metal",-0.114574,0.075447,0.878547,0.380318,0.003151,0.013045,0.924759
27,3,547840,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
27,3,547840,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
27,3,547840,33,gripper,0,"","put banana on sheet metal",-0.090546,0.072881,0.991491,0.212948,-0.732092,0.270912,0.587623
27,3,547840,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088352,0.079861,0.887501,0.996857,-0.002409,0.037241,0.069886
27,3,547840,34,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,0.074515,0.878547,0.999909,0.013287,0.002053,0.000547
27,3,547840,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
27,3,547840,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075000,0.874363,1.000000,-0.000000,0.000001,-0.000000
27,3,547840,34,gripper,0,"","put banana on sheet metal",-0.223841,-0.003104,0.987348,-0.167508,-0.738539,0.028790,0.652436
27,3,547840,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.240606,0.075232,0.887308,0.992547,-0.006434,0.020428,0.119964
27,3,547840,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084673,-0.075309,0.878547,0.923634,0.011496,0.006986,0.383039
27,3,547840,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
27,3,547840,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
27,3,547840,35,gripper,0,"","put banana on sheet metal",-0.149940,-0.033428,0.973248,0.048334,-0.718275,0.083394,0.689050
27,3,547840,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.173098,-0.092223,0.888556,0.943283,-0.007454,-0.079283,0.322297
27,3,547840,36,obj,1,"013_banana_1","put banana on flat bowl",-0.234682,0.074692,0.878547,0.923639,0.011492,0.006983,0.383029
27,3,547840,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114993,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000016
27,3,547840,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084867,-0.074968,0.874362,0.999997,-0.000000,-0.000001,-0.002503
27,3,547840,36,gripper,0,"","put banana on flat bowl",-0.198025,0.062581,0.932046,-0.136259,-0.789271,-0.036904,0.597597
27,3,547840,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087814,0.074737,0.887433,0.997408,-0.001725,0.021781,0.068560
27,3,547840,37,obj,1,"013_banana_1","put banana on flat bowl",-0.234991,-0.075435,0.878547,0.999910,0.013281,0.002053,0.000312
27,3,547840,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
27,3,547840,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,0.000001,0.000003
27,3,547840,37,gripper,0,"","put banana on flat bowl",-0.200253,-0.024722,0.990199,-0.253667,-0.657875,-0.085119,0.703994
27,3,547840,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243607,-0.076229,0.887529,0.798604,-0.025974,0.034552,0.600302
27,3,547840,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007948,0.010847,0.707323
27,3,547840,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,3,547840,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
27,3,547840,38,gripper,0,"","put banana on flat bowl",-0.091661,-0.002551,1.010151,0.119747,-0.743392,0.150655,0.640572
27,3,547840,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092476,-0.084251,0.887565,0.377089,-0.030053,0.014676,0.925573
27,3,547840,39,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923954
27,3,547840,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,3,547840,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
27,3,547840,39,gripper,0,"","put banana on flat bowl",-0.185020,0.063191,1.010306,-0.084962,-0.693179,-0.094241,0.709509
27,3,547840,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208771,-0.070667,0.887443,0.990121,-0.003066,0.023392,0.138214
27,3,547840,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.075302,0.878547,0.924336,0.011515,0.006968,0.381342
27,3,547840,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.045021,0.871344,0.999999,-0.000157,0.001163,0.000053
27,3,547840,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000457
27,3,547840,40,gripper,0,"","put carrot on sheet metal",-0.180073,-0.046523,0.998449,-0.077271,-0.735039,0.081191,0.668696
27,3,547840,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090206,0.073202,0.887528,0.436962,-0.027152,0.014779,0.898948
27,3,547840,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234707,-0.074667,0.878547,0.383348,0.003192,0.013022,0.923506
27,3,547840,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074928,0.871344,0.999999,-0.000157,0.001164,-0.000001
27,3,547840,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
27,3,547840,41,gripper,0,"","put carrot on sheet metal",-0.063316,0.077750,0.974228,0.041720,-0.756925,0.001514,0.652167
27,3,547840,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.116951,0.070148,0.887073,0.359537,0.022972,-0.005964,0.932829
27,3,547840,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.044666,0.878547,0.383885,0.003213,0.013067,0.923283
27,3,547840,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
27,3,547840,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000001,0.000060
27,3,547840,42,gripper,0,"","put carrot on sheet metal",-0.088768,0.061144,0.940451,0.212580,-0.718235,0.252466,0.612543
27,3,547840,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.251959,-0.096884,0.887529,0.831423,-0.023967,0.035972,0.553956
27,3,547840,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,0.075020,0.878547,0.707575,0.007957,0.010835,0.706510
27,3,547840,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074970,0.871344,0.999999,-0.000157,0.001163,-0.000090
27,3,547840,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
27,3,547840,43,gripper,0,"","put carrot on sheet metal",-0.236657,-0.067877,0.957348,-0.105923,-0.688317,0.032699,0.716890
27,3,547840,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097471,0.089302,0.893964,0.994023,0.096314,0.038467,0.034088
27,3,547840,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.235839,-0.078602,0.878547,0.975941,0.012571,0.004905,0.217617
27,3,547840,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
27,3,547840,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084944,0.075087,0.874363,1.000000,-0.000000,-0.000000,-0.000394
27,3,547840,44,gripper,0,"","put carrot on flat bowl",-0.068080,0.099096,0.981814,-0.048355,-0.736865,0.030136,0.673635
27,3,547840,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.091045,0.049725,0.887322,0.917231,-0.007671,0.030264,0.397130
27,3,547840,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204681,0.074732,0.878546,0.924510,0.011479,0.006947,0.380923
27,3,547840,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114990,-0.075039,0.871345,0.999999,-0.000157,0.001164,-0.000113
27,3,547840,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000377
27,3,547840,45,gripper,0,"","put carrot on flat bowl",-0.049651,0.051651,0.981438,0.211684,-0.798953,0.231962,0.512892
27,3,547840,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.094589,-0.067108,0.887426,0.922456,-0.010889,0.023445,0.385237
27,3,547840,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234669,-0.075308,0.878547,0.924219,0.011511,0.006970,0.381626
27,3,547840,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
27,3,547840,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
27,3,547840,46,gripper,0,"","put carrot on flat bowl",-0.108288,-0.036235,0.997655,-0.060697,-0.713146,-0.020032,0.698096
27,3,547840,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204117,0.076166,0.887529,0.999018,0.000425,0.043223,-0.009765
27,3,547840,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.227406,-0.046976,0.878547,0.994175,0.013027,0.003459,0.106934
27,3,547840,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000056
27,3,547840,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000218
27,3,547840,47,gripper,0,"","put carrot on flat bowl",-0.168077,0.067933,0.997786,-0.098718,-0.649479,-0.153981,0.738052
27,3,547840,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.343559,-0.053989,0.023051,0.017206,0.425928,-0.713539,-0.556014
27,3,547840,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.082619,0.071011,0.890100,0.031195,-0.901311,0.044887,0.429711
27,3,547840,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.247467,-0.022762,0.874685,0.488016,-0.012721,0.025624,0.872366
27,3,547840,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235184,-0.077049,0.870871,0.999925,0.000005,0.000005,0.012238
27,3,547840,48,gripper,0,"","put plastic bottle on frying pan",-0.103287,0.076342,0.948998,0.044082,-0.753819,0.005195,0.655581
27,3,547840,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.021496,0.034328,0.890676,0.311827,-0.020333,-0.015443,0.949796
27,3,547840,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.157013,0.030712,0.957473,-0.103418,-0.791003,0.597966,-0.077820
27,3,547840,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
27,3,547840,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.037945,0.058674,0.870874,0.999879,0.000599,0.000720,0.015556
27,3,547840,49,gripper,0,"","put plastic bottle on frying pan",-0.153505,0.037077,0.981954,-0.177131,-0.776903,-0.034279,0.603217
27,3,547840,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.159351,-0.082424,0.891185,0.576437,0.027391,0.816666,0.005153
27,3,547840,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.122894,-0.002106,0.886184,0.997037,-0.008928,0.007516,-0.076032
27,3,547840,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.076912,-0.082939,0.872199,0.998822,0.000000,-0.000001,0.048532
27,3,547840,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.057995,0.073032,0.870870,0.967000,-0.000001,0.000001,0.254775
27,3,547840,50,gripper,0,"","put plastic bottle on frying pan",-0.162737,-0.073326,0.943713,-0.100215,-0.740653,-0.027421,0.663806
27,3,547840,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.090967,0.092667,0.895350,0.797912,0.045804,-0.012025,0.600911
27,3,547840,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.096054,-0.066647,0.889706,0.367032,-0.613847,0.356113,0.601385
27,3,547840,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085001,0.075001,0.872199,1.000000,-0.000001,-0.000000,-0.000599
27,3,547840,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084579,-0.074417,0.870871,0.999997,0.000001,-0.000008,-0.002227
27,3,547840,51,gripper,0,"","put plastic bottle on frying pan",-0.164344,-0.097813,0.982278,-0.183353,-0.724880,-0.141833,0.648702
27,3,547840,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.249471,0.414337,0.021728,-0.089236,0.451646,-0.886995,-0.035944
27,3,547840,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",4.570411,2.961597,0.018226,-0.295181,-0.637602,-0.311678,0.639679
27,3,547840,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",0.186726,0.514236,0.003399,0.451254,-0.000000,0.000000,0.892396
27,3,547840,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",0.036116,-0.097668,0.002070,-0.857234,0.000000,0.000000,0.514928
27,3,547840,52,gripper,0,"","put plastic bottle on cutting board",-0.156666,0.104218,0.945017,0.111966,-0.694308,0.133598,0.698249
27,3,547840,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.072916,-0.158627,0.893296,0.353296,-0.397977,0.737078,-0.416547
27,3,547840,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.143679,-0.009655,0.887425,0.518532,0.466043,0.555485,-0.453171
27,3,547840,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.284531,-0.040348,0.872199,0.932612,-0.000001,-0.000001,0.360879
27,3,547840,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.075766,-0.126450,0.870883,0.963091,0.000867,0.000499,-0.269174
27,3,547840,53,gripper,0,"","put plastic bottle on cutting board",-0.158587,-0.012747,0.914100,0.013980,-0.767651,0.015923,0.640518
27,3,547840,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.390923,1.319157,0.023052,-0.255301,-0.258895,0.829600,-0.423744
27,3,547840,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.408859,0.662663,0.020973,-0.036358,-0.354406,-0.934311,0.011736
27,3,547840,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.068134,0.142590,0.872199,0.893503,-0.000001,-0.000001,0.449057
27,3,547840,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.422745,0.373871,0.055201,0.014253,-0.870443,0.025247,0.491415
27,3,547840,54,gripper,0,"","put plastic bottle on cutting board",-0.091442,0.006639,1.013463,-0.072777,-0.780377,-0.056221,0.618510
27,3,547840,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.061646,0.111237,0.890581,0.990058,-0.027317,0.013768,0.137292
27,3,547840,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.094425,0.000854,0.887026,0.447856,-0.557784,0.438822,0.543818
27,3,547840,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084164,-0.075012,0.872200,0.999959,-0.000001,-0.000001,-0.009022
27,3,547840,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.082298,0.079319,0.870870,0.999342,-0.000000,-0.000000,0.036267
27,3,547840,55,gripper,0,"","put plastic bottle on cutting board",-0.149200,-0.000130,1.010600,0.001426,-0.695919,0.054082,0.716079
27,3,547840,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.193535,0.011154,0.888112,0.867374,-0.027521,0.001025,0.496894
27,3,547840,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.214157,-0.060165,0.895351,0.488838,-0.521477,0.475934,0.512432
27,3,547840,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.210083,-0.079514,0.872199,0.997701,-0.000001,-0.000001,0.067769
27,3,547840,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000026
27,3,547840,56,gripper,0,"","put hamburger on frying pan",-0.207561,0.011660,0.938903,-0.054837,-0.749835,0.031755,0.658584
27,3,547840,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.054893,-0.091106,0.896432,0.967039,-0.031028,0.007351,0.252623
27,3,547840,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.172474,-0.045990,0.887026,0.704112,0.007664,0.709664,-0.023338
27,3,547840,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085018,-0.075001,0.872199,1.000000,0.000001,-0.000000,0.000637
27,3,547840,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.227253,0.076668,0.870870,0.999866,-0.000000,-0.000001,0.016359
27,3,547840,57,gripper,0,"","put hamburger on frying pan",-0.167135,-0.066031,0.987309,-0.070504,-0.691951,-0.050934,0.716686
27,3,547840,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.086124,0.074833,0.888112,0.387001,-0.022481,-0.015909,0.921668
27,3,547840,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.146492,-0.070007,0.897671,0.013793,-0.785719,0.617488,0.034116
27,3,547840,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114517,-0.072868,0.872199,0.999796,-0.000001,-0.000001,-0.020184
27,3,547840,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204895,0.075481,0.870870,0.999837,0.000001,-0.000001,0.018080
27,3,547840,58,gripper,0,"","put hamburger on frying pan",-0.151037,-0.054338,1.005392,-0.129184,-0.675013,-0.108664,0.718235
27,3,547840,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.187128,-0.056740,0.896303,0.997613,-0.024966,0.005684,0.064124
27,3,547840,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.003502,0.053581,0.887024,0.699837,0.065719,0.706659,-0.080881
27,3,547840,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000083
27,3,547840,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084818,-0.074955,0.870843,0.999999,0.000001,0.000279,-0.001031
27,3,547840,59,gripper,0,"","put hamburger on frying pan",-0.071742,-0.068480,0.916273,-0.172700,-0.725853,-0.176664,0.641952
27,3,547840,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.115964,-0.074333,0.888112,0.712965,-0.026883,-0.005990,0.700658
27,3,547840,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.110147,0.094887,0.889703,0.577567,-0.419276,0.572577,0.403459
27,3,547840,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235634,-0.043739,0.872199,0.999959,-0.000001,-0.000000,0.009064
27,3,547840,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.079979,0.083183,0.870870,0.999667,-0.000000,0.000002,-0.025817
27,3,547840,60,gripper,0,"","put hamburger on cutting board",-0.082174,0.105970,0.984624,0.109147,-0.681834,0.091608,0.717494
27,3,547840,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085964,0.075615,0.888112,0.713894,-0.026892,-0.005955,0.699712
27,3,547840,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.199945,0.027805,0.889569,0.417750,-0.578133,0.408903,0.569250
27,3,547840,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114916,-0.045078,0.872199,1.000000,0.000000,-0.000001,-0.000241
27,3,547840,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.211849,0.048992,0.870865,0.999403,0.001274,0.003048,-0.034394
27,3,547840,61,gripper,0,"","put hamburger on cutting board",-0.171145,-0.004126,1.012898,0.114655,-0.755684,0.194663,0.614737
27,3,547840,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085926,0.075630,0.888112,0.712520,-0.026879,-0.006007,0.701111
27,3,547840,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.187435,0.082844,0.889649,0.512339,-0.495946,0.509870,0.481226
27,3,547840,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084923,-0.072044,0.872200,0.999539,0.000000,-0.000001,0.030348
27,3,547840,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.197853,0.072754,0.870870,0.999427,0.000007,0.000002,-0.033832
27,3,547840,62,gripper,0,"","put hamburger on cutting board",-0.121744,-0.087448,0.975805,-0.011163,-0.760863,-0.039214,0.647631
27,3,547840,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.242260,-0.944244,0.022370,-0.462064,0.453746,-0.679689,-0.344434
27,3,547840,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.162109,0.038792,0.997096,0.436960,-0.489397,0.440332,0.612915
27,3,547840,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
27,3,547840,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085033,0.075005,0.870870,1.000000,-0.000000,-0.000001,-0.000194
27,3,547840,63,gripper,0,"","put hamburger on cutting board",-0.159996,0.042620,1.029602,-0.097111,-0.726816,-0.062010,0.677098
27,4,552960,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.046394,-0.026688,0.879373,0.894835,0.106435,0.257093,-0.349062
27,4,552960,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.209564,-0.003380,0.881638,0.685379,0.025386,-0.030040,0.727124
27,4,552960,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.074860,0.869532,0.999998,0.000000,-0.000001,0.001857
27,4,552960,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.251770,-0.095963,0.871311,0.998636,-0.000620,-0.001208,0.052201
27,4,552960,0,gripper,0,"","put kitchen shovel on cloth",-0.261818,-0.054764,0.922488,-0.138300,-0.722630,-0.164785,0.656905
27,4,552960,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.080883,0.119232,0.887490,0.062987,-0.691957,0.715897,0.068706
27,4,552960,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.140652,0.008507,0.881638,0.703028,0.024653,-0.030666,0.710072
27,4,552960,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.206230,-0.075897,0.869532,1.000000,0.000001,-0.000001,0.000305
27,4,552960,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.110870,0.078362,0.871288,0.999271,-0.000115,-0.001024,0.038155
27,4,552960,1,gripper,0,"","put kitchen shovel on cloth",-0.219561,0.010342,0.914704,-0.083742,-0.807031,-0.090868,0.577435
27,4,552960,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.204712,-0.098656,0.885240,0.341229,0.647106,-0.403489,0.549556
27,4,552960,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.086681,-0.059006,0.889635,0.589313,0.048891,-0.058658,0.804288
27,4,552960,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.221455,-0.098366,0.869532,0.979993,0.000000,0.000000,0.199032
27,4,552960,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000158,-0.001020,0.000033
27,4,552960,2,gripper,0,"","put kitchen shovel on cloth",-0.215570,-0.101868,0.932476,-0.196579,-0.754764,-0.107128,0.616614
27,4,552960,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.142185,-0.050331,0.879089,0.884341,0.029317,-0.462142,0.059212
27,4,552960,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.010029,-0.033134,0.872685,-0.080945,-0.497163,0.859472,0.087090
27,4,552960,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.060730,-0.080956,0.869532,0.995132,0.000000,-0.000002,-0.098548
27,4,552960,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000145
27,4,552960,3,gripper,0,"","put kitchen shovel on cloth",-0.195900,-0.046196,0.914027,-0.011673,-0.724170,0.120508,0.678910
27,4,552960,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.024863,-0.203323,0.879089,-0.851593,0.129912,0.444472,0.245674
27,4,552960,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.207648,-0.019539,0.873650,-0.010637,-0.107837,-0.989708,-0.093465
27,4,552960,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082916,0.074471,0.869532,0.999866,-0.000001,-0.000001,0.016385
27,4,552960,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.197201,0.080009,0.871288,0.997909,-0.000088,-0.001027,0.064634
27,4,552960,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.287995,-0.049686,0.913674,0.055702,-0.666530,0.053567,0.741462
27,4,552960,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.441927,2.923546,0.010756,0.330023,-0.139964,-0.932328,-0.047528
27,4,552960,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.135195,-0.057602,0.881637,0.996700,-0.001653,-0.039331,0.070994
27,4,552960,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235180,0.044678,0.869532,0.999998,0.000001,-0.000000,0.002039
27,4,552960,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000158,-0.001019,0.000010
27,4,552960,5,gripper,0,"","put ketchup bottle on yellow_plate",0.142606,-0.089783,0.993808,0.286878,0.698402,-0.447881,-0.478894
27,4,552960,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.103775,0.045036,0.879225,0.125946,-0.280143,0.950897,0.038109
27,4,552960,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.121861,-0.067444,0.881641,0.989141,-0.010053,0.038910,0.141369
27,4,552960,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.046513,0.073463,0.869532,0.980291,0.000001,-0.000001,0.197557
27,4,552960,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,-0.044945,0.871288,0.999999,-0.000154,-0.001019,-0.000554
27,4,552960,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.104597,0.038288,0.984390,0.020226,-0.774781,0.000586,0.631906
27,4,552960,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.192257,-0.079918,0.885122,-0.484133,-0.498687,0.591116,-0.409278
27,4,552960,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.241459,0.043739,0.881641,0.427573,-0.037987,0.013067,0.903088
27,4,552960,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.189449,-0.082825,0.869532,0.995291,-0.000000,-0.000001,0.096932
27,4,552960,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.085030,-0.075096,0.871288,0.999999,-0.000154,-0.001019,-0.000479
27,4,552960,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.082258,0.035431,0.968740,0.086753,-0.733670,0.080194,0.669157
27,4,552960,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.219604,0.077629,0.885085,0.607350,0.336169,-0.318537,0.645485
27,4,552960,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.224480,-0.063499,0.889857,0.642806,0.023634,-0.040272,0.764604
27,4,552960,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.225349,0.073685,0.869532,0.993166,-0.000000,-0.000002,0.116712
27,4,552960,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234993,-0.074989,0.871288,0.999999,-0.000154,-0.001020,0.000178
27,4,552960,8,gripper,0,"","put ketchup bottle on cloth",-0.144989,0.086151,1.048109,-0.014454,-0.828179,0.140361,0.542411
27,4,552960,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.228668,0.098511,0.888637,0.664747,0.125301,-0.107230,0.728638
27,4,552960,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.132011,0.036629,0.887190,0.577080,0.014039,-0.030149,0.816010
27,4,552960,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.110863,0.044544,0.869532,0.999425,-0.000000,-0.000000,0.033900
27,4,552960,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.233379,0.076118,0.871281,0.999859,-0.000463,-0.001298,0.016720
27,4,552960,9,gripper,0,"","put ketchup bottle on cloth",-0.237103,0.055912,0.931139,-0.018029,-0.814371,-0.038610,0.578778
27,4,552960,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.171463,0.015556,0.878982,0.254020,-0.610956,0.225037,0.715237
27,4,552960,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.131420,-0.124710,0.885750,0.502719,0.027011,-0.048360,0.862673
27,4,552960,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.202351,0.075825,0.869532,0.999994,0.000000,-0.000000,-0.003540
27,4,552960,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.077145,-0.078491,0.871288,0.999433,-0.000187,-0.001013,-0.033658
27,4,552960,10,gripper,0,"","put ketchup bottle on cloth",-0.251736,-0.038805,0.913634,-0.105315,-0.720864,-0.102685,0.677288
27,4,552960,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.208656,0.069584,0.885113,-0.065752,-0.739751,-0.665568,0.073919
27,4,552960,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.304243,-0.058369,0.873397,-0.066598,-0.573173,-0.813253,-0.075212
27,4,552960,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.190367,0.081139,0.869532,0.969274,-0.000000,-0.000001,0.245985
27,4,552960,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
27,4,552960,11,gripper,0,"","put ketchup bottle on cloth",-0.154711,0.082096,1.104630,0.037657,-0.850661,0.025788,0.523730
27,4,552960,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.016077,-0.012821,0.879413,0.824122,-0.135729,0.235425,0.496965
27,4,552960,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.243570,0.072563,0.880447,-0.089838,-0.722939,-0.676230,-0.109547
27,4,552960,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.262552,0.014099,0.820390,0.344687,-0.000320,-0.000089,0.938718
27,4,552960,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.218425,0.068039,0.871210,0.994174,-0.003442,-0.004525,0.107635
27,4,552960,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.016784,-0.000832,0.915323,0.120450,-0.792742,0.085490,0.591391
27,4,552960,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.075043,0.197979,0.878982,0.487621,-0.494038,0.424075,0.581647
27,4,552960,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.177214,-0.177334,0.881638,0.273966,0.036372,-0.014991,0.960934
27,4,552960,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.237841,0.071671,0.869532,0.999771,0.000000,-0.000002,-0.021374
27,4,552960,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000003
27,4,552960,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.218390,-0.156229,0.914952,0.060340,-0.737412,0.148119,0.656234
27,4,552960,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.347794,-0.904430,0.010288,-0.475905,0.391521,0.247270,0.747719
27,4,552960,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",1.214886,-5.102310,-2592.143066,-0.489332,0.799944,0.202021,-0.282544
27,4,552960,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.318951,0.237446,0.869532,0.094297,0.000000,0.000001,-0.995544
27,4,552960,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",2.911491,1.569557,0.007909,-0.007343,-0.741582,0.670821,0.001453
27,4,552960,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.257906,-0.085417,0.929071,-0.055814,-0.735088,-0.033224,0.674852
27,4,552960,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.058456,0.098747,0.885209,0.229016,0.543232,-0.792097,0.158216
27,4,552960,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.096661,-0.003830,0.920404,0.636077,-0.355495,-0.011790,0.684756
27,4,552960,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078827,0.072735,0.869532,0.993209,-0.000000,-0.000001,0.116341
27,4,552960,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.077782,-0.053566,0.871288,0.999265,-0.000115,-0.001024,0.038314
27,4,552960,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.104008,-0.002022,0.958029,-0.064343,-0.758878,-0.004008,0.648034
27,4,552960,16,obj,0,"003_bread_1","put 7up can on carpet",-0.289673,-0.153168,0.883615,-0.045015,0.175488,-0.980438,-0.076933
27,4,552960,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.104637,-0.119091,0.885847,0.680368,0.129955,-0.130774,0.709302
27,4,552960,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.077446,0.077728,0.869490,0.998848,0.000138,0.000882,0.047972
27,4,552960,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.054710,-0.068695,0.870448,0.991698,-0.000144,-0.000140,-0.128585
27,4,552960,16,gripper,0,"","put 7up can on carpet",-0.131989,-0.123297,0.916599,-0.122454,-0.751182,-0.088484,0.642574
27,4,552960,17,obj,0,"003_bread_1","put 7up can on carpet",-0.222015,-0.085701,0.886533,0.210554,0.016369,-0.000997,0.977445
27,4,552960,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.287205,-0.202732,0.886002,0.102801,-0.501489,0.857331,0.054075
27,4,552960,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
27,4,552960,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.234707,-0.076366,0.870453,0.999991,-0.000839,-0.000819,-0.003978
27,4,552960,17,gripper,0,"","put 7up can on carpet",-0.161795,0.158823,0.916220,0.053648,-0.717771,-0.036681,0.693240
27,4,552960,18,obj,0,"003_bread_1","put 7up can on carpet",-0.255199,-0.060883,0.886736,0.236851,0.015925,-0.000343,0.971415
27,4,552960,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.336128,0.182163,0.885866,0.312208,-0.689845,0.420505,0.499815
27,4,552960,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204948,0.074982,0.869489,1.000000,0.000180,0.000874,0.000215
27,4,552960,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.237320,-0.063282,0.870426,0.998205,-0.000359,-0.000179,0.059880
27,4,552960,18,gripper,0,"","put 7up can on carpet",-0.282969,0.168228,0.946174,0.012924,-0.654543,0.000641,0.755914
27,4,552960,19,obj,0,"003_bread_1","put 7up can on carpet",-0.101963,-0.063534,0.886615,0.423356,0.011477,-0.001296,0.905890
27,4,552960,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.105482,-0.431694,0.016875,0.872979,0.129679,-0.338059,0.326814
27,4,552960,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.073530,0.084343,0.869490,0.996474,0.000106,0.000887,0.083894
27,4,552960,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.079102,-0.077751,0.870478,0.999713,-0.003033,-0.003101,0.023570
27,4,552960,19,gripper,0,"","put 7up can on carpet",-0.086969,0.061823,0.978286,0.044018,-0.732702,0.008175,0.679075
27,4,552960,20,obj,0,"003_bread_1","put bread on newspaper",-0.250486,-0.021194,0.884890,-0.065090,-0.749778,0.647367,-0.120468
27,4,552960,20,obj,1,"005_7up can_1","put bread on newspaper",-0.220547,-0.066601,0.888609,0.597786,0.183863,-0.146261,0.766455
27,4,552960,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.099906,0.072117,0.869490,0.999692,0.000158,0.000878,0.024815
27,4,552960,20,recep,1,"003_carpet_1","put bread on newspaper",-0.234995,-0.075005,0.870461,1.000000,0.000018,-0.000158,0.000014
27,4,552960,20,gripper,0,"","put bread on newspaper",-0.097464,0.077837,0.919590,0.028700,-0.741865,0.082597,0.664824
27,4,552960,21,obj,0,"003_bread_1","put bread on newspaper",-0.079506,-0.059681,0.886224,0.969352,0.009658,0.003175,0.245467
27,4,552960,21,obj,1,"005_7up can_1","put bread on newspaper",-0.173491,0.021854,0.888504,-0.578400,-0.413301,0.432730,-0.554419
27,4,552960,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.083519,-0.070152,0.869490,0.999781,0.000198,0.000870,-0.020925
27,4,552960,21,recep,1,"003_carpet_1","put bread on newspaper",-0.203888,0.044342,0.870448,0.999927,-0.000126,-0.000156,-0.012043
27,4,552960,21,gripper,0,"","put bread on newspaper",-0.076085,0.136600,0.970685,0.318954,-0.709042,0.310308,0.547025
27,4,552960,22,obj,0,"003_bread_1","put bread on newspaper",-0.078873,-0.053123,0.886591,0.950026,0.006644,-0.009156,0.311965
27,4,552960,22,obj,1,"005_7up can_1","put bread on newspaper",-0.151699,0.053131,0.886664,-0.374066,0.429852,0.801671,0.180626
27,4,552960,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.204979,0.075005,0.869490,0.999999,0.000550,0.001425,0.000189
27,4,552960,22,recep,1,"003_carpet_1","put bread on newspaper",-0.081490,-0.071571,0.870415,0.999810,-0.000682,-0.001297,-0.019419
27,4,552960,22,gripper,0,"","put bread on newspaper",-0.146486,0.041883,0.965455,0.082883,-0.708987,0.034236,0.699497
27,4,552960,23,obj,0,"003_bread_1","put bread on newspaper",-0.075474,-0.048607,0.886690,-0.959952,-0.007553,0.005447,-0.280010
27,4,552960,23,obj,1,"005_7up can_1","put bread on newspaper",-0.042953,-0.224056,0.885999,0.097272,-0.578138,-0.807651,-0.063204
27,4,552960,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.046093,0.092812,0.869490,0.990737,0.000059,0.000891,0.135791
27,4,552960,23,recep,1,"003_carpet_1","put bread on newspaper",-0.068890,-0.080204,0.870418,0.998633,-0.000703,-0.001223,-0.052240
27,4,552960,23,gripper,0,"","put bread on newspaper",-0.094078,0.039131,1.016060,-0.045145,-0.776629,-0.078030,0.623475
27,4,552960,24,obj,0,"003_bread_1","put bread on carpet",-0.185478,-0.044687,0.885655,0.590984,0.025465,0.004621,0.806268
27,4,552960,24,obj,1,"005_7up can_1","put bread on carpet",-0.216408,-0.253828,0.885866,-0.426841,0.563392,-0.579058,-0.406310
27,4,552960,24,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075052,0.869490,0.999999,0.000179,0.000874,0.000669
27,4,552960,24,recep,1,"003_carpet_1","put bread on carpet",-0.235016,0.075029,0.870447,0.999991,-0.003114,-0.002734,-0.000044
27,4,552960,24,gripper,0,"","put bread on carpet",-0.064728,0.023867,1.000652,-0.069673,-0.732018,-0.108590,0.668957
27,4,552960,25,obj,0,"003_bread_1","put bread on carpet",-0.201176,0.070280,0.886551,0.855791,0.013359,-0.006624,0.517106
27,4,552960,25,obj,1,"005_7up can_1","put bread on carpet",-0.114250,-0.065823,0.889300,0.728819,0.162683,-0.167025,0.643785
27,4,552960,25,recep,0,"004_newspaper_1","put bread on carpet",-0.085049,-0.074970,0.869490,0.999999,0.000181,0.000875,-0.001252
27,4,552960,25,recep,1,"003_carpet_1","put bread on carpet",-0.204998,0.074997,0.870452,0.999998,0.001569,0.001264,-0.000626
27,4,552960,25,gripper,0,"","put bread on carpet",-0.124466,-0.036526,0.991388,-0.033947,-0.708155,0.015614,0.705068
27,4,552960,26,obj,0,"003_bread_1","put bread on carpet",-0.237129,0.100178,0.886616,0.985363,-0.000412,-0.010720,-0.170128
27,4,552960,26,obj,1,"005_7up can_1","put bread on carpet",-0.050968,0.227539,0.885688,-0.540530,0.323526,0.240502,0.738456
27,4,552960,26,recep,0,"004_newspaper_1","put bread on carpet",-0.092819,0.075813,0.869490,0.999851,0.000165,0.000878,0.017251
27,4,552960,26,recep,1,"003_carpet_1","put bread on carpet",-0.233791,0.079306,0.870426,0.999987,-0.000729,-0.001247,-0.004982
27,4,552960,26,gripper,0,"","put bread on carpet",-0.053404,0.175950,0.961802,0.135174,-0.746721,0.109250,0.642029
27,4,552960,27,obj,0,"003_bread_1","put bread on carpet",-0.165951,0.157116,0.883544,0.273236,0.012544,-0.001670,0.961864
27,4,552960,27,obj,1,"005_7up can_1","put bread on carpet",-0.089178,-0.037172,0.888996,0.424046,-0.418897,-0.772023,-0.220662
27,4,552960,27,recep,0,"004_newspaper_1","put bread on carpet",-0.067921,0.064398,0.869490,0.991825,0.000066,0.000890,0.127599
27,4,552960,27,recep,1,"003_carpet_1","put bread on carpet",-0.085085,-0.074841,0.870447,0.999999,-0.000922,-0.000845,0.000531
27,4,552960,27,gripper,0,"","put bread on carpet",-0.183836,-0.026920,0.955627,-0.006677,-0.710882,0.023816,0.702876
27,4,552960,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.220999,0.028383,0.885850,0.907617,0.014233,0.004086,0.419537
27,4,552960,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.220533,-0.102531,0.889044,0.359128,0.575757,-0.664962,0.312020
27,4,552960,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235067,0.044897,0.869490,0.999999,0.000181,0.000874,-0.000507
27,4,552960,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204983,-0.075018,0.870448,0.999998,-0.000124,-0.000158,0.002053
27,4,552960,28,gripper,0,"","put 7up can on newspaper",-0.062328,0.098286,0.925597,0.015851,-0.731655,-0.007448,0.681450
27,4,552960,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.212673,0.013586,0.886352,0.929806,0.011501,-0.009704,0.367742
27,4,552960,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.217516,-0.025326,0.887566,0.696757,-0.020905,0.044257,0.715635
27,4,552960,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.243830,-0.054337,0.869490,0.999511,0.000507,0.001459,0.031225
27,4,552960,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.219181,0.058641,0.870463,0.989992,-0.000460,-0.000473,-0.141120
27,4,552960,29,gripper,0,"","put 7up can on newspaper",-0.094576,0.027987,1.001518,0.171723,-0.681263,0.298909,0.645790
27,4,552960,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.223530,-0.018101,0.884510,0.918702,-0.025414,0.006255,-0.394083
27,4,552960,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.017418,0.005419,0.885951,-0.402256,0.056483,0.913359,0.027851
27,4,552960,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.252975,-0.085070,0.869489,0.988389,0.000045,0.000891,0.151941
27,4,552960,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.067532,0.082188,0.870461,0.999926,0.000020,-0.000158,0.012137
27,4,552960,30,gripper,0,"","put 7up can on newspaper",-0.211945,-0.044078,1.000104,0.041521,-0.729400,0.076426,0.678536
27,4,552960,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.195133,-0.042765,0.886535,0.963489,0.006476,-0.010344,0.267471
27,4,552960,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.170013,0.072077,0.885987,-0.109677,0.720056,-0.676457,-0.109073
27,4,552960,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.083263,-0.074280,0.869490,0.999861,0.000194,0.000871,-0.016624
27,4,552960,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205933,-0.058613,0.870418,0.996940,-0.000113,-0.000811,0.078168
27,4,552960,31,gripper,0,"","put 7up can on newspaper",-0.186211,0.065626,0.918120,0.222397,-0.693574,0.090370,0.679211
27,4,552960,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210152,0.040847,0.887529,-0.025479,-0.043211,-0.001101,0.998740
27,4,552960,32,obj,1,"013_banana_1","put banana on flat bowl",-0.084656,0.075324,0.878547,0.382121,0.003192,0.013084,0.924014
27,4,552960,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000021
27,4,552960,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
27,4,552960,32,gripper,0,"","put banana on flat bowl",-0.030594,0.108743,0.980025,0.319819,-0.731788,0.247764,0.548466
27,4,552960,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.068874,-0.033067,0.883267,-0.077147,0.450296,0.888681,0.039092
27,4,552960,33,obj,1,"013_banana_1","put banana on flat bowl",-0.114574,0.075447,0.878547,0.380317,0.003162,0.013079,0.924758
27,4,552960,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234982,0.045001,0.871344,0.999999,-0.000157,0.001164,0.000001
27,4,552960,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
27,4,552960,33,gripper,0,"","put banana on flat bowl",-0.102219,0.090146,0.948900,0.329993,-0.711690,0.279654,0.553531
27,4,552960,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088707,0.080049,0.887304,0.996977,0.003597,0.034827,0.069357
27,4,552960,34,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,0.074516,0.878547,0.999909,0.013282,0.002053,0.000547
27,4,552960,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000017
27,4,552960,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
27,4,552960,34,gripper,0,"","put banana on flat bowl",-0.107977,-0.003668,1.046220,-0.113731,-0.727128,-0.197859,0.647458
27,4,552960,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243776,0.078075,0.887229,0.993210,0.004536,0.032280,0.111678
27,4,552960,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084673,-0.075309,0.878547,0.923634,0.011528,0.007002,0.383039
27,4,552960,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
27,4,552960,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
27,4,552960,35,gripper,0,"","put banana on flat bowl",-0.057364,0.032811,1.033565,0.009280,-0.720596,0.007534,0.693252
27,4,552960,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.163792,-0.101489,0.887421,0.944484,-0.009603,0.036115,0.326426
27,4,552960,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.234682,0.074692,0.878547,0.923639,0.011475,0.006974,0.383029
27,4,552960,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.115086,0.045294,0.871346,0.999992,-0.000162,0.001146,-0.003897
27,4,552960,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.165842,0.024105,0.877093,-0.076081,-0.001787,-0.001883,0.997098
27,4,552960,36,gripper,0,"","put carrot on sheet metal",-0.166164,-0.068897,1.015839,-0.071603,-0.682396,0.143301,0.713213
27,4,552960,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087881,0.074623,0.887315,0.996999,0.003142,0.032732,0.070077
27,4,552960,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.234991,-0.075435,0.878547,0.999910,0.013284,0.002053,0.000312
27,4,552960,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
27,4,552960,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000002,0.000000,0.000003
27,4,552960,37,gripper,0,"","put carrot on sheet metal",-0.139790,0.077049,1.027031,0.026209,-0.672649,0.011684,0.739405
27,4,552960,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245506,-0.081668,0.887520,0.815465,-0.025073,0.034852,0.577212
27,4,552960,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007951,0.010850,0.707323
27,4,552960,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,4,552960,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000000,0.000000,-0.000000
27,4,552960,38,gripper,0,"","put carrot on sheet metal",-0.242165,-0.074040,0.952952,-0.120428,-0.718147,0.137600,0.671438
27,4,552960,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094589,-0.087975,0.887133,0.392009,-0.012373,0.014848,0.919758
27,4,552960,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075325,0.878547,0.382267,0.003199,0.013104,0.923953
27,4,552960,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
27,4,552960,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
27,4,552960,39,gripper,0,"","put carrot on sheet metal",-0.047916,-0.046876,0.947516,0.025296,-0.704488,0.193797,0.682275
27,4,552960,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209877,-0.068834,0.887298,0.990861,0.001494,0.021380,0.133171
27,4,552960,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084663,-0.075302,0.878547,0.924546,0.011515,0.006959,0.380834
27,4,552960,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.045029,0.871344,0.999999,-0.000158,0.001163,0.000063
27,4,552960,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000610
27,4,552960,40,gripper,0,"","put carrot on flat bowl",-0.199940,-0.017328,1.031577,-0.121743,-0.719288,0.032970,0.683166
27,4,552960,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.092972,0.070265,0.887355,0.450004,-0.030197,0.020710,0.892276
27,4,552960,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234707,-0.074663,0.878547,0.383726,0.003210,0.013069,0.923349
27,4,552960,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074932,0.871344,0.999999,-0.000157,0.001164,0.000013
27,4,552960,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
27,4,552960,41,gripper,0,"","put carrot on flat bowl",-0.063211,0.070477,0.981256,0.090096,-0.697037,0.007455,0.711314
27,4,552960,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.100983,0.065485,0.887458,0.230101,-0.029600,0.007744,0.972686
27,4,552960,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.044661,0.878547,0.384429,0.003223,0.013071,0.923056
27,4,552960,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
27,4,552960,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000001,-0.000000,0.000148
27,4,552960,42,gripper,0,"","put carrot on flat bowl",-0.101660,0.073090,1.006619,0.211469,-0.704044,0.253740,0.628665
27,4,552960,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.255545,-0.100716,0.887214,0.978053,-0.014411,0.028804,0.205853
27,4,552960,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234550,0.075022,0.878547,0.707795,0.007965,0.010838,0.706290
27,4,552960,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074963,0.871344,0.999999,-0.000157,0.001164,-0.000109
27,4,552960,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
27,4,552960,43,gripper,0,"","put carrot on flat bowl",-0.195467,-0.070052,1.017885,-0.054673,-0.724600,-0.003012,0.686991
27,4,552960,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097471,0.089302,0.893964,0.994023,0.096315,0.038468,0.034088
27,4,552960,44,obj,1,"013_banana_1","put banana on sheet metal",-0.235782,-0.078854,0.878547,0.975547,0.012514,0.004910,0.219378
27,4,552960,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,-0.045002,0.871344,0.999999,-0.000158,0.001164,-0.000034
27,4,552960,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084944,0.075087,0.874363,1.000000,0.000000,-0.000000,-0.000394
27,4,552960,44,gripper,0,"","put banana on sheet metal",-0.150311,-0.035133,0.987275,-0.126581,-0.734796,-0.064457,0.663248
27,4,552960,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.094065,0.051199,0.887081,0.922142,0.001053,0.027593,0.385865
27,4,552960,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204676,0.074732,0.878546,0.924712,0.011482,0.006941,0.380432
27,4,552960,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114990,-0.075050,0.871344,0.999999,-0.000158,0.001164,-0.000138
27,4,552960,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000499
27,4,552960,45,gripper,0,"","put banana on sheet metal",-0.185956,0.076127,0.980586,-0.053523,-0.731522,0.100498,0.672243
27,4,552960,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097263,-0.065550,0.887077,0.926789,-0.019972,0.018792,0.374581
27,4,552960,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234940,-0.076389,0.878547,0.930994,0.011645,0.006764,0.364786
27,4,552960,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
27,4,552960,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
27,4,552960,46,gripper,0,"","put banana on sheet metal",-0.198887,-0.041533,0.989715,-0.126967,-0.730841,-0.057561,0.668160
27,4,552960,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204121,0.075853,0.887529,0.999042,0.000297,0.043220,-0.006883
27,4,552960,47,obj,1,"013_banana_1","put banana on sheet metal",-0.226254,-0.049664,0.878547,0.996554,0.013050,0.003125,0.081860
27,4,552960,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.044987,0.871344,0.999999,-0.000157,0.001164,-0.000064
27,4,552960,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000297
27,4,552960,47,gripper,0,"","put banana on sheet metal",-0.187227,-0.008910,0.992260,-0.360622,-0.690105,-0.204562,0.593179
27,4,552960,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.343552,-0.053978,0.023051,0.014773,0.422797,-0.715398,-0.556085
27,4,552960,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.025185,-0.035889,0.881864,0.328296,-0.671737,-0.590065,0.304655
27,4,552960,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.247467,-0.022690,0.874686,0.490560,-0.012751,0.025638,0.870937
27,4,552960,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235184,-0.076981,0.870870,0.999939,0.000005,0.000005,0.011086
27,4,552960,48,gripper,0,"","put plastic bottle on cutting board",-0.020367,-0.028265,0.939023,0.007325,-0.803119,0.039107,0.594488
27,4,552960,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.020088,0.032227,0.890702,0.322552,-0.020994,-0.015024,0.946199
27,4,552960,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085861,0.089748,0.890190,0.544558,-0.452350,0.555292,0.436449
27,4,552960,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235821,-0.075085,0.872199,0.999902,-0.000000,-0.000001,0.014032
27,4,552960,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.036167,0.057293,0.870871,0.999984,0.000278,0.000337,0.005669
27,4,552960,49,gripper,0,"","put plastic bottle on cutting board",-0.132874,0.100163,0.931556,0.005159,-0.746260,0.030244,0.664947
27,4,552960,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.159344,-0.082603,0.891171,0.576211,0.028035,0.816757,0.010149
27,4,552960,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.084953,0.020554,0.885720,0.617757,0.364087,-0.587870,0.374466
27,4,552960,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.058533,-0.086929,0.872199,0.993423,0.000000,0.000000,-0.114507
27,4,552960,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.044830,0.090275,0.870870,0.960691,-0.000000,-0.000000,0.277618
27,4,552960,50,gripper,0,"","put plastic bottle on cutting board",-0.131922,0.025908,0.970561,-0.028754,-0.727673,0.048081,0.683632
27,4,552960,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.090691,0.092651,0.895328,0.798343,0.045845,-0.012104,0.600334
27,4,552960,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.096096,-0.066982,0.889704,0.367611,-0.613559,0.356714,0.600968
27,4,552960,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085001,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000692
27,4,552960,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084673,-0.074413,0.870871,0.999998,0.000000,-0.000010,-0.002149
27,4,552960,51,gripper,0,"","put plastic bottle on cutting board",-0.156672,-0.067713,1.061854,0.119078,-0.727392,0.202999,0.644603
27,4,552960,52,obj,0,"014_hamburger_1","put hamburger on frying pan",0.249471,0.414337,0.021728,-0.089236,0.451647,-0.886995,-0.035944
27,4,552960,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",4.570411,2.961597,0.018226,-0.295181,-0.637601,-0.311677,0.639679
27,4,552960,52,recep,0,"011_frying pan_1","put hamburger on frying pan",0.186726,0.514236,0.003399,0.451254,-0.000000,0.000000,0.892396
27,4,552960,52,recep,1,"013_cutting board_1","put hamburger on frying pan",0.036116,-0.097668,0.002070,-0.857234,0.000000,0.000000,0.514928
27,4,552960,52,gripper,0,"","put hamburger on frying pan",-0.191819,-0.017775,0.993296,-0.083114,-0.644114,0.006945,0.760369
27,4,552960,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.060682,-0.146755,0.893750,0.265612,-0.520855,0.666926,-0.461920
27,4,552960,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.282602,-0.010654,0.895414,0.456303,0.529966,0.473468,-0.535491
27,4,552960,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.284626,-0.040329,0.872199,0.932130,-0.000001,-0.000001,0.362123
27,4,552960,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.070162,-0.122532,0.870870,0.973384,0.000702,0.000544,-0.229179
27,4,552960,53,gripper,0,"","put hamburger on frying pan",-0.084202,-0.135902,0.917813,0.105172,-0.723960,0.151597,0.664710
27,4,552960,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.390995,1.319206,0.023008,-0.249940,-0.265554,0.826995,-0.427890
27,4,552960,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.408783,0.662663,0.020973,-0.036356,-0.354529,-0.934264,0.011741
27,4,552960,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.068134,0.142590,0.872199,0.893554,-0.000000,-0.000000,0.448955
27,4,552960,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.422745,0.373871,0.055202,0.014266,-0.870439,0.025268,0.491421
27,4,552960,54,gripper,0,"","put hamburger on frying pan",-0.222113,0.053627,0.913249,0.015996,-0.725125,0.016987,0.688222
27,4,552960,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.051479,0.107368,0.890460,0.996027,-0.026934,0.013293,0.083828
27,4,552960,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.092075,-0.180420,0.887026,-0.484836,0.525687,-0.476801,-0.511125
27,4,552960,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084457,-0.075077,0.872199,0.999927,0.000000,-0.000000,-0.012062
27,4,552960,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.077747,0.078831,0.870870,0.998419,0.000000,-0.000000,0.056204
27,4,552960,55,gripper,0,"","put hamburger on frying pan",-0.120039,-0.151907,0.973433,-0.238553,-0.705904,-0.096009,0.659980
27,4,552960,56,obj,0,"014_hamburger_1","put hamburger on cutting board",6.072792,5.702637,0.023658,-0.239157,-0.822625,-0.154621,-0.492123
27,4,552960,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.108643,-0.079025,0.889733,0.339011,-0.630251,0.328731,0.616272
27,4,552960,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.210739,-0.080017,0.872199,0.996774,-0.000001,-0.000001,0.080261
27,4,552960,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084915,-0.074860,0.870870,1.000000,0.000000,0.000002,-0.000574
27,4,552960,56,gripper,0,"","put hamburger on cutting board",-0.098923,-0.016335,0.973158,-0.190312,-0.775404,-0.093299,0.594832
27,4,552960,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.010578,-0.055428,0.959301,0.979234,0.089177,0.106388,0.147753
27,4,552960,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.172474,-0.045990,0.887026,0.704110,0.007674,0.709665,-0.023349
27,4,552960,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.081913,-0.082729,0.872199,0.991614,-0.000000,-0.000001,0.129237
27,4,552960,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.227253,0.076668,0.870870,0.999867,0.000000,-0.000001,0.016326
27,4,552960,57,gripper,0,"","put hamburger on cutting board",-0.019480,-0.049952,0.996619,-0.087657,-0.788260,-0.005819,0.609039
27,4,552960,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086124,0.074833,0.888112,0.385885,-0.022463,-0.015935,0.922136
27,4,552960,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.217525,0.093246,0.892452,0.025934,-0.700115,0.713004,0.028129
27,4,552960,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114906,-0.072895,0.872199,0.999892,0.000001,-0.000000,-0.014682
27,4,552960,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.207054,0.076656,0.870871,0.999506,-0.000006,-0.000004,0.031422
27,4,552960,58,gripper,0,"","put hamburger on cutting board",-0.170542,0.107882,1.040948,0.084774,-0.706481,0.079440,0.698132
27,4,552960,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086235,-0.057114,0.890756,0.999484,-0.025791,0.016771,0.009216
27,4,552960,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.003494,0.053581,0.887024,0.699861,0.065613,0.706657,-0.080773
27,4,552960,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204996,-0.074993,0.872199,1.000000,-0.000001,-0.000001,-0.000129
27,4,552960,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084661,-0.074932,0.870870,0.999999,-0.000000,0.000000,-0.001595
27,4,552960,59,gripper,0,"","put hamburger on cutting board",-0.110085,-0.032181,1.029020,-0.024606,-0.736860,0.020697,0.675280
27,4,552960,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115964,-0.074333,0.888112,0.712965,-0.026883,-0.005989,0.700658
27,4,552960,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.253373,-0.031647,0.895314,0.543655,-0.463804,0.532709,0.453372
27,4,552960,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235579,-0.043724,0.872199,0.999965,-0.000000,-0.000000,0.008344
27,4,552960,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.079610,0.088177,0.870870,0.999381,0.000000,-0.000001,-0.035179
27,4,552960,60,gripper,0,"","put plastic bottle on frying pan",-0.172136,0.026970,0.968678,0.124894,-0.699213,0.205208,0.673344
27,4,552960,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085964,0.075615,0.888112,0.714517,-0.026898,-0.005928,0.699076
27,4,552960,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.125853,-0.023323,0.895317,0.462366,-0.544852,0.448656,0.536714
27,4,552960,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114895,-0.045071,0.872199,1.000000,-0.000000,-0.000000,-0.000258
27,4,552960,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.212790,0.052635,0.870870,0.998775,0.000001,-0.000000,-0.049473
27,4,552960,61,gripper,0,"","put plastic bottle on frying pan",-0.115157,0.004105,1.011391,-0.173589,-0.662369,-0.097853,0.722190
27,4,552960,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085926,0.075630,0.888112,0.712578,-0.026880,-0.006002,0.701052
27,4,552960,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.102036,-0.018764,0.910603,0.430685,-0.071792,0.161531,0.885022
27,4,552960,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.078568,-0.032841,0.872199,0.999999,-0.000001,-0.000001,0.001235
27,4,552960,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.195141,0.075428,0.870870,0.999153,-0.000000,-0.000001,-0.041141
27,4,552960,62,gripper,0,"","put plastic bottle on frying pan",-0.129999,-0.033516,0.943085,-0.313167,-0.687510,-0.212479,0.619765
27,4,552960,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.242268,-0.944248,0.022370,-0.460249,0.457309,-0.677296,-0.346856
27,4,552960,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.072208,-0.200367,0.887026,-0.307778,0.645159,-0.295717,-0.633714
27,4,552960,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084900,-0.074974,0.872199,1.000000,-0.000001,-0.000001,-0.000843
27,4,552960,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084202,0.078453,0.870870,0.999820,0.000000,-0.000001,-0.018951
27,4,552960,63,gripper,0,"","put plastic bottle on frying pan",-0.076183,-0.108255,0.970647,-0.176114,-0.801767,-0.134571,0.555017
28,1,558080,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.213692,-0.161629,0.879126,-0.462921,-0.527840,0.565014,-0.433415
28,1,558080,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084389,0.074242,0.881638,0.382558,0.034405,-0.019072,0.923093
28,1,558080,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.200256,-0.079010,0.872519,0.998891,0.005323,-0.044986,0.012802
28,1,558080,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000101
28,1,558080,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.247391,-0.079819,0.917507,0.005916,-0.738978,-0.003030,0.673696
28,1,558080,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.073578,0.099716,0.885083,0.597898,0.340265,-0.312960,0.654823
28,1,558080,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085106,-0.075996,0.881638,0.706928,0.024483,-0.030799,0.706190
28,1,558080,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085018,0.074989,0.869532,1.000000,-0.000000,-0.000000,0.000014
28,1,558080,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.044952,0.871288,0.999999,-0.000154,-0.001019,-0.000020
28,1,558080,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.161781,-0.017189,0.963610,-0.062553,-0.741297,-0.017555,0.668025
28,1,558080,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.185154,-0.032410,0.879213,-0.274064,-0.163999,0.946386,-0.048450
28,1,558080,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205853,0.075142,0.881638,0.999226,-0.004438,-0.039089,0.000211
28,1,558080,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.093952,-0.071373,0.869686,0.998900,0.001284,-0.002254,0.046828
28,1,558080,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000014
28,1,558080,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.164391,-0.099663,0.914696,-0.090977,-0.751550,-0.253500,0.602190
28,1,558080,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.196194,0.142563,0.879373,0.638066,-0.204135,0.189082,0.717947
28,1,558080,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.084406,0.074249,0.881638,0.382434,0.034428,-0.019071,0.923144
28,1,558080,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.221933,0.019257,0.869532,0.983175,0.000001,0.000000,-0.182668
28,1,558080,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
28,1,558080,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.156326,-0.029366,0.958067,-0.014246,-0.731487,0.014193,0.681559
28,1,558080,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.111547,0.053169,0.888158,0.649714,0.312534,-0.348776,0.598790
28,1,558080,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.225951,-0.087013,0.881668,0.580769,-0.019062,0.008129,0.813804
28,1,558080,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235000,0.074997,0.869532,1.000000,0.000001,-0.000001,-0.000000
28,1,558080,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114991,0.044998,0.871288,0.999999,-0.000153,-0.001019,-0.000005
28,1,558080,4,gripper,0,"","put ketchup bottle on cloth",-0.248474,-0.089630,0.914430,-0.154604,-0.721223,-0.054747,0.673007
28,1,558080,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.223837,-0.112724,0.883665,-0.653376,0.348884,-0.483098,-0.466901
28,1,558080,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085752,0.074425,0.881638,0.923173,0.010863,-0.037841,0.382362
28,1,558080,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205000,0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000011
28,1,558080,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.203405,-0.073715,0.871308,0.999971,0.001024,-0.000087,-0.007532
28,1,558080,5,gripper,0,"","put ketchup bottle on cloth",-0.243442,-0.101868,0.935777,-0.057987,-0.744871,-0.077633,0.660134
28,1,558080,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.172054,-0.086998,0.879373,0.959459,-0.007282,0.278154,0.044893
28,1,558080,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114872,0.046722,0.881638,0.928391,0.010331,-0.037981,0.369515
28,1,558080,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
28,1,558080,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000193
28,1,558080,6,gripper,0,"","put ketchup bottle on cloth",-0.196306,-0.063351,0.941881,-0.050789,-0.705683,-0.041075,0.705510
28,1,558080,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.226986,0.107307,0.887757,0.574774,-0.413471,0.509105,0.489375
28,1,558080,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085110,0.074020,0.881638,0.706832,0.024504,-0.030812,0.706285
28,1,558080,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
28,1,558080,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000115
28,1,558080,7,gripper,0,"","put ketchup bottle on cloth",-0.145170,0.015713,1.000784,0.082484,-0.719486,0.028591,0.688998
28,1,558080,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.078346,-0.082169,0.879146,0.338501,0.413093,-0.169395,0.828297
28,1,558080,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.075165,0.070576,0.881638,0.321012,0.035618,-0.016779,0.946256
28,1,558080,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.229187,-0.074814,0.869532,0.997649,-0.000000,-0.000001,-0.068525
28,1,558080,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.075035,0.871210,0.999984,-0.003909,-0.004129,0.000110
28,1,558080,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.155693,-0.075079,0.959447,-0.031351,-0.711501,-0.015157,0.701822
28,1,558080,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244774,-0.044991,0.879088,0.886322,-0.001836,-0.463065,-0.000411
28,1,558080,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.064571,-0.074696,0.881637,0.993262,-0.009243,0.056668,0.100664
28,1,558080,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000012
28,1,558080,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
28,1,558080,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.089003,-0.075077,0.912856,0.010242,-0.708160,0.030895,0.705301
28,1,558080,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244732,-0.074993,0.879087,0.886578,-0.001642,-0.462576,0.000041
28,1,558080,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.104462,-0.038322,0.879318,-0.070542,-0.607303,0.787879,0.073856
28,1,558080,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114506,-0.045486,0.869532,1.000000,0.000000,-0.000001,-0.000354
28,1,558080,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000145
28,1,558080,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.271698,-0.079489,0.915533,-0.058360,-0.683926,-0.000899,0.727213
28,1,558080,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210699,-0.070438,0.879864,0.907302,-0.025568,0.416308,0.053266
28,1,558080,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.193409,0.072048,0.881638,0.995383,-0.007852,-0.038553,-0.087550
28,1,558080,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000016
28,1,558080,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084978,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000040
28,1,558080,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.239584,-0.058935,0.914340,-0.076502,-0.739872,0.039222,0.667232
28,1,558080,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.219717,-0.046345,0.879804,0.550451,-0.135678,0.090121,0.818824
28,1,558080,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.123209,-0.082111,0.888503,0.506879,-0.069174,-0.010490,0.859173
28,1,558080,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.097953,0.068424,0.869532,0.970700,0.000000,-0.000000,0.240294
28,1,558080,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084932,-0.074959,0.871288,0.999999,-0.000154,-0.001019,-0.000378
28,1,558080,12,gripper,0,"","put kitchen shovel on cloth",-0.172834,-0.109411,0.919860,-0.203812,-0.750304,-0.167630,0.606139
28,1,558080,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214743,0.075012,0.879089,0.886323,-0.001359,-0.463065,0.000503
28,1,558080,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.186594,-0.069546,0.881637,0.998761,-0.003250,-0.039203,0.030481
28,1,558080,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,-0.075001,0.869532,1.000000,0.000000,0.000000,0.000022
28,1,558080,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
28,1,558080,13,gripper,0,"","put kitchen shovel on cloth",-0.261518,-0.079819,0.915671,0.099246,-0.647155,0.138275,0.743116
28,1,558080,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214752,0.075005,0.879088,0.886322,-0.001279,-0.463068,0.000658
28,1,558080,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.042309,-0.078144,0.881641,0.952385,0.007837,0.039407,-0.302240
28,1,558080,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000010
28,1,558080,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
28,1,558080,14,gripper,0,"","put kitchen shovel on cloth",-0.103014,0.077055,0.954239,0.177452,-0.761840,0.155622,0.603234
28,1,558080,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.128513,0.067024,0.879373,-0.959906,0.004131,-0.278220,-0.034022
28,1,558080,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085964,0.075115,0.881638,0.999226,-0.004457,-0.039086,-0.000289
28,1,558080,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
28,1,558080,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
28,1,558080,15,gripper,0,"","put kitchen shovel on cloth",-0.182911,-0.092596,0.944583,-0.104779,-0.754813,-0.120557,0.636196
28,1,558080,16,obj,0,"003_bread_1","put bread on newspaper",-0.239494,-0.105572,0.886412,-0.014016,0.384295,-0.918419,-0.092883
28,1,558080,16,obj,1,"005_7up can_1","put bread on newspaper",-0.211739,-0.050781,0.887776,0.559534,0.448961,-0.437935,0.541819
28,1,558080,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.235092,-0.075085,0.869490,0.999999,0.000557,0.001429,-0.000170
28,1,558080,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114998,-0.044987,0.870447,0.999999,-0.000923,-0.000845,-0.000021
28,1,558080,16,gripper,0,"","put bread on newspaper",-0.217194,-0.041874,0.985048,0.028842,-0.748865,0.083167,0.656851
28,1,558080,17,obj,0,"003_bread_1","put bread on newspaper",-0.218269,-0.057529,0.886539,0.890347,0.010106,-0.007518,0.455108
28,1,558080,17,obj,1,"005_7up can_1","put bread on newspaper",-0.165363,-0.050861,0.887238,0.717835,0.087591,-0.041678,0.689422
28,1,558080,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
28,1,558080,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.075008,0.870460,1.000000,0.000019,-0.000159,-0.000052
28,1,558080,17,gripper,0,"","put bread on newspaper",-0.159369,-0.011478,0.970848,-0.030881,-0.685265,-0.021377,0.727325
28,1,558080,18,obj,0,"003_bread_1","put bread on newspaper",-0.187752,-0.070229,0.886225,0.866916,0.013413,0.002052,0.498270
28,1,558080,18,obj,1,"005_7up can_1","put bread on newspaper",-0.200146,-0.006664,0.975321,0.725900,0.189155,-0.171860,0.638556
28,1,558080,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
28,1,558080,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.075008,0.870460,1.000000,0.000019,-0.000158,-0.000065
28,1,558080,18,gripper,0,"","put bread on newspaper",-0.206705,-0.007250,1.010426,0.056599,-0.691012,0.028226,0.720071
28,1,558080,19,obj,0,"003_bread_1","put bread on newspaper",-0.204519,-0.046043,0.886616,0.983142,0.005453,-0.009474,0.182517
28,1,558080,19,obj,1,"005_7up can_1","put bread on newspaper",-0.281654,-0.228542,0.885720,0.842572,-0.145728,0.279891,0.436460
28,1,558080,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.114996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
28,1,558080,19,recep,1,"003_carpet_1","put bread on newspaper",-0.204720,-0.075077,0.870421,0.999999,-0.000314,-0.000903,-0.001304
28,1,558080,19,gripper,0,"","put bread on newspaper",-0.129305,-0.014883,0.999706,-0.006405,-0.715947,0.010058,0.698053
28,1,558080,20,obj,0,"003_bread_1","put bread on carpet",-0.236514,-0.062431,0.886652,0.999900,0.001512,-0.010458,0.009405
28,1,558080,20,obj,1,"005_7up can_1","put bread on carpet",-0.247984,0.074989,0.885682,0.920019,0.001798,-0.391867,-0.001003
28,1,558080,20,recep,0,"004_newspaper_1","put bread on carpet",-0.114997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
28,1,558080,20,recep,1,"003_carpet_1","put bread on carpet",-0.235030,-0.075005,0.870466,0.999999,-0.000934,-0.001034,0.000125
28,1,558080,20,gripper,0,"","put bread on carpet",-0.252346,0.066582,0.944189,0.026502,-0.712471,-0.062711,0.698390
28,1,558080,21,obj,0,"003_bread_1","put bread on carpet",-0.084482,-0.075470,0.883544,0.383905,0.012268,-0.003131,0.923286
28,1,558080,21,obj,1,"005_7up can_1","put bread on carpet",-0.207521,0.013466,0.886353,0.571596,-0.320238,0.239749,0.716412
28,1,558080,21,recep,0,"004_newspaper_1","put bread on carpet",-0.233728,0.075260,0.869490,0.999973,0.000540,0.001431,0.007148
28,1,558080,21,recep,1,"003_carpet_1","put bread on carpet",-0.204201,-0.045589,0.870448,0.999987,-0.000879,-0.000801,-0.004856
28,1,558080,21,gripper,0,"","put bread on carpet",-0.116239,0.111774,0.977874,0.139155,-0.668461,0.088742,0.725204
28,1,558080,22,obj,0,"003_bread_1","put bread on carpet",-0.205093,-0.064960,0.886554,0.592555,0.013340,-0.004455,0.805407
28,1,558080,22,obj,1,"005_7up can_1","put bread on carpet",-0.085182,-0.082607,0.885627,0.687222,0.161037,-0.168389,0.688068
28,1,558080,22,recep,0,"004_newspaper_1","put bread on carpet",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
28,1,558080,22,recep,1,"003_carpet_1","put bread on carpet",-0.205059,-0.075718,0.870367,0.999980,0.000238,-0.001209,-0.006255
28,1,558080,22,gripper,0,"","put bread on carpet",-0.086292,-0.067644,0.941703,-0.005139,-0.780320,-0.014442,0.625192
28,1,558080,23,obj,0,"003_bread_1","put bread on carpet",-0.217285,-0.021751,0.886528,0.883495,0.009090,-0.007902,0.468285
28,1,558080,23,obj,1,"005_7up can_1","put bread on carpet",-0.090523,0.069721,0.885627,0.897921,0.084514,-0.217131,0.373429
28,1,558080,23,recep,0,"004_newspaper_1","put bread on carpet",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
28,1,558080,23,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.044994,0.870446,0.999999,-0.000727,-0.001046,0.000010
28,1,558080,23,gripper,0,"","put bread on carpet",-0.092566,0.070713,0.959519,0.011131,-0.717161,-0.012409,0.696708
28,1,558080,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.205788,0.075279,0.883544,0.999899,0.001746,-0.012535,-0.006428
28,1,558080,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.012894,-0.039871,0.886026,-0.295776,-0.013149,-0.955163,0.002602
28,1,558080,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000016
28,1,558080,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.099312,-0.078243,0.870063,0.996079,-0.002515,-0.001693,-0.088411
28,1,558080,24,gripper,0,"","put 7up can on newspaper",-0.097725,-0.040724,0.916159,-0.101485,-0.767479,-0.190093,0.603773
28,1,558080,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.235538,0.045128,0.883544,0.999915,0.001782,-0.012529,-0.002974
28,1,558080,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.111820,-0.124769,0.885727,0.627147,0.040379,-0.034327,0.777096
28,1,558080,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.063007,-0.025278,0.869490,0.987938,0.000042,0.000892,0.154850
28,1,558080,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114380,0.080055,0.870362,0.999074,-0.000448,-0.001763,0.042993
28,1,558080,25,gripper,0,"","put 7up can on newspaper",-0.132421,-0.129247,0.924483,-0.079666,-0.791899,-0.098970,0.597290
28,1,558080,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.254978,0.080109,0.886949,0.995702,0.006237,0.002091,0.092385
28,1,558080,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.227165,0.050741,0.946300,0.736605,0.328062,-0.227993,0.545717
28,1,558080,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235111,0.074995,0.869490,1.000000,0.000180,0.000875,0.000240
28,1,558080,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,0.045019,0.870447,0.999999,-0.000923,-0.000845,-0.000022
28,1,558080,26,gripper,0,"","put 7up can on newspaper",-0.223576,0.053292,0.983904,0.033640,-0.672082,0.090900,0.734106
28,1,558080,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.234489,0.074514,0.883544,0.383718,0.012261,-0.003128,0.923364
28,1,558080,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.259249,-0.038321,0.885680,0.602525,-0.304365,0.257754,0.691295
28,1,558080,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114994,0.045002,0.869490,1.000000,0.000180,0.000874,0.000009
28,1,558080,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
28,1,558080,27,gripper,0,"","put 7up can on newspaper",-0.272248,-0.049572,0.937585,0.119678,-0.701778,0.040881,0.701080
28,1,558080,28,obj,0,"003_bread_1","put 7up can on carpet",-0.143871,-0.062353,0.883615,0.033662,-0.312687,0.945666,0.082517
28,1,558080,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.236008,-0.034786,0.888745,0.626401,-0.176184,0.155545,0.743227
28,1,558080,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
28,1,558080,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.236422,-0.071949,0.870466,0.999874,-0.000934,-0.001064,0.015817
28,1,558080,28,gripper,0,"","put 7up can on carpet",-0.152111,-0.049447,0.950250,-0.033960,-0.778638,0.017503,0.626309
28,1,558080,29,obj,0,"003_bread_1","put 7up can on carpet",-0.124659,0.088144,0.883544,0.945697,-0.002349,-0.012441,-0.324804
28,1,558080,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.086712,0.072546,0.885755,0.881249,-0.091215,-0.423903,-0.188113
28,1,558080,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234999,-0.045000,0.869490,1.000000,0.000180,0.000874,0.000010
28,1,558080,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
28,1,558080,29,gripper,0,"","put 7up can on carpet",-0.119484,0.079584,0.942929,0.074191,-0.782644,0.022993,0.617605
28,1,558080,30,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
28,1,558080,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.163811,-0.105997,0.885720,-0.516766,0.048218,-0.027585,-0.854322
28,1,558080,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,-0.044996,0.869489,0.999999,0.000549,0.001425,0.000071
28,1,558080,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074982,0.870448,0.999999,-0.000916,-0.000839,-0.000023
28,1,558080,30,gripper,0,"","put 7up can on carpet",-0.195421,-0.022613,0.939477,0.071938,-0.750772,0.037051,0.655586
28,1,558080,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085125,-0.075542,0.883544,0.709126,0.010126,-0.007601,0.704968
28,1,558080,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.084610,0.264505,0.885951,0.340440,0.495993,-0.769038,0.216036
28,1,558080,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
28,1,558080,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085030,0.075008,0.870448,0.999999,-0.000923,-0.000846,0.000040
28,1,558080,31,gripper,0,"","put 7up can on carpet",-0.126781,0.214551,0.918280,0.099418,-0.735688,-0.037828,0.668916
28,1,558080,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118126,-0.042214,0.887481,0.996805,-0.000722,0.023179,0.076438
28,1,558080,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013317,0.002051,-0.000100
28,1,558080,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
28,1,558080,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.234879,-0.074973,0.874362,0.999997,-0.000000,-0.000000,0.002496
28,1,558080,32,gripper,0,"","put carrot on sheet metal",-0.220676,-0.064471,0.961212,-0.122082,-0.750150,-0.245149,0.601892
28,1,558080,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210052,0.029167,0.887441,0.986695,-0.003548,0.021739,0.161083
28,1,558080,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
28,1,558080,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
28,1,558080,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,1,558080,33,gripper,0,"","put carrot on sheet metal",-0.190256,0.019346,1.025987,-0.035130,-0.700797,0.013070,0.712375
28,1,558080,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.087868,0.078744,0.887532,0.911740,-0.016263,0.034767,0.408971
28,1,558080,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.234676,-0.075308,0.878547,0.923613,0.011484,0.006981,0.383090
28,1,558080,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
28,1,558080,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
28,1,558080,34,gripper,0,"","put carrot on sheet metal",-0.077364,0.076693,0.961358,-0.000596,-0.715244,0.047335,0.697269
28,1,558080,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205709,-0.083922,0.885932,0.520153,0.498837,0.501158,0.479002
28,1,558080,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007930,0.010833,0.707290
28,1,558080,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
28,1,558080,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
28,1,558080,35,gripper,0,"","put carrot on sheet metal",-0.178212,-0.060910,0.973714,-0.078724,-0.729328,-0.019745,0.679333
28,1,558080,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.248948,0.081502,0.887218,0.345210,-0.028856,0.002488,0.938079
28,1,558080,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204691,-0.074681,0.878547,0.382268,0.003192,0.013080,0.923954
28,1,558080,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
28,1,558080,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,1,558080,36,gripper,0,"","put carrot on flat bowl",-0.209280,0.093769,0.980296,-0.023371,-0.663515,0.025314,0.747369
28,1,558080,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.232273,0.050633,0.887528,0.998905,0.000774,0.043214,-0.017891
28,1,558080,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011481,0.006979,0.382998
28,1,558080,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
28,1,558080,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
28,1,558080,37,gripper,0,"","put carrot on flat bowl",-0.211347,0.054122,0.983847,-0.031102,-0.707806,-0.021813,0.705384
28,1,558080,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122406,-0.079707,0.887774,0.508648,0.059967,-0.002326,0.858881
28,1,558080,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007967,0.010869,0.707323
28,1,558080,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000158,0.001163,-0.000026
28,1,558080,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,1,558080,38,gripper,0,"","put carrot on flat bowl",-0.126760,-0.140326,0.914481,-0.151766,-0.760114,-0.016245,0.631609
28,1,558080,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.127388,0.088738,0.887015,0.344972,0.036100,-0.013280,0.937825
28,1,558080,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
28,1,558080,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.208454,0.074379,0.871344,0.999981,-0.000165,0.001163,0.006030
28,1,558080,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
28,1,558080,39,gripper,0,"","put carrot on flat bowl",-0.072695,0.061972,0.999501,-0.010207,-0.722339,-0.001763,0.691462
28,1,558080,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204124,0.044649,0.887231,0.999463,-0.007688,0.031784,-0.001996
28,1,558080,40,obj,1,"013_banana_1","put banana on sheet metal",-0.085007,-0.075430,0.878547,0.999910,0.013281,0.002046,-0.000091
28,1,558080,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
28,1,558080,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000001,-0.000001,0.000145
28,1,558080,40,gripper,0,"","put banana on sheet metal",-0.163761,-0.024508,0.971967,-0.004801,-0.709443,-0.006188,0.704719
28,1,558080,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.204216,0.076744,0.887528,0.919597,-0.016893,0.039783,0.390478
28,1,558080,41,obj,1,"013_banana_1","put banana on sheet metal",-0.085197,-0.074068,0.878547,0.942874,0.011885,0.006375,0.332875
28,1,558080,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
28,1,558080,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
28,1,558080,41,gripper,0,"","put banana on sheet metal",-0.115229,-0.063353,0.991309,0.148710,-0.743706,0.031720,0.650984
28,1,558080,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.243641,0.070253,0.887352,0.251805,-0.033944,0.013751,0.967085
28,1,558080,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084698,-0.074671,0.878547,0.382531,0.003199,0.013088,0.923844
28,1,558080,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
28,1,558080,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
28,1,558080,42,gripper,0,"","put banana on sheet metal",-0.058641,-0.011047,1.011900,0.067604,-0.688480,0.071752,0.718524
28,1,558080,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.163454,0.069405,0.899562,0.157038,-0.106942,0.015085,0.981669
28,1,558080,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234734,-0.044712,0.878547,0.382983,0.003196,0.013058,0.923657
28,1,558080,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,0.044989,0.871344,0.999999,-0.000158,0.001164,-0.000057
28,1,558080,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.204996,0.074989,0.874362,0.999998,0.001250,0.001247,-0.000547
28,1,558080,43,gripper,0,"","put banana on sheet metal",-0.185358,-0.016789,0.992822,-0.006082,-0.690784,0.019178,0.722781
28,1,558080,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239852,-0.080252,0.887309,0.995251,-0.002189,0.027040,-0.093489
28,1,558080,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234256,0.074070,0.878547,0.999908,0.013289,0.002075,0.001985
28,1,558080,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
28,1,558080,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
28,1,558080,44,gripper,0,"","put banana on flat bowl",-0.204822,0.078180,0.942360,0.029308,-0.750858,-0.000412,0.659813
28,1,558080,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117393,0.048946,0.887171,0.996758,0.006733,0.023003,0.076800
28,1,558080,45,obj,1,"013_banana_1","put banana on flat bowl",-0.207222,-0.042622,0.878547,0.991200,0.012925,0.003784,0.131685
28,1,558080,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074915,0.871345,0.999999,-0.000157,0.001164,-0.000010
28,1,558080,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
28,1,558080,45,gripper,0,"","put banana on flat bowl",-0.173323,-0.034549,0.939851,-0.096027,-0.681633,-0.087409,0.720080
28,1,558080,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
28,1,558080,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
28,1,558080,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
28,1,558080,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
28,1,558080,46,gripper,0,"","put banana on flat bowl",-0.047956,0.001380,1.021263,-0.072325,-0.715738,-0.106431,0.686411
28,1,558080,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088104,0.078621,0.887568,0.910780,-0.014106,0.023254,0.411994
28,1,558080,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075306,0.878547,0.923818,0.011497,0.006980,0.382596
28,1,558080,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
28,1,558080,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000148
28,1,558080,47,gripper,0,"","put banana on flat bowl",-0.077934,-0.029277,1.008727,-0.109310,-0.668717,-0.018044,0.735216
28,1,558080,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.094093,-0.028389,0.888691,0.158167,-0.039804,0.052218,0.985227
28,1,558080,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.107605,0.097198,0.887055,0.245948,-0.660383,0.229597,0.671334
28,1,558080,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205009,0.075005,0.872199,1.000000,0.000001,-0.000001,-0.000020
28,1,558080,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234985,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
28,1,558080,48,gripper,0,"","put hamburger on frying pan",-0.108185,-0.035528,0.928199,-0.101159,-0.761272,-0.077895,0.635739
28,1,558080,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.098644,0.003716,0.894957,0.045576,-0.163898,0.055930,0.983835
28,1,558080,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106396,0.095165,0.887027,0.263077,-0.664123,0.250252,0.653533
28,1,558080,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
28,1,558080,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000001,0.000001,0.000002
28,1,558080,49,gripper,0,"","put hamburger on frying pan",-0.115881,-0.003363,0.917524,-0.205835,-0.768160,-0.149275,0.587605
28,1,558080,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.247696,0.069439,0.889068,0.994477,0.037031,-0.071988,0.066792
28,1,558080,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.205631,-0.074211,0.887026,0.704495,-0.016915,0.709506,0.001057
28,1,558080,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
28,1,558080,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
28,1,558080,50,gripper,0,"","put hamburger on frying pan",-0.242590,0.069960,0.922829,-0.062478,-0.716778,-0.064030,0.691538
28,1,558080,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.069590,-0.050190,0.888694,0.950831,-0.042824,-0.062994,-0.300196
28,1,558080,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.185265,-0.078945,0.887027,0.699177,-0.102755,0.702230,0.086407
28,1,558080,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
28,1,558080,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235004,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000011
28,1,558080,51,gripper,0,"","put hamburger on frying pan",-0.077063,-0.061682,0.926367,-0.060428,-0.762632,-0.126830,0.631391
28,1,558080,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.245299,0.081264,0.888112,0.434125,-0.023274,-0.014722,0.900432
28,1,558080,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.149859,0.042294,0.889704,0.525672,-0.484201,0.518944,0.468952
28,1,558080,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
28,1,558080,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.111901,0.048161,0.870871,0.999675,0.000000,-0.000005,-0.025480
28,1,558080,52,gripper,0,"","put hamburger on cutting board",-0.181901,0.008545,1.013685,0.023187,-0.682918,-0.031224,0.729459
28,1,558080,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.188812,0.097729,0.890494,0.410422,-0.023155,-0.012796,0.911512
28,1,558080,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.251169,-0.020779,0.887026,0.313778,-0.642329,0.301829,0.630758
28,1,558080,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
28,1,558080,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.074997,0.870870,1.000000,-0.000002,-0.000004,-0.000045
28,1,558080,53,gripper,0,"","put hamburger on cutting board",-0.232574,0.040400,0.966724,-0.123155,-0.649372,-0.181751,0.728091
28,1,558080,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.074905,-0.069519,0.890759,0.890326,-0.028438,0.005548,0.454401
28,1,558080,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.185238,0.097263,0.887027,0.658206,-0.267761,0.657258,0.251159
28,1,558080,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084908,0.075024,0.872199,1.000000,-0.000000,-0.000001,-0.000774
28,1,558080,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084995,-0.074997,0.870870,1.000000,0.000000,-0.000000,-0.000007
28,1,558080,54,gripper,0,"","put hamburger on cutting board",-0.152622,-0.075130,0.960972,0.025031,-0.732463,-0.044806,0.678869
28,1,558080,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
28,1,558080,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215816,0.067650,0.889695,0.482656,-0.525421,0.479334,0.511092
28,1,558080,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
28,1,558080,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204689,0.045509,0.870870,1.000000,0.000006,0.000005,-0.000376
28,1,558080,55,gripper,0,"","put hamburger on cutting board",-0.062826,0.033806,0.961681,0.022257,-0.771826,0.058858,0.632712
28,1,558080,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084351,-0.074078,0.888112,0.999583,-0.023241,0.014777,-0.008626
28,1,558080,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.135674,0.028885,0.897391,0.967335,-0.188124,0.082480,0.148559
28,1,558080,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000410
28,1,558080,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.074600,0.076015,0.870946,0.999590,0.000025,-0.000876,0.028633
28,1,558080,56,gripper,0,"","put plastic bottle on frying pan",-0.167778,0.056105,0.922262,0.150450,-0.770820,0.016510,0.618813
28,1,558080,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.075161,0.125610,0.894876,0.825071,-0.100701,0.080077,0.550186
28,1,558080,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.215202,-0.053768,0.887027,0.649412,-0.289660,0.647902,0.273101
28,1,558080,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084290,0.074059,0.877288,0.997770,-0.051725,0.040284,-0.012543
28,1,558080,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
28,1,558080,57,gripper,0,"","put plastic bottle on frying pan",-0.066429,0.128506,0.937306,-0.121359,-0.698336,-0.058532,0.702975
28,1,558080,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
28,1,558080,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.099663,-0.057850,0.895253,0.450674,-0.554235,0.436478,0.546994
28,1,558080,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084522,-0.074829,0.872199,0.999980,0.000000,-0.000000,-0.006325
28,1,558080,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
28,1,558080,58,gripper,0,"","put plastic bottle on frying pan",-0.086861,0.070896,0.974890,-0.013149,-0.748144,-0.054582,0.661157
28,1,558080,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.116102,0.044746,0.888112,0.388463,-0.022506,-0.015871,0.921053
28,1,558080,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.257402,0.008026,0.886234,-0.716726,0.008703,0.004468,-0.697286
28,1,558080,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234987,-0.074959,0.872199,0.999999,0.000000,-0.000000,-0.001378
28,1,558080,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235048,0.075077,0.870884,0.999999,0.000705,0.000722,-0.000384
28,1,558080,59,gripper,0,"","put plastic bottle on frying pan",-0.175797,-0.064035,0.968725,-0.070682,-0.702547,-0.049951,0.706354
28,1,558080,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085959,0.075619,0.888112,0.711859,-0.026873,-0.006033,0.701782
28,1,558080,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.231263,-0.058834,0.889649,0.464582,-0.541652,0.460729,0.527737
28,1,558080,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
28,1,558080,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235310,-0.075291,0.870869,0.999999,0.000003,0.000009,0.001139
28,1,558080,60,gripper,0,"","put plastic bottle on cutting board",-0.111635,0.026157,1.035970,-0.074793,-0.751331,-0.060439,0.652882
28,1,558080,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.212498,-0.246582,0.022714,0.014613,-0.690967,0.706071,-0.154319
28,1,558080,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.924532,-0.432732,0.017291,-0.971620,0.006061,-0.021605,0.235481
28,1,558080,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000006
28,1,558080,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204981,-0.075016,0.870870,1.000000,0.000000,-0.000000,0.000033
28,1,558080,61,gripper,0,"","put plastic bottle on cutting board",-0.147579,-0.036306,0.963855,-0.107907,-0.696912,-0.108396,0.700657
28,1,558080,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
28,1,558080,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.190495,0.157551,0.889917,-0.044494,-0.651389,0.757163,-0.020426
28,1,558080,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000234
28,1,558080,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235920,0.075043,0.870870,0.999992,0.000001,-0.000001,0.003948
28,1,558080,62,gripper,0,"","put plastic bottle on cutting board",-0.187935,0.154940,0.914820,0.102109,-0.743089,0.070316,0.657608
28,1,558080,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
28,1,558080,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.173710,-0.045937,0.887026,0.704496,-0.016235,0.709522,0.000382
28,1,558080,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
28,1,558080,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
28,1,558080,63,gripper,0,"","put plastic bottle on cutting board",-0.169115,-0.041233,0.952301,-0.029274,-0.755074,0.024507,0.654527
28,2,563200,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.179703,-0.164162,0.879125,-0.411176,-0.588132,0.502233,-0.482490
28,2,563200,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,0.074242,0.881638,0.382477,0.034431,-0.019077,0.923126
28,2,563200,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.181160,-0.043785,0.869532,0.994797,0.000000,-0.000002,-0.101872
28,2,563200,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000154
28,2,563200,0,gripper,0,"","put ketchup bottle on cloth",-0.217884,-0.110020,0.914100,0.152498,-0.748549,0.188060,0.617294
28,2,563200,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.072540,0.056839,0.885122,0.504710,0.467336,-0.616242,0.383550
28,2,563200,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085106,-0.076004,0.881638,0.707063,0.024476,-0.030803,0.706055
28,2,563200,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085476,0.070023,0.869532,0.999191,-0.000000,-0.000000,-0.040217
28,2,563200,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.044952,0.871288,1.000000,-0.000154,-0.001019,-0.000171
28,2,563200,1,gripper,0,"","put ketchup bottle on cloth",-0.135374,-0.036495,0.966112,0.077133,-0.803384,-0.021851,0.590040
28,2,563200,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.200447,-0.035851,0.878982,0.757906,0.042416,0.649715,-0.040611
28,2,563200,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.206619,0.075600,0.881637,0.999202,-0.004174,-0.039134,0.006827
28,2,563200,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.093395,-0.071312,0.869532,0.998586,-0.000000,-0.000001,0.053162
28,2,563200,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.044998,0.871289,1.000000,-0.000154,-0.001019,-0.000046
28,2,563200,2,gripper,0,"","put ketchup bottle on cloth",-0.290205,-0.065746,0.914387,0.080780,-0.750295,0.009682,0.656078
28,2,563200,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202553,0.033386,0.885369,0.613281,-0.210452,0.182040,0.739228
28,2,563200,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084408,0.074249,0.881638,0.382357,0.034407,-0.019060,0.923177
28,2,563200,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.221920,0.019257,0.869532,0.983170,0.000001,-0.000001,-0.182690
28,2,563200,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
28,2,563200,3,gripper,0,"","put ketchup bottle on cloth",-0.106801,0.061928,0.924568,-0.090877,-0.757144,-0.077865,0.642193
28,2,563200,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.111547,0.053169,0.888158,0.649724,0.312518,-0.348757,0.598798
28,2,563200,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.237429,0.055504,0.887292,0.729452,0.016960,-0.037732,0.682780
28,2,563200,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.226599,0.078201,0.869532,0.997885,-0.000000,-0.000000,0.065009
28,2,563200,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114991,0.044998,0.871288,1.000000,-0.000154,-0.001019,-0.000005
28,2,563200,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.235139,0.058414,0.953687,0.002790,-0.748578,0.033550,0.662192
28,2,563200,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.225107,-0.114372,0.883803,-0.640662,0.360471,-0.480476,-0.478283
28,2,563200,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.220867,0.064537,0.887389,0.753353,-0.035608,0.024316,0.656201
28,2,563200,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.216520,0.057785,0.869532,0.973903,0.000001,-0.000000,-0.226963
28,2,563200,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.203411,-0.073700,0.871265,0.999970,-0.001272,-0.001924,-0.007437
28,2,563200,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.169996,0.017406,0.970897,-0.026931,-0.653404,-0.053263,0.754653
28,2,563200,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.162888,-0.082863,0.879545,0.985411,0.012253,-0.052266,0.161504
28,2,563200,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.096458,-0.051270,0.891636,0.686150,0.057138,0.027507,0.724691
28,2,563200,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085014,-0.075005,0.869532,1.000000,0.000000,-0.000000,0.000570
28,2,563200,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.238319,0.072701,0.871288,0.999852,-0.000171,-0.001016,-0.017150
28,2,563200,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.153944,-0.099915,0.950469,-0.137089,-0.726762,-0.095761,0.666223
28,2,563200,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.226986,0.107315,0.887757,0.574770,-0.413476,0.509081,0.489402
28,2,563200,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.108452,-0.069641,0.887147,0.769589,-0.033644,0.012946,0.637520
28,2,563200,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084995,-0.075012,0.869533,1.000000,0.000001,-0.000000,-0.000109
28,2,563200,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000110
28,2,563200,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.202511,-0.030724,0.982779,0.116067,-0.638725,0.196647,0.734771
28,2,563200,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.078224,-0.082355,0.879089,0.335918,0.427900,-0.177003,0.820201
28,2,563200,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.166901,0.068375,0.885898,0.646184,0.057878,0.033786,0.760233
28,2,563200,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.229187,-0.074814,0.869532,0.997649,-0.000000,-0.000001,-0.068525
28,2,563200,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235184,0.074875,0.871210,0.999972,-0.003928,-0.004110,-0.004788
28,2,563200,8,gripper,0,"","put kitchen shovel on cloth",-0.129677,0.038990,0.971769,0.023749,-0.757650,0.014974,0.652057
28,2,563200,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244774,-0.044991,0.879088,0.886321,-0.001850,-0.463067,-0.000437
28,2,563200,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.290493,-1.105923,0.004850,-0.027765,-0.289302,-0.952604,-0.089878
28,2,563200,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000023
28,2,563200,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
28,2,563200,9,gripper,0,"","put kitchen shovel on cloth",0.068937,-0.052406,0.894424,0.538220,-0.119117,0.834299,0.008699
28,2,563200,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244728,-0.074993,0.879087,0.886577,-0.001583,-0.462578,0.000155
28,2,563200,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.216709,0.046455,0.893991,-0.199617,-0.531255,0.813415,0.127581
28,2,563200,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114197,-0.046810,0.869532,0.999950,-0.000000,-0.000001,-0.009995
28,2,563200,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000193
28,2,563200,10,gripper,0,"","put kitchen shovel on cloth",-0.236698,0.071457,0.964745,0.043070,-0.637709,0.187810,0.745788
28,2,563200,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.190792,-0.071899,0.879703,0.469463,0.065211,0.879469,-0.043432
28,2,563200,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.179596,0.064423,0.881677,0.943859,-0.020750,-0.047870,-0.326204
28,2,563200,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.085001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000013
28,2,563200,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084965,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000073
28,2,563200,11,gripper,0,"","put kitchen shovel on cloth",-0.247123,0.016745,0.913032,-0.131890,-0.706138,-0.137491,0.681960
28,2,563200,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.073923,0.050610,0.885085,0.632637,0.323123,-0.331590,0.620814
28,2,563200,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.123209,-0.082111,0.888503,0.506878,-0.069198,-0.010475,0.859172
28,2,563200,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.086183,0.050343,0.869532,0.954705,-0.000001,-0.000000,0.297552
28,2,563200,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084932,-0.074959,0.871288,0.999999,-0.000154,-0.001019,-0.000378
28,2,563200,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.237431,0.020754,0.940623,-0.046165,-0.778258,-0.076179,0.621594
28,2,563200,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.113861,0.026085,0.937060,0.578164,0.465924,0.574599,-0.344205
28,2,563200,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.176964,-0.093945,0.881641,0.990587,0.000817,0.040155,-0.130856
28,2,563200,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.075001,0.869532,1.000000,0.000000,-0.000000,0.000017
28,2,563200,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.078432,0.074123,0.871288,0.999895,-0.000139,-0.001021,0.014429
28,2,563200,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.145456,0.026869,0.971610,-0.159422,-0.765052,-0.005517,0.623898
28,2,563200,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.209251,-0.082771,0.885678,-0.805962,0.180930,-0.305800,-0.473472
28,2,563200,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.042309,-0.078144,0.881641,0.952395,0.007838,0.039415,-0.302205
28,2,563200,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.225391,-0.049034,0.869541,0.991988,-0.000113,0.000081,-0.126329
28,2,563200,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000154,-0.001019,0.000019
28,2,563200,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.224783,-0.022448,0.920892,-0.200731,-0.686097,0.220138,0.663715
28,2,563200,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.107281,0.016495,0.879091,-0.872196,-0.082694,0.454112,-0.161918
28,2,563200,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.087708,0.072845,0.881638,0.987028,0.001698,-0.039309,0.155655
28,2,563200,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000004
28,2,563200,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
28,2,563200,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.154406,0.017637,0.918291,0.210169,-0.713692,0.047703,0.666481
28,2,563200,16,obj,0,"003_bread_1","put bread on carpet",-0.136894,-0.021778,0.886744,0.998131,0.002523,-0.009700,0.060275
28,2,563200,16,obj,1,"005_7up can_1","put bread on carpet",-0.214256,-0.045727,0.887751,0.534426,0.456749,-0.389364,0.595117
28,2,563200,16,recep,0,"004_newspaper_1","put bread on carpet",-0.236084,-0.073971,0.869490,0.999838,0.000165,0.000880,0.017986
28,2,563200,16,recep,1,"003_carpet_1","put bread on carpet",-0.114998,-0.044971,0.870447,0.999999,-0.000923,-0.000845,-0.000055
28,2,563200,16,gripper,0,"","put bread on carpet",-0.199963,-0.044117,0.960201,-0.068201,-0.695942,-0.127441,0.703401
28,2,563200,17,obj,0,"003_bread_1","put bread on carpet",-0.218269,-0.057529,0.886539,0.890204,0.010109,-0.007515,0.455388
28,2,563200,17,obj,1,"005_7up can_1","put bread on carpet",-0.165363,-0.050861,0.887238,0.717413,0.087607,-0.041633,0.689863
28,2,563200,17,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
28,2,563200,17,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075008,0.870460,1.000000,0.000019,-0.000159,-0.000071
28,2,563200,17,gripper,0,"","put bread on carpet",-0.118431,0.126917,0.924984,0.091932,-0.737737,0.049737,0.666948
28,2,563200,18,obj,0,"003_bread_1","put bread on carpet",-0.187778,-0.070210,0.886226,0.866921,0.013407,0.002062,0.498262
28,2,563200,18,obj,1,"005_7up can_1","put bread on carpet",-0.207890,-0.015499,0.885627,0.717192,0.153377,-0.175397,0.656770
28,2,563200,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085018,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000049
28,2,563200,18,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.075005,0.870460,1.000000,0.000019,-0.000158,-0.000085
28,2,563200,18,gripper,0,"","put bread on carpet",-0.154205,0.085968,1.006346,0.112536,-0.709762,0.031862,0.694665
28,2,563200,19,obj,0,"003_bread_1","put bread on carpet",-0.207542,-0.044258,0.886602,0.994692,0.003925,-0.008649,0.102461
28,2,563200,19,obj,1,"005_7up can_1","put bread on carpet",-0.283131,-0.230816,0.885661,0.862549,-0.105861,0.209900,0.448046
28,2,563200,19,recep,0,"004_newspaper_1","put bread on carpet",-0.115208,0.075184,0.869490,1.000000,0.000180,0.000874,0.000117
28,2,563200,19,recep,1,"003_carpet_1","put bread on carpet",-0.204824,-0.075073,0.870368,0.999999,0.000179,-0.001150,-0.000619
28,2,563200,19,gripper,0,"","put bread on carpet",-0.116511,0.093018,0.945152,0.096202,-0.710262,0.107635,0.688976
28,2,563200,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.236514,-0.062431,0.886652,0.999900,0.001506,-0.010458,0.009412
28,2,563200,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.188823,0.054920,0.885964,0.348978,0.300359,0.878822,-0.125184
28,2,563200,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
28,2,563200,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235030,-0.075005,0.870466,0.999999,-0.000945,-0.001044,0.000125
28,2,563200,20,gripper,0,"","put 7up can on newspaper",-0.231041,0.067013,0.915933,0.125646,-0.731428,0.069758,0.666603
28,2,563200,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.248360,0.062439,0.886739,0.250991,0.027295,0.000659,0.967604
28,2,563200,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.206594,0.012135,0.885945,0.600712,-0.268956,0.226525,0.717979
28,2,563200,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.233700,0.075268,0.869490,0.999969,0.000541,0.001435,0.007761
28,2,563200,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204201,-0.045589,0.870448,0.999987,-0.000879,-0.000800,-0.004863
28,2,563200,21,gripper,0,"","put 7up can on newspaper",-0.134398,0.044838,0.996250,-0.025117,-0.746275,0.041506,0.663867
28,2,563200,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.205902,-0.068726,0.886619,0.592519,0.014224,-0.005650,0.805411
28,2,563200,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.166737,-0.013508,0.885866,0.504779,-0.424450,0.687430,0.304107
28,2,563200,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000061
28,2,563200,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205189,-0.075802,0.870448,0.999976,-0.000915,-0.000827,-0.006742
28,2,563200,22,gripper,0,"","put 7up can on newspaper",-0.184336,-0.042868,0.962332,0.050974,-0.704148,0.041705,0.706992
28,2,563200,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.217281,-0.021751,0.886528,0.883574,0.009089,-0.007904,0.468137
28,2,563200,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.170834,0.230064,0.886003,-0.092437,0.636533,-0.762450,-0.070359
28,2,563200,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205006,0.075005,0.869490,1.000000,0.000180,0.000874,0.000021
28,2,563200,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,-0.044994,0.870446,0.999999,-0.000727,-0.001047,-0.000076
28,2,563200,23,gripper,0,"","put 7up can on newspaper",-0.187080,-0.030216,0.958002,0.023018,-0.783363,-0.035374,0.620130
28,2,563200,24,obj,0,"003_bread_1","put 7up can on carpet",-0.284195,-0.108128,0.902632,0.989277,-0.111314,0.091954,-0.022011
28,2,563200,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.010803,-0.039972,0.886011,-0.234878,-0.014275,-0.971920,0.000637
28,2,563200,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000036
28,2,563200,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.099419,-0.078590,0.870447,0.996114,-0.003339,-0.002446,-0.087978
28,2,563200,24,gripper,0,"","put 7up can on carpet",-0.273632,-0.099350,0.938952,-0.066919,-0.629789,0.105797,0.766613
28,2,563200,25,obj,0,"003_bread_1","put 7up can on carpet",-0.109142,0.074501,0.886612,0.982534,0.005512,-0.009722,0.185749
28,2,563200,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.107327,-0.132772,0.885675,0.578322,0.285741,-0.222315,0.731076
28,2,563200,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.063007,-0.025240,0.869490,0.987957,0.000042,0.000892,0.154725
28,2,563200,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.108627,0.082062,0.870448,0.999061,-0.000632,-0.000649,0.043324
28,2,563200,25,gripper,0,"","put 7up can on carpet",-0.087524,0.063886,0.980483,-0.025922,-0.762439,0.000360,0.646541
28,2,563200,26,obj,0,"003_bread_1","put 7up can on carpet",-0.255123,0.080532,0.886935,0.995574,0.006893,0.001999,0.093703
28,2,563200,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.126171,0.021713,0.888733,0.703617,-0.153588,0.173613,0.671708
28,2,563200,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235073,0.075003,0.869490,1.000000,0.000180,0.000875,0.000222
28,2,563200,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.114960,0.045012,0.870448,0.999998,0.001526,0.001266,0.000216
28,2,563200,26,gripper,0,"","put 7up can on carpet",-0.122398,0.078853,0.992126,-0.100126,-0.716292,-0.056805,0.688239
28,2,563200,27,obj,0,"003_bread_1","put 7up can on carpet",-0.234489,0.074514,0.883544,0.383633,0.012258,-0.003126,0.923399
28,2,563200,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.083586,0.063711,0.887649,-0.384759,0.581070,-0.590438,-0.407064
28,2,563200,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114708,0.043161,0.869490,0.999997,0.000555,0.001427,-0.001648
28,2,563200,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.080708,-0.074169,0.870448,0.999916,-0.000927,-0.000827,-0.012905
28,2,563200,27,gripper,0,"","put 7up can on carpet",-0.115527,0.004388,0.980188,-0.121739,-0.686746,-0.174854,0.694971
28,2,563200,28,obj,0,"003_bread_1","put bread on newspaper",-0.236487,-0.111801,0.886560,0.326678,0.017401,-0.004438,0.944965
28,2,563200,28,obj,1,"005_7up can_1","put bread on newspaper",-0.236008,-0.034781,0.888745,0.626363,-0.176131,0.155470,0.743287
28,2,563200,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
28,2,563200,28,recep,1,"003_carpet_1","put bread on newspaper",-0.236422,-0.071945,0.870466,0.999874,-0.000933,-0.001061,0.015822
28,2,563200,28,gripper,0,"","put bread on newspaper",-0.193830,-0.021912,0.974516,-0.027470,-0.713850,-0.035799,0.698843
28,2,563200,29,obj,0,"003_bread_1","put bread on newspaper",-0.225481,-0.032768,0.886001,0.946432,-0.007713,0.003982,-0.322785
28,2,563200,29,obj,1,"005_7up can_1","put bread on newspaper",-0.009687,0.029406,0.886003,0.111631,0.231299,0.965924,-0.032106
28,2,563200,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.235010,-0.045023,0.869490,1.000000,0.000179,0.000874,0.000012
28,2,563200,29,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.074968,0.870447,0.999999,-0.000923,-0.000845,-0.000064
28,2,563200,29,gripper,0,"","put bread on newspaper",-0.188196,-0.025868,0.980171,-0.191025,-0.692407,-0.258350,0.646016
28,2,563200,30,obj,0,"003_bread_1","put bread on newspaper",-0.177338,-0.013382,0.885361,0.415081,0.030373,0.003309,0.909271
28,2,563200,30,obj,1,"005_7up can_1","put bread on newspaper",-0.163807,-0.105974,0.885726,-0.516893,0.046800,-0.026733,-0.854352
28,2,563200,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,-0.044998,0.869489,0.999999,0.000549,0.001425,-0.000045
28,2,563200,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000055
28,2,563200,30,gripper,0,"","put bread on newspaper",-0.067467,-0.009154,0.970117,-0.045361,-0.747915,-0.002193,0.662239
28,2,563200,31,obj,0,"003_bread_1","put bread on newspaper",-0.212341,-0.040657,0.885552,0.891876,0.015215,0.005386,0.451991
28,2,563200,31,obj,1,"005_7up can_1","put bread on newspaper",-0.084610,0.264505,0.885951,0.340716,0.494996,-0.769682,0.215592
28,2,563200,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.234970,-0.075022,0.869490,1.000000,0.000180,0.000873,-0.000330
28,2,563200,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085045,0.075014,0.870402,0.999999,-0.000121,-0.000925,0.000002
28,2,563200,31,gripper,0,"","put bread on newspaper",-0.080675,0.080095,0.918431,0.065799,-0.774555,0.031509,0.628285
28,2,563200,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117737,-0.044784,0.887549,0.997100,0.000056,0.030207,0.069854
28,2,563200,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234970,0.074573,0.878547,0.999909,0.013322,0.002051,-0.000100
28,2,563200,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
28,2,563200,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.234879,-0.074973,0.874362,0.999997,-0.000000,0.000000,0.002496
28,2,563200,32,gripper,0,"","put carrot on flat bowl",-0.167294,-0.071959,0.939154,-0.212483,-0.719282,-0.172477,0.638543
28,2,563200,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.208576,0.026446,0.887529,0.985434,-0.007117,0.042632,0.164473
28,2,563200,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
28,2,563200,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000029
28,2,563200,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
28,2,563200,33,gripper,0,"","put carrot on flat bowl",-0.153669,0.076024,1.048246,0.010521,-0.738140,0.056616,0.672186
28,2,563200,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.082626,0.067302,0.887493,0.943059,-0.012894,0.039785,0.329986
28,2,563200,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.234676,-0.075308,0.878547,0.923613,0.011512,0.006995,0.383090
28,2,563200,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
28,2,563200,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
28,2,563200,34,gripper,0,"","put carrot on flat bowl",-0.135248,0.073262,1.001945,-0.134286,-0.692768,-0.085473,0.703374
28,2,563200,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.205709,-0.083922,0.885932,0.520154,0.498836,0.501159,0.479001
28,2,563200,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007951,0.010856,0.707290
28,2,563200,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
28,2,563200,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
28,2,563200,35,gripper,0,"","put carrot on flat bowl",-0.175071,-0.046389,0.986825,-0.053105,-0.706689,0.012121,0.705425
28,2,563200,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.251117,0.078307,0.887422,0.357025,-0.026765,0.011997,0.933634
28,2,563200,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204691,-0.074681,0.878547,0.382267,0.003192,0.013080,0.923954
28,2,563200,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
28,2,563200,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,2,563200,36,gripper,0,"","put banana on sheet metal",-0.170779,-0.050434,0.976132,-0.050244,-0.724523,0.023079,0.687029
28,2,563200,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232273,0.050633,0.887529,0.998905,0.000776,0.043212,-0.017891
28,2,563200,37,obj,1,"013_banana_1","put banana on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011498,0.006986,0.382998
28,2,563200,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
28,2,563200,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
28,2,563200,37,gripper,0,"","put banana on sheet metal",-0.081640,0.068352,0.954259,0.002590,-0.792747,-0.001581,0.609543
28,2,563200,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.128399,-0.080498,0.887421,0.520791,-0.027850,0.014714,0.853103
28,2,563200,38,obj,1,"013_banana_1","put banana on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007966,0.010868,0.707323
28,2,563200,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
28,2,563200,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
28,2,563200,38,gripper,0,"","put banana on sheet metal",-0.033663,-0.079702,0.950278,0.177908,-0.815202,0.237880,0.497199
28,2,563200,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.127365,0.088748,0.887015,0.342615,0.036117,-0.013184,0.938689
28,2,563200,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
28,2,563200,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.208454,0.074379,0.871344,0.999981,-0.000165,0.001163,0.006029
28,2,563200,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
28,2,563200,39,gripper,0,"","put banana on sheet metal",-0.042986,-0.038811,0.941583,0.072008,-0.801029,-0.011486,0.594169
28,2,563200,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204124,0.044657,0.887231,0.999462,-0.007667,0.031791,-0.002549
28,2,563200,40,obj,1,"013_banana_1","put banana on flat bowl",-0.085007,-0.075432,0.878547,0.999910,0.013282,0.002040,-0.000468
28,2,563200,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
28,2,563200,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000001,-0.000000,0.000272
28,2,563200,40,gripper,0,"","put banana on flat bowl",-0.051056,-0.016559,0.997690,0.138341,-0.747840,0.236765,0.604599
28,2,563200,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.204216,0.076744,0.887528,0.919596,-0.016893,0.039782,0.390481
28,2,563200,41,obj,1,"013_banana_1","put banana on flat bowl",-0.085194,-0.074068,0.878547,0.943019,0.011861,0.006357,0.332466
28,2,563200,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
28,2,563200,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
28,2,563200,41,gripper,0,"","put banana on flat bowl",-0.129568,-0.039147,0.993441,-0.364478,-0.557437,-0.337814,0.665057
28,2,563200,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243439,0.068392,0.887465,0.248073,-0.020885,0.006152,0.968497
28,2,563200,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.074667,0.878547,0.382826,0.003203,0.013087,0.923722
28,2,563200,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
28,2,563200,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
28,2,563200,42,gripper,0,"","put banana on flat bowl",-0.062208,-0.044945,0.977330,-0.055375,-0.763101,0.198582,0.612516
28,2,563200,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.163481,0.069347,0.899548,0.161501,-0.105858,0.014988,0.981064
28,2,563200,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234734,-0.044706,0.878548,0.383516,0.003209,0.013075,0.923436
28,2,563200,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,0.044977,0.871344,0.999999,-0.000158,0.001164,-0.000082
28,2,563200,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.204996,0.074989,0.874362,0.999998,0.001251,0.001250,-0.000521
28,2,563200,43,gripper,0,"","put banana on flat bowl",-0.170183,-0.051303,0.948922,0.230746,-0.711275,0.287470,0.598502
28,2,563200,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.239326,-0.095253,0.888118,0.697805,0.609318,0.267039,0.265501
28,2,563200,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234253,0.074068,0.878547,0.999908,0.013287,0.002072,0.001789
28,2,563200,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
28,2,563200,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
28,2,563200,44,gripper,0,"","put carrot on sheet metal",-0.223601,-0.078094,0.914837,-0.199462,-0.707488,-0.145047,0.662297
28,2,563200,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.118954,0.053329,0.887452,0.993023,0.002476,0.039289,-0.111151
28,2,563200,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.207220,-0.042624,0.878547,0.991243,0.012920,0.003778,0.131366
28,2,563200,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074928,0.871345,0.999999,-0.000158,0.001164,0.000014
28,2,563200,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
28,2,563200,45,gripper,0,"","put carrot on sheet metal",-0.088037,0.059836,0.949541,0.056342,-0.759793,0.060309,0.644905
28,2,563200,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.143578,0.063473,0.887472,0.767068,-0.025055,0.032445,0.640255
28,2,563200,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
28,2,563200,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
28,2,563200,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.213757,0.070871,0.874362,0.984048,0.000000,0.000000,-0.177902
28,2,563200,46,gripper,0,"","put carrot on sheet metal",-0.142647,0.063015,0.988568,0.125949,-0.697890,0.081259,0.700346
28,2,563200,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088150,0.095825,0.887430,0.975762,-0.004486,0.021881,0.217691
28,2,563200,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084675,-0.075306,0.878547,0.923985,0.011481,0.006964,0.382192
28,2,563200,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
28,2,563200,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000000,0.000268
28,2,563200,47,gripper,0,"","put carrot on sheet metal",-0.139753,0.076247,1.013100,-0.006508,-0.713351,-0.019121,0.700516
28,2,563200,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.160728,-0.041328,0.888705,0.088783,0.072941,-0.024659,0.993071
28,2,563200,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.107605,0.097198,0.887054,0.245666,-0.660976,0.229475,0.670895
28,2,563200,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205009,0.075005,0.872199,1.000000,0.000001,-0.000001,-0.000014
28,2,563200,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.075016,0.870865,1.000000,0.000056,-0.000000,-0.000010
28,2,563200,48,gripper,0,"","put hamburger on cutting board",-0.183315,-0.039747,0.965225,-0.171148,-0.680601,-0.102156,0.705021
28,2,563200,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.182011,0.068420,0.890724,0.095633,-0.013820,-0.019934,0.995121
28,2,563200,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106380,0.095150,0.887027,0.262929,-0.664180,0.250101,0.653593
28,2,563200,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
28,2,563200,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.075024,0.870883,1.000000,0.000698,0.000709,-0.000065
28,2,563200,49,gripper,0,"","put hamburger on cutting board",-0.187183,0.074024,1.093569,0.015629,-0.721251,0.088915,0.686766
28,2,563200,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.099419,-0.063080,0.890788,0.991595,-0.025018,0.011494,0.126418
28,2,563200,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205631,-0.074211,0.887026,0.704495,-0.016880,0.709508,0.001022
28,2,563200,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
28,2,563200,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000023
28,2,563200,50,gripper,0,"","put hamburger on cutting board",-0.119675,-0.014927,1.040473,-0.065939,-0.802003,-0.006105,0.593638
28,2,563200,51,obj,0,"014_hamburger_1","put hamburger on cutting board",1.792130,-1.087418,0.022371,-0.032602,-0.817229,-0.003796,0.575379
28,2,563200,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.213310,-0.082512,0.887271,0.740513,-0.055689,0.667352,0.056403
28,2,563200,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
28,2,563200,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235010,0.044994,0.870870,1.000000,0.000001,-0.000000,-0.000023
28,2,563200,51,gripper,0,"","put hamburger on cutting board",-0.178038,-0.057327,0.936451,-0.058864,-0.758760,0.019352,0.648416
28,2,563200,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.245299,0.081264,0.888112,0.434124,-0.023275,-0.014723,0.900432
28,2,563200,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.073480,-0.049301,0.896406,0.294482,-0.695510,0.331140,0.565591
28,2,563200,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085355,-0.075012,0.872199,0.999997,-0.000000,-0.000001,-0.002485
28,2,563200,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.108490,0.044720,0.870870,0.999962,-0.000000,-0.000001,0.008766
28,2,563200,52,gripper,0,"","put plastic bottle on frying pan",-0.094733,-0.061760,0.943823,-0.216692,-0.739836,-0.184238,0.609708
28,2,563200,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.188917,0.097706,0.890494,0.411315,-0.023157,-0.012786,0.911109
28,2,563200,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.177933,-0.060902,0.888387,0.470950,-0.547732,0.487486,0.490462
28,2,563200,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000084
28,2,563200,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074997,0.870870,1.000000,0.000002,0.000001,-0.000090
28,2,563200,53,gripper,0,"","put plastic bottle on frying pan",-0.162029,-0.052286,0.917348,-0.099918,-0.748811,0.044661,0.653685
28,2,563200,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.074898,-0.069515,0.890759,0.890302,-0.028432,0.005532,0.454449
28,2,563200,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.084995,0.087059,0.895311,0.534484,-0.475279,0.522393,0.464265
28,2,563200,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.081173,0.074753,0.872199,0.999541,-0.000000,-0.000001,-0.030302
28,2,563200,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084995,-0.074993,0.870870,1.000000,0.000000,-0.000000,-0.000043
28,2,563200,54,gripper,0,"","put plastic bottle on frying pan",-0.161520,0.041346,0.970633,-0.123155,-0.707368,-0.085990,0.690702
28,2,563200,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085926,0.075630,0.888112,0.712429,-0.026877,-0.006011,0.701204
28,2,563200,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.245674,0.037144,0.888287,-0.441050,-0.549688,0.403355,-0.583629
28,2,563200,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234688,-0.075027,0.872200,0.999974,-0.000000,-0.000001,0.007229
28,2,563200,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.206337,0.063404,0.870870,0.998485,0.000059,0.000047,-0.055028
28,2,563200,55,gripper,0,"","put plastic bottle on frying pan",-0.202400,0.056068,0.929952,-0.012968,-0.735965,0.022015,0.676537
28,2,563200,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084351,-0.074078,0.888112,0.999583,-0.023238,0.014776,-0.008675
28,2,563200,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.162170,0.031578,0.886962,0.727211,-0.030612,-0.002843,0.685725
28,2,563200,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000837
28,2,563200,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.067909,0.082371,0.871994,0.999480,0.000558,-0.012743,0.029609
28,2,563200,56,gripper,0,"","put plastic bottle on cutting board",-0.189873,0.033438,0.913022,0.016847,-0.715232,0.009209,0.698623
28,2,563200,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.066208,0.128216,0.894425,0.775127,-0.058557,0.329442,0.535927
28,2,563200,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235123,0.063885,0.888766,0.716095,-0.021438,0.006287,0.697645
28,2,563200,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084751,0.073524,0.872199,0.999921,-0.000000,-0.000001,-0.012534
28,2,563200,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234966,0.075020,0.870870,1.000000,0.000003,-0.000001,-0.000008
28,2,563200,57,gripper,0,"","put plastic bottle on cutting board",-0.200069,0.066639,1.010488,0.012432,-0.721679,-0.004973,0.692099
28,2,563200,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712429,-0.026877,-0.006011,0.701204
28,2,563200,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.190601,0.094753,0.889584,0.471884,-0.535225,0.468273,0.521133
28,2,563200,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.086712,-0.068207,0.872199,0.999536,-0.000000,-0.000001,-0.030473
28,2,563200,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205105,0.074921,0.870870,1.000000,0.000000,-0.000002,0.000790
28,2,563200,58,gripper,0,"","put plastic bottle on cutting board",-0.154829,0.067923,1.051722,-0.072000,-0.719412,-0.062307,0.688027
28,2,563200,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.116102,0.044746,0.888112,0.388450,-0.022506,-0.015871,0.921058
28,2,563200,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.223015,0.074059,0.888768,-0.685616,0.018074,-0.003528,-0.727731
28,2,563200,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.233335,-0.081001,0.872199,0.998297,0.000000,-0.000000,-0.058340
28,2,563200,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.232302,0.076572,0.870883,0.999753,0.000675,0.000722,0.022214
28,2,563200,59,gripper,0,"","put plastic bottle on cutting board",-0.132117,0.026880,1.036323,-0.115747,-0.741023,-0.095488,0.654499
28,2,563200,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085958,0.075619,0.888112,0.711859,-0.026872,-0.006032,0.701782
28,2,563200,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.112132,-0.078632,0.895008,0.391459,-0.591015,0.376777,0.596239
28,2,563200,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085051,-0.075005,0.872210,1.000000,-0.000163,-0.000030,0.000389
28,2,563200,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.246563,-0.076286,0.870870,0.997403,0.000000,-0.000001,0.072018
28,2,563200,60,gripper,0,"","put hamburger on frying pan",-0.097320,-0.046968,0.953440,-0.233413,-0.666775,-0.165998,0.688022
28,2,563200,61,obj,0,"014_hamburger_1","put hamburger on frying pan",0.212498,-0.246582,0.022714,0.014589,-0.690858,0.706178,-0.154322
28,2,563200,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.924532,-0.432732,0.017291,-0.971655,0.006064,-0.021604,0.235337
28,2,563200,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000020
28,2,563200,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.203974,-0.074501,0.870870,0.999979,0.000000,-0.000001,0.006438
28,2,563200,61,gripper,0,"","put hamburger on frying pan",-0.173631,-0.088140,0.935224,-0.029010,-0.760505,0.024567,0.648219
28,2,563200,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.198383,-0.020935,0.895741,0.995450,0.034184,-0.010618,-0.088304
28,2,563200,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.190170,0.159157,0.889793,-0.075632,-0.646740,0.757883,-0.040256
28,2,563200,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000258
28,2,563200,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235920,0.075043,0.870870,0.999992,0.000001,-0.000001,0.003944
28,2,563200,62,gripper,0,"","put hamburger on frying pan",-0.068121,-0.077375,0.978079,-0.131838,-0.719282,-0.116564,0.672061
28,2,563200,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084385,0.075966,0.888112,0.999591,-0.023258,0.014749,-0.007678
28,2,563200,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.173218,-0.046093,0.887026,0.704495,-0.015124,0.709547,-0.000722
28,2,563200,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
28,2,563200,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
28,2,563200,63,gripper,0,"","put hamburger on frying pan",-0.154079,-0.044819,1.003947,-0.107147,-0.669972,-0.095255,0.728411
28,3,568320,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.179703,-0.164162,0.879125,-0.411177,-0.588130,0.502236,-0.482488
28,3,568320,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.183769,-0.027466,0.887276,0.639876,-0.041014,0.016196,0.767212
28,3,568320,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.169579,-0.043190,0.869532,0.998630,0.000001,-0.000001,-0.052330
28,3,568320,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.217239,0.083252,0.871210,0.999982,-0.003916,-0.004120,-0.001856
28,3,568320,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.157913,0.015511,0.994995,-0.075369,-0.776575,-0.041477,0.624123
28,3,568320,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.074760,0.055603,0.885209,0.267260,0.265069,-0.923184,0.077724
28,3,568320,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.050854,0.128242,0.873600,-0.060721,-0.611319,0.785632,0.073375
28,3,568320,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085464,0.070068,0.869532,0.999168,-0.000001,-0.000001,-0.040772
28,3,568320,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235794,-0.045410,0.871307,0.999984,-0.000633,-0.001172,0.005430
28,3,568320,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.237627,-0.041985,0.922352,-0.132733,-0.692154,-0.112630,0.700442
28,3,568320,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.169167,-0.015205,0.879183,-0.574567,0.278859,0.737715,0.218831
28,3,568320,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.203907,0.081230,0.881641,0.999037,-0.005152,0.039835,0.017653
28,3,568320,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.093395,-0.071312,0.869532,0.998586,-0.000000,-0.000001,0.053163
28,3,568320,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.044998,0.871289,0.999999,-0.000154,-0.001019,-0.000083
28,3,568320,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.194588,-0.031948,0.914661,-0.193200,-0.719895,-0.130693,0.653715
28,3,568320,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.218405,0.045952,0.884978,0.525174,-0.464781,0.455947,0.547981
28,3,568320,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.103466,0.047371,0.881638,0.550516,0.030198,-0.025260,0.833896
28,3,568320,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.240423,0.025871,0.869532,0.973089,0.000001,-0.000000,-0.230429
28,3,568320,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
28,3,568320,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.091465,0.048714,0.997681,0.015006,-0.681857,0.034644,0.730511
28,3,568320,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.111547,0.053169,0.888158,0.649714,0.312535,-0.348777,0.598788
28,3,568320,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.237428,0.055511,0.887292,0.729280,0.016953,-0.037720,0.682964
28,3,568320,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.226599,0.078201,0.869532,0.997885,-0.000000,-0.000001,0.065009
28,3,568320,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114991,0.044998,0.871288,1.000000,-0.000153,-0.001019,-0.000005
28,3,568320,4,gripper,0,"","put kitchen shovel on cloth",-0.263666,0.061337,0.950274,0.013674,-0.670744,0.042149,0.740364
28,3,568320,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.208464,-0.126991,0.880927,-0.611151,-0.280674,0.251897,-0.695891
28,3,568320,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.220949,0.064468,0.887390,0.754456,-0.035104,0.023807,0.654979
28,3,568320,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.216541,0.057785,0.869532,0.973843,0.000001,0.000000,-0.227222
28,3,568320,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.191130,-0.066780,0.871285,0.997545,-0.000048,-0.001021,0.070024
28,3,568320,5,gripper,0,"","put kitchen shovel on cloth",-0.215943,-0.121094,0.918492,-0.082470,-0.727974,-0.001325,0.680625
28,3,568320,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.170437,-0.087570,0.879088,0.872805,0.078953,-0.456299,0.154172
28,3,568320,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.205772,0.054207,0.912662,0.634820,0.119483,0.018176,0.763149
28,3,568320,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.096073,-0.076187,0.869532,0.996821,0.000000,-0.000000,0.079672
28,3,568320,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.238224,0.072662,0.871282,0.999877,-0.000470,-0.001258,-0.015608
28,3,568320,6,gripper,0,"","put kitchen shovel on cloth",-0.276363,0.034508,0.969143,-0.022775,-0.681738,-0.108815,0.723100
28,3,568320,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.227364,0.107292,0.887736,0.576645,-0.411827,0.510686,0.486908
28,3,568320,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.208611,0.042274,0.888889,0.604189,0.057638,-0.092701,0.789329
28,3,568320,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082031,-0.073349,0.869532,0.999939,-0.000001,-0.000001,0.011073
28,3,568320,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235497,0.075043,0.871282,0.999995,-0.000454,-0.001264,-0.002883
28,3,568320,7,gripper,0,"","put kitchen shovel on cloth",-0.247646,0.039913,0.963641,-0.150768,-0.718533,-0.244127,0.633546
28,3,568320,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.199471,-0.053230,0.885369,0.597614,-0.214249,0.177589,0.751942
28,3,568320,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.212646,0.083221,0.888341,0.810155,0.024939,-0.016491,0.585453
28,3,568320,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.229195,-0.074772,0.869532,0.997647,-0.000000,-0.000001,-0.068566
28,3,568320,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.252777,0.071796,0.871282,0.999918,-0.000433,-0.001269,0.012729
28,3,568320,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.206051,0.025236,0.969163,-0.143263,-0.675517,-0.004886,0.723276
28,3,568320,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.161572,-0.032623,0.879444,0.954359,-0.014892,0.291397,0.063746
28,3,568320,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.290493,-1.105923,0.004850,-0.027767,-0.289322,-0.952598,-0.089878
28,3,568320,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000006
28,3,568320,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
28,3,568320,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.195049,-0.018230,0.914486,-0.085477,-0.757463,-0.005020,0.647239
28,3,568320,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.106014,-0.050262,0.885370,0.768359,0.171543,0.219195,-0.576326
28,3,568320,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.223969,0.032608,0.890511,0.644896,-0.407426,0.527428,0.374075
28,3,568320,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.110592,-0.045918,0.869532,0.999055,0.000000,-0.000003,-0.043466
28,3,568320,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.075024,0.871210,0.999984,-0.003908,-0.004129,0.000270
28,3,568320,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.099144,-0.041271,1.001417,0.016738,-0.695793,0.007742,0.718006
28,3,568320,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.140299,-0.066521,0.886704,-0.962832,-0.234328,-0.037801,0.128903
28,3,568320,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.177786,0.063057,0.881641,0.944351,0.008841,0.039179,-0.326477
28,3,568320,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,0.075001,0.869532,1.000000,0.000001,-0.000001,0.000021
28,3,568320,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084959,-0.074997,0.871288,0.999999,-0.000157,-0.001019,-0.000064
28,3,568320,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.170055,-0.068390,0.916384,-0.087006,-0.769616,0.078388,0.627676
28,3,568320,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.073923,0.050606,0.885085,0.632614,0.323177,-0.331661,0.620770
28,3,568320,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.123209,-0.082111,0.888503,0.506876,-0.069172,-0.010491,0.859175
28,3,568320,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.086183,0.050343,0.869532,0.954705,-0.000001,-0.000000,0.297552
28,3,568320,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084932,-0.074959,0.871288,0.999999,-0.000154,-0.001019,-0.000378
28,3,568320,12,gripper,0,"","put ketchup bottle on cloth",-0.266955,0.086241,0.942030,0.176380,-0.664101,0.251781,0.681518
28,3,568320,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.080851,0.073414,0.888116,-0.194333,0.692074,0.663323,0.208019
28,3,568320,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.178848,-0.093430,0.881638,0.990649,-0.009516,-0.038160,-0.130645
28,3,568320,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.083691,-0.081581,0.869532,0.996852,-0.000000,-0.000000,-0.079287
28,3,568320,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.078434,0.074123,0.871288,0.999895,-0.000138,-0.001021,0.014446
28,3,568320,13,gripper,0,"","put ketchup bottle on cloth",-0.181662,-0.048382,0.957467,-0.109669,-0.690110,-0.122639,0.704755
28,3,568320,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.230320,-0.048439,0.885122,-0.417400,-0.581575,0.509820,-0.477107
28,3,568320,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.042309,-0.078144,0.881641,0.952408,0.007839,0.039422,-0.302165
28,3,568320,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.227402,-0.033825,0.869532,0.981999,0.000000,-0.000001,-0.188887
28,3,568320,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871289,0.999999,-0.000158,-0.001019,0.000019
28,3,568320,14,gripper,0,"","put ketchup bottle on cloth",-0.177086,-0.018789,1.002946,-0.105587,-0.737725,-0.079873,0.661992
28,3,568320,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.080280,-0.092766,0.887920,-0.316675,-0.641513,0.488172,-0.499866
28,3,568320,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.081261,0.093918,0.881638,0.957715,0.006895,-0.038756,0.285011
28,3,568320,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000005
28,3,568320,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001019,0.000011
28,3,568320,15,gripper,0,"","put ketchup bottle on cloth",-0.136930,-0.080355,0.961503,-0.181222,-0.765958,-0.108420,0.607217
28,3,568320,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.136894,-0.021759,0.886744,0.998123,0.002521,-0.009707,0.060419
28,3,568320,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.214325,-0.045815,0.887749,0.536568,0.455484,-0.391235,0.592929
28,3,568320,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.236153,-0.074009,0.869490,0.999827,0.000184,0.000911,0.018581
28,3,568320,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,-0.044956,0.870447,0.999999,-0.000923,-0.000845,-0.000072
28,3,568320,16,gripper,0,"","put 7up can on newspaper",-0.258968,0.069445,0.970357,0.078877,-0.631565,0.104572,0.764178
28,3,568320,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.219715,-0.055916,0.886522,0.875530,0.009303,-0.007849,0.483010
28,3,568320,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.160854,-0.045998,0.886548,0.739789,-0.032079,0.060434,0.669351
28,3,568320,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
28,3,568320,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235611,-0.074215,0.870453,0.999970,-0.000818,-0.000820,0.007706
28,3,568320,17,gripper,0,"","put 7up can on newspaper",-0.151627,-0.034826,0.946511,0.046149,-0.748235,0.043408,0.660402
28,3,568320,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.183483,-0.054920,0.886167,0.884327,0.046110,0.073606,0.458717
28,3,568320,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.277164,-0.250114,0.885661,0.770161,-0.141183,0.187992,0.592940
28,3,568320,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085030,-0.074997,0.869490,1.000000,0.000179,0.000874,0.000072
28,3,568320,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.236111,-0.077980,0.870447,0.999935,-0.000147,-0.000176,-0.011379
28,3,568320,18,gripper,0,"","put 7up can on newspaper",-0.196211,-0.046980,0.967446,-0.073081,-0.722155,-0.008499,0.687807
28,3,568320,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.152073,-0.059086,0.886395,0.977275,0.004148,-0.008146,0.211776
28,3,568320,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.283133,-0.230816,0.885661,0.862531,-0.105872,0.209900,0.448079
28,3,568320,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.115204,0.075184,0.869490,1.000000,0.000180,0.000874,0.000120
28,3,568320,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.182316,-0.095516,0.870339,0.999965,-0.000194,-0.001654,-0.008241
28,3,568320,19,gripper,0,"","put 7up can on newspaper",-0.138636,-0.037014,0.957435,-0.150090,-0.677118,-0.135342,0.707578
28,3,568320,20,obj,0,"003_bread_1","put 7up can on carpet",-0.235406,-0.061993,0.886640,0.999573,0.002119,-0.009750,0.027444
28,3,568320,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.242489,0.088825,0.885720,-0.757841,-0.191767,-0.258210,0.567654
28,3,568320,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
28,3,568320,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.234916,-0.074921,0.870453,0.999999,-0.000830,-0.000818,0.000144
28,3,568320,20,gripper,0,"","put 7up can on carpet",-0.217737,0.003283,0.941608,-0.191668,-0.699166,-0.085986,0.683400
28,3,568320,21,obj,0,"003_bread_1","put 7up can on carpet",-0.248358,0.062439,0.886737,0.252400,0.027308,0.000632,0.967237
28,3,568320,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.206556,0.012188,0.885780,0.609841,-0.267262,0.226089,0.711019
28,3,568320,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.233700,0.075264,0.869490,0.999970,0.000536,0.001427,0.007607
28,3,568320,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.204201,-0.045589,0.870447,0.999987,-0.000879,-0.000800,-0.004882
28,3,568320,21,gripper,0,"","put 7up can on carpet",-0.156179,0.080702,1.020590,0.075892,-0.675946,0.096039,0.726715
28,3,568320,22,obj,0,"003_bread_1","put 7up can on carpet",-0.205948,-0.068726,0.886608,0.592750,0.014472,-0.005463,0.805238
28,3,568320,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.166737,-0.013504,0.885866,0.504781,-0.424446,0.687430,0.304106
28,3,568320,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204971,0.075005,0.869490,1.000000,0.000180,0.000874,0.000095
28,3,568320,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205189,-0.075802,0.870448,0.999976,-0.000915,-0.000827,-0.006736
28,3,568320,22,gripper,0,"","put 7up can on carpet",-0.219633,0.081573,0.976986,0.063148,-0.722425,0.031128,0.687856
28,3,568320,23,obj,0,"003_bread_1","put 7up can on carpet",-0.217281,-0.021751,0.886528,0.883631,0.009087,-0.007897,0.468029
28,3,568320,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.217117,0.035080,0.888627,-0.683344,-0.124617,0.094430,-0.713158
28,3,568320,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205120,0.074802,0.869490,0.999998,0.000547,0.001425,0.001275
28,3,568320,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,-0.044994,0.870446,0.999999,-0.000727,-0.001046,-0.000172
28,3,568320,23,gripper,0,"","put 7up can on carpet",-0.046909,-0.037403,1.028440,0.047489,-0.743253,0.072028,0.663424
28,3,568320,24,obj,0,"003_bread_1","put bread on newspaper",-0.289032,-0.109556,0.883544,0.997438,0.000936,-0.012622,-0.070405
28,3,568320,24,obj,1,"005_7up can_1","put bread on newspaper",-0.015839,-0.039635,0.885951,-0.383342,-0.013790,-0.923439,0.010879
28,3,568320,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000058
28,3,568320,24,recep,1,"003_carpet_1","put bread on newspaper",-0.098808,-0.079491,0.870350,0.995487,-0.000233,-0.001440,-0.094891
28,3,568320,24,gripper,0,"","put bread on newspaper",-0.023750,-0.046230,0.945355,-0.122197,-0.716950,-0.073852,0.682346
28,3,568320,25,obj,0,"003_bread_1","put bread on newspaper",-0.110626,0.087629,0.886562,0.964301,0.005637,-0.006722,0.264662
28,3,568320,25,obj,1,"005_7up can_1","put bread on newspaper",-0.107327,-0.132755,0.885675,0.580300,0.285171,-0.223117,0.729485
28,3,568320,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.063007,-0.025242,0.869490,0.987966,0.000042,0.000892,0.154670
28,3,568320,25,recep,1,"003_carpet_1","put bread on newspaper",-0.107830,0.084745,0.870419,0.999104,-0.000528,-0.001211,0.042292
28,3,568320,25,gripper,0,"","put bread on newspaper",-0.166399,-0.151654,0.948741,0.030677,-0.761385,0.094268,0.640675
28,3,568320,26,obj,0,"003_bread_1","put bread on newspaper",-0.255123,0.080553,0.886935,0.995611,0.006878,0.002001,0.093313
28,3,568320,26,obj,1,"005_7up can_1","put bread on newspaper",-0.121677,0.071495,0.888978,-0.094922,-0.668890,0.731372,-0.093120
28,3,568320,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.235073,0.075026,0.869490,1.000000,0.000180,0.000873,0.000366
28,3,568320,26,recep,1,"003_carpet_1","put bread on newspaper",-0.114449,0.044794,0.870447,0.999982,-0.003102,-0.002747,0.004392
28,3,568320,26,gripper,0,"","put bread on newspaper",-0.091217,0.035660,1.021436,-0.095559,-0.688386,-0.062741,0.716280
28,3,568320,27,obj,0,"003_bread_1","put bread on newspaper",-0.135664,0.063343,0.888909,0.311346,-0.047986,0.012526,0.949002
28,3,568320,27,obj,1,"005_7up can_1","put bread on newspaper",-0.083183,0.056652,0.887534,-0.501937,0.477202,-0.497683,-0.522158
28,3,568320,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.114578,0.043182,0.869490,0.999997,0.000182,0.000874,-0.002376
28,3,568320,27,recep,1,"003_carpet_1","put bread on newspaper",-0.080708,-0.074152,0.870448,0.999915,-0.000934,-0.000833,-0.012936
28,3,568320,27,gripper,0,"","put bread on newspaper",-0.119020,0.058400,0.997108,0.053232,-0.731326,0.052985,0.677880
28,3,568320,28,obj,0,"003_bread_1","put bread on carpet",-0.236483,-0.111767,0.886561,0.327185,0.017426,-0.004439,0.944789
28,3,568320,28,obj,1,"005_7up can_1","put bread on carpet",-0.236008,-0.034781,0.888745,0.626350,-0.176159,0.155493,0.743287
28,3,568320,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
28,3,568320,28,recep,1,"003_carpet_1","put bread on carpet",-0.236422,-0.071945,0.870466,0.999874,-0.000934,-0.001062,0.015822
28,3,568320,28,gripper,0,"","put bread on carpet",-0.080920,0.073892,1.018994,0.042439,-0.709737,0.014074,0.703046
28,3,568320,29,obj,0,"003_bread_1","put bread on carpet",-0.225428,-0.032772,0.886000,0.946101,-0.007758,0.003956,-0.323756
28,3,568320,29,obj,1,"005_7up can_1","put bread on carpet",-0.077101,-0.034513,0.888793,0.703976,0.258167,0.574148,-0.328818
28,3,568320,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234976,-0.045025,0.869490,1.000000,0.000179,0.000874,-0.000090
28,3,568320,29,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.074959,0.870447,0.999999,-0.000923,-0.000845,0.000047
28,3,568320,29,gripper,0,"","put bread on carpet",-0.122219,0.024058,1.005960,-0.026051,-0.750905,-0.015096,0.659724
28,3,568320,30,obj,0,"003_bread_1","put bread on carpet",-0.178070,-0.031401,0.885366,0.461323,0.029014,0.004066,0.886748
28,3,568320,30,obj,1,"005_7up can_1","put bread on carpet",-0.163811,-0.105980,0.885728,-0.518482,0.046369,-0.026588,-0.853416
28,3,568320,30,recep,0,"004_newspaper_1","put bread on carpet",-0.205006,-0.045004,0.869489,0.999999,0.000549,0.001425,-0.000272
28,3,568320,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074953,0.870448,0.999999,-0.000923,-0.000845,-0.000086
28,3,568320,30,gripper,0,"","put bread on carpet",-0.169781,0.016854,1.011554,-0.023671,-0.691018,-0.003200,0.722443
28,3,568320,31,obj,0,"003_bread_1","put bread on carpet",-0.212326,-0.040672,0.885550,0.891889,0.015781,0.005621,0.451944
28,3,568320,31,obj,1,"005_7up can_1","put bread on carpet",-0.084606,0.264511,0.885951,0.340946,0.494170,-0.770215,0.215224
28,3,568320,31,recep,0,"004_newspaper_1","put bread on carpet",-0.234974,-0.075033,0.869482,0.999998,0.000545,0.001328,-0.001106
28,3,568320,31,recep,1,"003_carpet_1","put bread on carpet",-0.098091,0.079128,0.870418,0.997854,-0.000601,-0.001104,-0.065462
28,3,568320,31,gripper,0,"","put bread on carpet",-0.130722,0.082364,0.943181,-0.005284,-0.752990,0.001194,0.658009
28,3,568320,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117485,-0.044193,0.887419,0.997165,-0.000443,0.027359,0.070093
28,3,568320,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234970,0.074574,0.878547,0.999909,0.013300,0.002050,-0.000100
28,3,568320,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
28,3,568320,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.234879,-0.074973,0.874362,0.999997,-0.000000,0.000000,0.002496
28,3,568320,32,gripper,0,"","put banana on sheet metal",-0.122398,0.068318,1.013445,-0.087873,-0.696241,-0.086057,0.707193
28,3,568320,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208576,0.026446,0.887529,0.985434,-0.007118,0.042632,0.164473
28,3,568320,33,obj,1,"013_banana_1","put banana on sheet metal",-0.153637,-0.078568,0.880869,0.992225,0.037900,-0.017025,0.117313
28,3,568320,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.107727,-0.045526,0.871397,0.996442,-0.002768,-0.000945,0.084229
28,3,568320,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,3,568320,33,gripper,0,"","put banana on sheet metal",-0.160044,-0.059861,0.917318,-0.225833,-0.827359,0.052033,0.511633
28,3,568320,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087589,0.071818,0.887535,0.948823,-0.013520,0.041210,0.312815
28,3,568320,34,obj,1,"013_banana_1","put banana on sheet metal",-0.208023,-0.092658,0.878547,0.973059,0.012483,0.005059,0.230161
28,3,568320,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
28,3,568320,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
28,3,568320,34,gripper,0,"","put banana on sheet metal",-0.190754,-0.079322,0.993452,-0.380068,-0.669347,-0.217923,0.600027
28,3,568320,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205709,-0.083922,0.885932,0.520152,0.498838,0.501157,0.479003
28,3,568320,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084566,-0.074994,0.878547,0.706796,0.007935,0.010838,0.707290
28,3,568320,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
28,3,568320,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,-0.000000
28,3,568320,35,gripper,0,"","put banana on sheet metal",-0.038874,-0.035490,0.991216,0.041972,-0.707218,0.106324,0.697693
28,3,568320,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.253190,0.074041,0.887251,0.370151,-0.013955,0.011109,0.928800
28,3,568320,36,obj,1,"013_banana_1","put banana on flat bowl",-0.204692,-0.074682,0.878547,0.382268,0.003182,0.013047,0.923954
28,3,568320,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000016
28,3,568320,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000001,0.000000
28,3,568320,36,gripper,0,"","put banana on flat bowl",-0.164056,-0.018140,0.990603,-0.000352,-0.726576,0.110000,0.678224
28,3,568320,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232273,0.050633,0.887529,0.998905,0.000775,0.043213,-0.017891
28,3,568320,37,obj,1,"013_banana_1","put banana on flat bowl",-0.084681,0.074693,0.878547,0.923651,0.011509,0.006992,0.382998
28,3,568320,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
28,3,568320,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
28,3,568320,37,gripper,0,"","put banana on flat bowl",-0.144057,-0.002968,0.991104,-0.256669,-0.728745,-0.132581,0.620865
28,3,568320,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.134869,-0.084371,0.887291,0.542056,-0.024694,0.009757,0.839923
28,3,568320,38,obj,1,"013_banana_1","put banana on flat bowl",-0.084564,-0.074994,0.878547,0.706762,0.007948,0.010847,0.707323
28,3,568320,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001163,-0.000026
28,3,568320,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
28,3,568320,38,gripper,0,"","put banana on flat bowl",-0.079451,0.000800,1.034290,0.011425,-0.779490,0.010036,0.626230
28,3,568320,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.127346,0.088765,0.887016,0.340709,0.036047,-0.013073,0.939386
28,3,568320,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
28,3,568320,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.208454,0.074379,0.871344,0.999981,-0.000165,0.001163,0.006029
28,3,568320,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
28,3,568320,39,gripper,0,"","put banana on flat bowl",-0.067640,-0.052749,0.983916,0.053086,-0.833616,0.271101,0.478299
28,3,568320,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208931,0.049770,0.887461,0.978444,0.004954,0.018522,-0.205619
28,3,568320,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084999,-0.075434,0.878547,0.999909,0.013288,0.002036,-0.000840
28,3,568320,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
28,3,568320,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000399
28,3,568320,40,gripper,0,"","put carrot on sheet metal",-0.192101,0.037740,0.929911,0.184844,-0.695339,0.098827,0.687437
28,3,568320,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205025,0.076303,0.887452,0.938848,-0.008353,0.022830,0.343472
28,3,568320,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.085186,-0.074068,0.878547,0.943169,0.011862,0.006351,0.332042
28,3,568320,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
28,3,568320,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
28,3,568320,41,gripper,0,"","put carrot on sheet metal",-0.207695,0.075200,0.992924,0.141445,-0.713600,0.073567,0.682170
28,3,568320,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.170944,-0.026594,0.891937,-0.028915,0.089530,0.070616,0.993057
28,3,568320,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.082954,-0.073324,0.880814,0.383487,0.024670,0.081931,0.919574
28,3,568320,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204926,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000218
28,3,568320,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
28,3,568320,42,gripper,0,"","put carrot on sheet metal",-0.185387,-0.024791,1.010206,-0.068627,-0.745498,0.044292,0.661484
28,3,568320,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.163475,0.069370,0.899552,0.159733,-0.106281,0.015028,0.981307
28,3,568320,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234735,-0.044703,0.878547,0.384039,0.003213,0.013061,0.923219
28,3,568320,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,0.044964,0.871344,0.999999,-0.000158,0.001164,-0.000105
28,3,568320,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.204996,0.074989,0.874362,0.999998,0.001252,0.001250,-0.000522
28,3,568320,43,gripper,0,"","put carrot on sheet metal",-0.069147,0.055535,1.055357,0.200292,-0.696335,0.204462,0.658177
28,3,568320,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.096050,-0.069324,0.893261,0.671851,0.717081,0.119601,0.141796
28,3,568320,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234250,0.074068,0.878547,0.999908,0.013289,0.002070,0.001586
28,3,568320,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
28,3,568320,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084798,-0.075157,0.874362,0.999996,-0.000000,-0.000005,0.002783
28,3,568320,44,gripper,0,"","put carrot on flat bowl",-0.107511,0.009963,1.023005,0.149578,-0.705658,0.143874,0.677476
28,3,568320,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.121275,0.057861,0.887383,0.994859,-0.000020,0.030474,-0.096574
28,3,568320,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.207216,-0.042625,0.878547,0.991280,0.012886,0.003769,0.131090
28,3,568320,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074945,0.871345,0.999999,-0.000158,0.001164,0.000048
28,3,568320,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
28,3,568320,45,gripper,0,"","put carrot on flat bowl",-0.085714,0.067584,0.966633,0.024397,-0.679450,-0.067558,0.730198
28,3,568320,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.143925,0.062767,0.887208,0.759759,-0.026418,0.018068,0.649417
28,3,568320,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
28,3,568320,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
28,3,568320,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.213757,0.070873,0.874362,0.984044,0.000001,-0.000000,-0.177925
28,3,568320,46,gripper,0,"","put carrot on flat bowl",-0.135006,0.035889,1.020398,-0.190285,-0.635947,-0.272643,0.696440
28,3,568320,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090435,0.100698,0.887531,0.978738,-0.004785,0.030550,0.202771
28,3,568320,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084671,-0.075306,0.878547,0.924155,0.011505,0.006970,0.381781
28,3,568320,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
28,3,568320,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.045000,0.874362,1.000000,0.000000,-0.000001,0.000389
28,3,568320,47,gripper,0,"","put carrot on flat bowl",-0.083395,0.097281,0.998490,0.054741,-0.758801,0.027875,0.648420
28,3,568320,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.160728,-0.041325,0.888705,0.089612,0.072954,-0.024686,0.992995
28,3,568320,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.056427,0.060493,0.887027,0.362553,-0.616519,0.351554,0.604044
28,3,568320,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.212418,0.080460,0.872199,0.999996,0.000000,-0.000000,0.002713
28,3,568320,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,-0.075016,0.870865,1.000000,0.000061,0.000006,-0.000031
28,3,568320,48,gripper,0,"","put plastic bottle on frying pan",-0.172516,0.067242,1.015018,0.106869,-0.721575,0.063002,0.681131
28,3,568320,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.220306,0.091408,0.890753,-0.237915,-0.006253,-0.023760,0.970975
28,3,568320,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.230499,-0.050613,0.898117,0.027120,-0.740731,0.670522,0.031345
28,3,568320,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234573,-0.074833,0.872199,0.999989,-0.000000,-0.000000,-0.004657
28,3,568320,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.223423,0.079670,0.870870,0.991072,-0.000000,0.000000,0.133329
28,3,568320,49,gripper,0,"","put plastic bottle on frying pan",-0.174870,-0.018402,0.962612,-0.001424,-0.707264,-0.015046,0.706788
28,3,568320,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.099419,-0.063080,0.890788,0.991589,-0.025021,0.011511,0.126466
28,3,568320,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.195030,-0.074203,0.887026,0.691459,-0.151418,0.693368,0.134896
28,3,568320,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
28,3,568320,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000103
28,3,568320,50,gripper,0,"","put plastic bottle on frying pan",-0.163183,-0.009218,0.984617,0.029390,-0.712172,-0.028174,0.700824
28,3,568320,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",1.792131,-1.087421,0.022370,-0.033610,-0.817216,-0.005247,0.575327
28,3,568320,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.055851,-0.063019,0.885703,-0.598511,-0.393249,0.568347,-0.405118
28,3,568320,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.115000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
28,3,568320,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235016,0.044994,0.870870,1.000000,-0.000000,-0.000000,-0.000034
28,3,568320,51,gripper,0,"","put plastic bottle on frying pan",-0.062664,-0.072111,0.951933,0.048728,-0.647213,0.212742,0.730398
28,3,568320,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.245299,0.081264,0.888112,0.434124,-0.023273,-0.014723,0.900432
28,3,568320,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.071826,-0.051720,0.895144,0.324077,-0.647459,0.304089,0.619113
28,3,568320,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085356,-0.075012,0.872199,0.999997,-0.000001,-0.000000,-0.002465
28,3,568320,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.105834,0.044788,0.870870,0.999957,0.000000,-0.000001,0.009267
28,3,568320,52,gripper,0,"","put plastic bottle on cutting board",-0.063430,0.029978,1.002987,-0.218130,-0.727529,-0.160503,0.630365
28,3,568320,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.207264,0.098305,0.890507,0.464937,-0.024387,-0.011433,0.884934
28,3,568320,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.174055,-0.008930,0.889773,-0.023207,0.762283,-0.646116,-0.030351
28,3,568320,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.087032,0.077087,0.872199,0.999966,-0.000000,-0.000000,-0.008221
28,3,568320,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.217909,0.076225,0.870870,0.999328,0.000000,-0.000001,0.036643
28,3,568320,53,gripper,0,"","put plastic bottle on cutting board",-0.187611,0.040028,1.016674,0.014048,-0.735387,-0.018444,0.677251
28,3,568320,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.074890,-0.069508,0.890758,0.890263,-0.028436,0.005539,0.454524
28,3,568320,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.084427,0.054237,0.895358,0.459095,-0.550299,0.453392,0.529943
28,3,568320,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.081596,0.070385,0.872199,0.999626,-0.000000,-0.000001,0.027333
28,3,568320,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084995,-0.074986,0.870870,1.000000,0.000000,0.000000,-0.000075
28,3,568320,54,gripper,0,"","put plastic bottle on cutting board",-0.130215,0.005991,1.014137,-0.052626,-0.736796,-0.072935,0.670106
28,3,568320,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712520,-0.026879,-0.006007,0.701111
28,3,568320,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.247204,0.037395,0.888432,-0.458547,-0.538601,0.429225,-0.561613
28,3,568320,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234688,-0.075027,0.872200,0.999974,0.000000,-0.000001,0.007275
28,3,568320,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206474,0.064262,0.870871,0.998294,-0.000006,0.000003,-0.058389
28,3,568320,55,gripper,0,"","put plastic bottle on cutting board",-0.174253,0.026922,1.082939,0.064371,-0.712053,0.052836,0.697169
28,3,568320,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.223015,-0.050194,0.896176,0.997634,0.020794,-0.054548,-0.036328
28,3,568320,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.267357,0.041946,0.885720,-0.450143,-0.544922,0.425691,-0.564995
28,3,568320,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234726,-0.074821,0.872199,0.999985,-0.000001,-0.000001,-0.005440
28,3,568320,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.067848,0.082382,0.870870,0.999562,-0.000000,-0.000001,0.029609
28,3,568320,56,gripper,0,"","put hamburger on frying pan",-0.177067,-0.044298,1.019758,-0.102818,-0.697919,-0.107877,0.700499
28,3,568320,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.066200,0.128216,0.894428,0.773135,-0.057819,0.330050,0.538504
28,3,568320,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.234127,0.069145,1.005639,-0.509492,0.346131,-0.548904,-0.565080
28,3,568320,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084751,0.073524,0.872199,0.999924,-0.000000,-0.000001,-0.012348
28,3,568320,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.231258,0.072376,0.870870,0.999910,0.000000,-0.000001,0.013436
28,3,568320,57,gripper,0,"","put hamburger on frying pan",-0.216423,0.066477,1.031841,0.075184,-0.635521,0.028075,0.767901
28,3,568320,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085926,0.075630,0.888112,0.712520,-0.026879,-0.006007,0.701111
28,3,568320,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.093151,-0.049812,0.895301,0.479756,-0.530189,0.465921,0.521203
28,3,568320,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.087978,-0.068611,0.872199,0.999662,0.000000,-0.000001,-0.025994
28,3,568320,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205154,0.075005,0.870870,1.000000,0.000001,-0.000000,0.000671
28,3,568320,58,gripper,0,"","put hamburger on frying pan",-0.049633,-0.113274,1.036408,-0.039405,-0.694094,-0.067807,0.715600
28,3,568320,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.081696,0.019928,0.888743,0.503471,-0.002389,-0.014792,0.863882
28,3,568320,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.223171,0.074341,0.888767,-0.686231,0.021763,-0.005469,-0.727038
28,3,568320,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.233335,-0.081001,0.872199,0.998301,-0.000000,-0.000001,-0.058271
28,3,568320,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.232349,0.076557,0.870870,0.999754,0.000011,0.000008,0.022164
28,3,568320,59,gripper,0,"","put hamburger on frying pan",-0.100621,0.013855,0.923345,-0.108676,-0.762028,-0.118850,0.627198
28,3,568320,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085959,0.075619,0.888112,0.711859,-0.026873,-0.006032,0.701782
28,3,568320,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.111930,-0.073780,0.895082,0.367072,-0.612917,0.363085,0.598131
28,3,568320,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084306,-0.070328,0.872200,0.999655,-0.000000,-0.000001,0.026277
28,3,568320,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.246563,-0.076286,0.870870,0.997403,-0.000000,-0.000001,0.072018
28,3,568320,60,gripper,0,"","put hamburger on cutting board",-0.184681,-0.060856,1.007123,0.017606,-0.715930,0.025069,0.697500
28,3,568320,61,obj,0,"014_hamburger_1","put hamburger on cutting board",0.212496,-0.246582,0.022714,0.014565,-0.690750,0.706283,-0.154324
28,3,568320,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.924532,-0.432732,0.017291,-0.971691,0.006068,-0.021603,0.235189
28,3,568320,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000035
28,3,568320,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.203972,-0.074501,0.870870,0.999979,0.000000,-0.000001,0.006447
28,3,568320,61,gripper,0,"","put hamburger on cutting board",-0.003553,-0.050196,0.946975,-0.051319,-0.799512,-0.012426,0.598325
28,3,568320,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.215839,0.066357,0.890752,0.995190,-0.023768,0.019262,-0.093064
28,3,568320,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.190170,0.159157,0.889793,-0.075632,-0.646752,0.757872,-0.040259
28,3,568320,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204948,-0.045078,0.872199,1.000000,-0.000000,-0.000001,-0.000555
28,3,568320,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235916,0.075043,0.870882,0.999992,0.000648,0.000665,0.003972
28,3,568320,62,gripper,0,"","put hamburger on cutting board",-0.191843,0.034758,1.007740,0.012364,-0.670364,0.031123,0.741277
28,3,568320,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.161877,0.091938,0.888877,0.998064,-0.010667,0.056992,-0.022496
28,3,568320,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.174244,-0.046116,0.887026,0.704469,-0.022153,0.709362,0.006257
28,3,568320,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
28,3,568320,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,0.074997,0.870883,0.999999,0.000699,0.000708,-0.000120
28,3,568320,63,gripper,0,"","put hamburger on cutting board",-0.159519,-0.039480,0.950672,-0.018959,-0.709392,-0.020872,0.704250
28,4,573440,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.179703,-0.164162,0.879125,-0.411170,-0.588141,0.502240,-0.482477
28,4,573440,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.119537,-0.019348,0.887541,0.545780,0.030443,-0.024520,0.837016
28,4,573440,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.148445,-0.040977,0.869532,0.987994,-0.000000,0.000001,-0.154490
28,4,573440,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.217239,0.083252,0.871210,0.999982,-0.003916,-0.004121,-0.001747
28,4,573440,0,gripper,0,"","put kitchen shovel on cloth",-0.233574,-0.043068,0.964067,-0.040575,-0.707317,-0.086805,0.700373
28,4,573440,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.042801,0.036583,0.885371,0.917857,0.038719,-0.079231,0.386990
28,4,573440,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.051476,0.086464,0.873622,-0.064639,-0.669045,0.737162,0.069224
28,4,573440,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.067272,0.024124,0.869532,0.984301,-0.000000,-0.000001,0.176500
28,4,573440,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235966,-0.045441,0.871288,0.999978,-0.000147,-0.001020,0.006492
28,4,573440,1,gripper,0,"","put kitchen shovel on cloth",-0.233454,-0.025200,0.971331,-0.227262,-0.718955,-0.112730,0.647107
28,4,573440,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.100090,0.065102,0.887371,0.074067,0.721710,0.687765,-0.025062
28,4,573440,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.203899,0.081230,0.881641,0.999033,-0.005160,0.039836,0.017855
28,4,573440,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.092205,-0.074188,0.869532,0.999787,0.000000,-0.000000,0.020632
28,4,573440,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.066788,0.050774,0.871288,0.997549,-0.000082,-0.001027,0.069958
28,4,573440,2,gripper,0,"","put kitchen shovel on cloth",-0.172573,0.088627,0.969103,0.021731,-0.654214,-0.168233,0.737041
28,4,573440,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.218399,0.045952,0.884977,0.525181,-0.464774,0.455954,0.547975
28,4,573440,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.100048,-0.087936,0.889755,0.416176,0.030444,-0.032724,0.908185
28,4,573440,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.240419,0.025871,0.869532,0.973046,0.000001,-0.000000,-0.230609
28,4,573440,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.086552,-0.115509,0.871282,0.984869,-0.000225,-0.001324,0.173297
28,4,573440,3,gripper,0,"","put kitchen shovel on cloth",-0.127804,-0.152916,0.928879,-0.158385,-0.784638,-0.044284,0.597743
28,4,573440,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.182824,0.178734,0.879116,-0.076466,0.635484,-0.765754,-0.062724
28,4,573440,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.237446,0.057243,0.887304,0.723041,-0.032148,0.014132,0.689912
28,4,573440,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.226598,0.078209,0.869532,0.997893,0.000000,-0.000001,0.064887
28,4,573440,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114993,0.044998,0.871288,1.000000,-0.000153,-0.001019,-0.000030
28,4,573440,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.249463,-0.015408,0.953601,0.036037,-0.740919,0.006302,0.670597
28,4,573440,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.199251,-0.069519,0.888545,-0.293180,-0.638375,0.437508,-0.561346
28,4,573440,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.220566,0.074120,0.887348,0.820070,-0.032789,0.026110,0.570726
28,4,573440,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.217766,0.060959,0.869532,0.958857,0.000000,-0.000001,-0.283889
28,4,573440,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.190910,-0.066666,0.871211,0.997384,-0.003601,-0.004399,0.072067
28,4,573440,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.183540,-0.070564,0.941220,-0.166278,-0.744555,-0.181364,0.620562
28,4,573440,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.163151,-0.080093,0.879088,0.886298,0.001575,-0.463073,0.006118
28,4,573440,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.209717,0.056290,0.889454,0.630023,0.040786,-0.053496,0.773657
28,4,573440,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.087517,-0.074768,0.869532,0.997504,0.000000,-0.000000,0.070605
28,4,573440,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.238224,0.072662,0.871282,0.999878,-0.000470,-0.001258,-0.015589
28,4,573440,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.201981,-0.063007,0.914853,-0.090734,-0.760103,-0.039865,0.642200
28,4,573440,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.079735,-0.069405,0.884978,0.377000,-0.561280,0.329960,0.658758
28,4,573440,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.208607,0.042305,0.888890,0.604164,0.055519,-0.091120,0.789684
28,4,573440,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082031,-0.073349,0.869532,0.999939,-0.000001,-0.000000,0.011066
28,4,573440,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235485,0.075043,0.871282,0.999995,-0.000454,-0.001264,-0.002889
28,4,573440,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.065308,-0.006882,1.098145,-0.142242,-0.745479,-0.128593,0.638351
28,4,573440,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.199471,-0.053345,0.885368,0.598333,-0.214131,0.177836,0.751345
28,4,573440,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.212540,0.083347,0.888331,0.810120,0.024881,-0.016316,0.585508
28,4,573440,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.229195,-0.074745,0.869532,0.997637,0.000001,-0.000001,-0.068708
28,4,573440,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.252754,0.071857,0.871282,0.999911,-0.000432,-0.001268,0.013261
28,4,573440,8,gripper,0,"","put ketchup bottle on cloth",-0.246590,0.001183,0.939601,-0.021222,-0.756606,0.048284,0.651741
28,4,573440,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.151505,-0.036720,0.879373,0.959902,0.015607,0.277813,-0.034128
28,4,573440,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.290493,-1.105923,0.004850,-0.027769,-0.289341,-0.952593,-0.089877
28,4,573440,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,0.075001,0.869532,1.000000,0.000000,-0.000001,-0.000018
28,4,573440,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
28,4,573440,9,gripper,0,"","put ketchup bottle on cloth",-0.172905,-0.030405,0.962138,0.139447,-0.707618,0.143169,0.677742
28,4,573440,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.097576,-0.048153,0.884978,0.601979,0.402516,0.511981,-0.462037
28,4,573440,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.224030,0.032604,0.890507,0.644985,-0.407354,0.527439,0.373984
28,4,573440,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.105469,-0.041351,0.869532,0.999963,-0.000000,-0.000000,-0.008604
28,4,573440,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.075024,0.871210,0.999984,-0.003907,-0.004129,0.000356
28,4,573440,10,gripper,0,"","put ketchup bottle on cloth",-0.123117,-0.048880,0.948743,-0.057445,-0.749699,-0.066958,0.655872
28,4,573440,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.095585,-0.006100,0.879213,-0.192225,0.696840,0.661024,0.201270
28,4,573440,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.177786,0.063061,0.881641,0.944328,0.008843,0.039176,-0.326546
28,4,573440,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084953,0.075203,0.869532,0.999996,0.000001,-0.000001,0.002780
28,4,573440,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084949,-0.074993,0.871288,0.999999,-0.000153,-0.001019,-0.000101
28,4,573440,11,gripper,0,"","put ketchup bottle on cloth",-0.097756,-0.050146,0.974910,-0.132043,-0.785450,-0.109377,0.594701
28,4,573440,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.103123,0.050770,0.010897,0.398443,0.065454,0.914356,-0.030207
28,4,573440,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.092146,0.054482,0.886526,0.650091,-0.059320,0.007859,0.757496
28,4,573440,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.055090,0.082748,0.869532,0.991837,0.000000,-0.000001,-0.127511
28,4,573440,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084922,-0.074951,0.871288,0.999999,-0.000155,-0.001019,-0.000470
28,4,573440,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.121499,0.069412,0.934711,-0.071965,-0.763300,-0.056378,0.639543
28,4,573440,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.080856,0.073414,0.888116,-0.194293,0.692113,0.663297,0.208009
28,4,573440,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.170574,-0.089611,0.881638,0.960133,-0.015102,-0.036334,-0.276761
28,4,573440,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.081589,-0.082932,0.869533,0.997205,0.000001,-0.000000,-0.074715
28,4,573440,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.078438,0.074123,0.871288,0.999894,-0.000139,-0.001021,0.014498
28,4,573440,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.188947,-0.088415,0.927552,-0.171096,-0.727518,-0.080287,0.659544
28,4,573440,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.227890,-0.060345,0.885121,-0.429714,-0.568062,0.524858,-0.466020
28,4,573440,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.055607,-0.077953,0.881638,0.953833,-0.015895,-0.036010,-0.297745
28,4,573440,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.226868,-0.039787,0.869531,0.987541,0.000001,-0.000001,-0.157360
28,4,573440,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.075008,0.871288,0.999999,-0.000155,-0.001019,0.000018
28,4,573440,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.059221,-0.072863,0.937502,-0.131406,-0.763413,-0.074873,0.627955
28,4,573440,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.080265,-0.092804,0.887918,-0.317923,-0.640527,0.489655,-0.498887
28,4,573440,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.054928,-0.937832,0.012838,0.607750,-0.033749,-0.020262,-0.793152
28,4,573440,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000006
28,4,573440,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000013
28,4,573440,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.245283,-0.052305,0.945347,-0.079926,-0.723362,0.042031,0.684538
28,4,573440,16,obj,0,"003_bread_1","put 7up can on carpet",-0.138214,-0.019634,0.886630,0.996553,0.003711,-0.011469,0.082083
28,4,573440,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.214622,-0.045807,0.887748,0.536102,0.455793,-0.390969,0.593288
28,4,573440,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.236450,-0.074028,0.869490,0.999793,0.000177,0.000897,0.020342
28,4,573440,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.114998,-0.044937,0.870356,0.999998,-0.000427,-0.001712,-0.000900
28,4,573440,16,gripper,0,"","put 7up can on carpet",-0.203125,0.016500,0.967297,0.069442,-0.670982,0.116322,0.728992
28,4,573440,17,obj,0,"003_bread_1","put 7up can on carpet",-0.219685,-0.055996,0.886538,0.875522,0.010353,-0.007680,0.483006
28,4,573440,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.160847,-0.046009,0.886542,0.739435,-0.032310,0.060474,0.669728
28,4,573440,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
28,4,573440,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.235607,-0.074268,0.870461,0.999969,0.000020,-0.000159,0.007835
28,4,573440,17,gripper,0,"","put 7up can on carpet",-0.157125,-0.008652,1.011293,-0.082645,-0.673905,-0.069909,0.730845
28,4,573440,18,obj,0,"003_bread_1","put 7up can on carpet",-0.183483,-0.054947,0.886167,0.884306,0.046113,0.073584,0.458760
28,4,573440,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.277164,-0.250118,0.885661,0.770205,-0.141168,0.188001,0.592884
28,4,573440,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085041,-0.074997,0.869490,1.000000,0.000180,0.000874,0.000091
28,4,573440,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.236111,-0.078007,0.870447,0.999936,-0.000152,-0.000181,-0.011310
28,4,573440,18,gripper,0,"","put 7up can on carpet",-0.112919,-0.032434,1.006128,-0.065290,-0.762896,0.003534,0.643206
28,4,573440,19,obj,0,"003_bread_1","put 7up can on carpet",-0.151867,-0.065834,0.886499,0.981814,0.006886,-0.006753,0.189599
28,4,573440,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.283134,-0.230816,0.885661,0.862520,-0.105875,0.209893,0.448102
28,4,573440,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114626,0.080109,0.869490,0.999851,0.000165,0.000877,0.017244
28,4,573440,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.182390,-0.095436,0.870448,0.999971,-0.000869,-0.000788,-0.007538
28,4,573440,19,gripper,0,"","put 7up can on carpet",-0.186980,0.021662,1.010451,0.025801,-0.663136,0.062797,0.745414
28,4,573440,20,obj,0,"003_bread_1","put bread on newspaper",-0.235419,-0.061977,0.886640,0.999556,0.002127,-0.009750,0.028058
28,4,573440,20,obj,1,"005_7up can_1","put bread on newspaper",-0.324723,-0.056606,0.885995,-0.099044,-0.697892,0.701364,-0.105956
28,4,573440,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.114997,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000001
28,4,573440,20,recep,1,"003_carpet_1","put bread on newspaper",-0.234916,-0.074924,0.870453,0.999999,-0.000831,-0.000818,0.000104
28,4,573440,20,gripper,0,"","put bread on newspaper",-0.179400,0.098673,0.983407,0.086366,-0.668071,0.039364,0.738020
28,4,573440,21,obj,0,"003_bread_1","put bread on newspaper",-0.245045,0.067673,0.886734,0.223095,0.027189,0.001426,0.974416
28,4,573440,21,obj,1,"005_7up can_1","put bread on newspaper",-0.226994,-0.014267,0.888871,0.690572,-0.267471,0.304215,0.599185
28,4,573440,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.231129,0.081696,0.869490,0.999356,0.000148,0.000881,0.035871
28,4,573440,21,recep,1,"003_carpet_1","put bread on newspaper",-0.203863,-0.044758,0.870448,0.999963,-0.000884,-0.000798,-0.008499
28,4,573440,21,gripper,0,"","put bread on newspaper",-0.113401,-0.039738,1.040395,0.025257,-0.715637,-0.036522,0.697059
28,4,573440,22,obj,0,"003_bread_1","put bread on newspaper",-0.205963,-0.068672,0.886619,0.593243,0.013684,-0.003915,0.804898
28,4,573440,22,obj,1,"005_7up can_1","put bread on newspaper",-0.166737,-0.013489,0.885866,0.504792,-0.424419,0.687450,0.304083
28,4,573440,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.204964,0.075005,0.869490,1.000000,0.000180,0.000874,0.000119
28,4,573440,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205189,-0.075798,0.870448,0.999976,-0.000915,-0.000827,-0.006736
28,4,573440,22,gripper,0,"","put bread on newspaper",-0.127453,0.024969,1.002473,0.116928,-0.685167,0.171817,0.698107
28,4,573440,23,obj,0,"003_bread_1","put bread on newspaper",-0.217281,-0.021751,0.886528,0.883702,0.009086,-0.007908,0.467895
28,4,573440,23,obj,1,"005_7up can_1","put bread on newspaper",-0.216904,0.035076,0.888624,-0.683179,-0.124668,0.094416,-0.713309
28,4,573440,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,0.074806,0.869490,0.999998,0.000548,0.001427,0.001600
28,4,573440,23,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,-0.044994,0.870446,0.999999,-0.000727,-0.001047,-0.000245
28,4,573440,23,gripper,0,"","put bread on newspaper",-0.079899,0.079769,0.923233,0.049795,-0.753058,-0.057589,0.653534
28,4,573440,24,obj,0,"003_bread_1","put bread on carpet",-0.289032,-0.109556,0.883544,0.997449,0.000938,-0.012622,-0.070258
28,4,573440,24,obj,1,"005_7up can_1","put bread on carpet",-0.094078,-0.043108,0.888993,-0.478909,0.013020,0.877767,0.001464
28,4,573440,24,recep,0,"004_newspaper_1","put bread on carpet",-0.085098,0.075190,0.869490,0.999999,0.000181,0.000874,-0.001416
28,4,573440,24,recep,1,"003_carpet_1","put bread on carpet",-0.098671,-0.080009,0.870447,0.995440,-0.001000,-0.000754,-0.095376
28,4,573440,24,gripper,0,"","put bread on carpet",-0.098423,0.063094,0.934625,0.082832,-0.730040,-0.025446,0.677889
28,4,573440,25,obj,0,"003_bread_1","put bread on carpet",-0.113892,0.099241,0.886527,0.943675,0.005862,-0.006715,0.330754
28,4,573440,25,obj,1,"005_7up can_1","put bread on carpet",-0.142208,-0.006161,0.948817,-0.565830,-0.193481,0.194130,-0.777635
28,4,573440,25,recep,0,"004_newspaper_1","put bread on carpet",-0.063679,-0.025959,0.869490,0.988920,0.000048,0.000892,0.148445
28,4,573440,25,recep,1,"003_carpet_1","put bread on carpet",-0.106647,0.087938,0.870350,0.999199,-0.000419,-0.001851,0.039962
28,4,573440,25,gripper,0,"","put bread on carpet",-0.142006,-0.013414,0.992596,-0.032141,-0.770696,-0.167072,0.614069
28,4,573440,26,obj,0,"003_bread_1","put bread on carpet",-0.255123,0.080553,0.886935,0.995608,0.006876,0.002001,0.093347
28,4,573440,26,obj,1,"005_7up can_1","put bread on carpet",-0.133671,0.014977,0.888748,0.691905,0.162286,-0.164851,0.683926
28,4,573440,26,recep,0,"004_newspaper_1","put bread on carpet",-0.235073,0.075026,0.869490,1.000000,0.000179,0.000874,0.000359
28,4,573440,26,recep,1,"003_carpet_1","put bread on carpet",-0.123131,0.047781,0.870461,0.998761,0.000026,-0.000157,0.049762
28,4,573440,26,gripper,0,"","put bread on carpet",-0.177744,0.020905,0.960520,-0.021100,-0.740793,-0.054050,0.669223
28,4,573440,27,obj,0,"003_bread_1","put bread on carpet",-0.071089,-0.079990,0.886562,0.334806,0.016075,-0.002149,0.942147
28,4,573440,27,obj,1,"005_7up can_1","put bread on carpet",-0.055437,-0.010220,0.886756,-0.017331,-0.883998,0.467165,0.001853
28,4,573440,27,recep,0,"004_newspaper_1","put bread on carpet",-0.102266,0.043959,0.869490,0.995802,0.000417,0.001470,0.091521
28,4,573440,27,recep,1,"003_carpet_1","put bread on carpet",-0.079506,-0.072298,0.870448,0.999806,-0.000940,-0.000827,-0.019632
28,4,573440,27,gripper,0,"","put bread on carpet",-0.109209,-0.031693,0.979312,-0.019402,-0.710449,-0.028998,0.702884
28,4,573440,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.237581,-0.110952,0.886409,0.327771,0.021515,-0.005647,0.944495
28,4,573440,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.220044,0.028137,0.890070,0.625000,-0.063565,0.044074,0.776783
28,4,573440,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.225406,0.076128,0.869490,0.998642,0.000134,0.000882,0.052090
28,4,573440,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.237369,-0.072073,0.870469,0.999707,0.001527,0.001481,0.024101
28,4,573440,28,gripper,0,"","put 7up can on newspaper",-0.227680,0.024785,0.916995,-0.051038,-0.731754,-0.100189,0.672230
28,4,573440,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.237944,-0.038565,0.885981,0.966897,-0.008118,0.003430,-0.255015
28,4,573440,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.206371,-0.012352,0.917421,-0.862090,0.163566,0.155994,0.453556
28,4,573440,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.246141,-0.052517,0.869490,0.997303,0.000116,0.000885,0.073393
28,4,573440,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085482,-0.074444,0.870448,0.999985,-0.000918,-0.000850,0.005271
28,4,573440,29,gripper,0,"","put 7up can on newspaper",-0.199789,-0.006010,0.966387,-0.223777,-0.637576,-0.175356,0.716010
28,4,573440,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.178017,-0.031445,0.885350,0.460827,0.031449,0.003448,0.886926
28,4,573440,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.163811,-0.105982,0.885728,-0.518388,0.046238,-0.026499,-0.853483
28,4,573440,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205006,-0.045006,0.869489,0.999999,0.000550,0.001425,-0.000405
28,4,573440,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.081596,-0.075647,0.870448,0.999973,-0.000593,-0.000555,-0.007239
28,4,573440,30,gripper,0,"","put 7up can on newspaper",-0.151447,-0.008740,0.986478,0.055319,-0.704803,0.067032,0.704059
28,4,573440,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.212337,-0.040649,0.885585,0.891713,0.014871,0.005421,0.452323
28,4,573440,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.084606,0.264521,0.885951,0.341307,0.492901,-0.771022,0.214670
28,4,573440,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234978,-0.075041,0.869482,0.999998,0.000546,0.001329,-0.001614
28,4,573440,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.095490,0.078716,0.870350,0.997399,-0.000200,-0.001445,-0.072067
28,4,573440,31,gripper,0,"","put 7up can on newspaper",-0.217762,0.041069,0.990678,-0.006938,-0.651061,-0.002357,0.758990
28,4,573440,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117813,-0.044654,0.887204,0.997020,0.006440,0.031220,0.070250
28,4,573440,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234970,0.074574,0.878547,0.999910,0.013294,0.002049,-0.000100
28,4,573440,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
28,4,573440,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.234879,-0.074973,0.874362,0.999997,0.000000,0.000000,0.002496
28,4,573440,32,gripper,0,"","put banana on flat bowl",-0.215992,-0.048784,1.004984,-0.315146,-0.570483,-0.261471,0.711945
28,4,573440,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.208576,0.026446,0.887529,0.985434,-0.007117,0.042635,0.164472
28,4,573440,33,obj,1,"013_banana_1","put banana on flat bowl",-0.153481,-0.080419,0.881077,0.990524,0.076675,-0.001101,0.113941
28,4,573440,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.108120,-0.046536,0.871344,0.995903,-0.000262,0.001145,0.090419
28,4,573440,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
28,4,573440,33,gripper,0,"","put banana on flat bowl",-0.138662,-0.023341,0.998122,-0.223035,-0.742617,-0.122982,0.619396
28,4,573440,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092381,0.075831,0.887243,0.956550,-0.000528,0.023220,0.290641
28,4,573440,34,obj,1,"013_banana_1","put banana on flat bowl",-0.208023,-0.092658,0.878547,0.973059,0.012483,0.005058,0.230161
28,4,573440,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
28,4,573440,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
28,4,573440,34,gripper,0,"","put banana on flat bowl",-0.198442,-0.057138,0.986636,-0.153458,-0.719615,-0.031136,0.676487
28,4,573440,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205709,-0.083922,0.885932,0.520153,0.498837,0.501159,0.479001
28,4,573440,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084566,-0.074994,0.878547,0.706795,0.007946,0.010851,0.707290
28,4,573440,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
28,4,573440,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
28,4,573440,35,gripper,0,"","put banana on flat bowl",-0.044893,-0.006831,0.985058,-0.374105,-0.550312,-0.228605,0.710592
28,4,573440,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.253526,0.074728,0.887547,0.462958,-0.031140,0.014473,0.885715
28,4,573440,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204691,-0.074681,0.878547,0.382268,0.003189,0.013070,0.923954
28,4,573440,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871344,0.999999,-0.000157,0.001164,-0.000016
28,4,573440,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,0.045000,0.874363,1.000000,0.000001,0.000000,-0.000000
28,4,573440,36,gripper,0,"","put carrot on sheet metal",-0.205790,0.050781,0.979535,-0.023949,-0.738244,-0.009907,0.674036
28,4,573440,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.220509,-0.057664,0.947661,0.993924,-0.082902,0.071072,-0.013828
28,4,573440,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.084681,0.074693,0.878547,0.923651,0.011497,0.006986,0.382998
28,4,573440,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
28,4,573440,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
28,4,573440,37,gripper,0,"","put carrot on sheet metal",-0.209791,-0.050425,0.998710,-0.062941,-0.717838,0.030406,0.692692
28,4,573440,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.141346,-0.085127,0.887484,0.480121,-0.021350,0.010449,0.876880
28,4,573440,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.084564,-0.074994,0.878547,0.706762,0.007951,0.010850,0.707323
28,4,573440,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000026
28,4,573440,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
28,4,573440,38,gripper,0,"","put carrot on sheet metal",-0.127398,-0.053394,0.971821,0.042589,-0.747875,0.065423,0.659234
28,4,573440,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.127228,0.089080,0.887024,0.343718,0.035262,-0.012917,0.938322
28,4,573440,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
28,4,573440,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.208382,0.074576,0.871344,0.999971,-0.000166,0.001162,0.007468
28,4,573440,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075000,0.874363,1.000000,0.000001,0.000000,-0.000001
28,4,573440,39,gripper,0,"","put carrot on sheet metal",-0.126965,0.057266,0.999295,0.081591,-0.689305,-0.072010,0.716251
28,4,573440,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.201218,0.036995,0.930751,0.995704,-0.060373,0.045696,0.053293
28,4,573440,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084999,-0.075438,0.878547,0.999909,0.013270,0.002030,-0.001214
28,4,573440,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
28,4,573440,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000524
28,4,573440,40,gripper,0,"","put carrot on flat bowl",-0.183933,0.040899,0.981853,-0.032189,-0.775261,-0.021532,0.630453
28,4,573440,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206440,0.078783,0.887529,0.957605,-0.012322,0.041427,0.284825
28,4,573440,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.085182,-0.074068,0.878547,0.943323,0.011867,0.006346,0.331604
28,4,573440,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
28,4,573440,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
28,4,573440,41,gripper,0,"","put carrot on flat bowl",-0.195107,0.068144,0.991634,0.037315,-0.665582,0.015546,0.745229
28,4,573440,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.175285,-0.026024,0.889401,-0.047676,-0.041687,0.060441,0.996161
28,4,573440,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.083611,-0.074287,0.878547,0.389156,0.003285,0.013034,0.921074
28,4,573440,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204903,-0.075008,0.871414,0.999994,-0.003316,-0.000954,-0.001104
28,4,573440,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
28,4,573440,42,gripper,0,"","put carrot on flat bowl",-0.169231,-0.008607,1.030844,0.035233,-0.719566,0.085823,0.688199
28,4,573440,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.163471,0.069395,0.899557,0.157698,-0.106763,0.015093,0.981583
28,4,573440,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234735,-0.044697,0.878547,0.384567,0.003213,0.013035,0.922999
28,4,573440,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,0.044954,0.871344,0.999999,-0.000157,0.001164,-0.000131
28,4,573440,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.204996,0.074989,0.874362,0.999998,0.001252,0.001249,-0.000522
28,4,573440,43,gripper,0,"","put carrot on flat bowl",-0.137105,-0.042526,1.004772,0.034363,-0.723823,-0.014020,0.688987
28,4,573440,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.096050,-0.069324,0.893261,0.671852,0.717081,0.119601,0.141796
28,4,573440,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234247,0.074066,0.878546,0.999909,0.013262,0.002065,0.001387
28,4,573440,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,0.044998,0.871344,0.999999,-0.000157,0.001164,-0.000033
28,4,573440,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084798,-0.075157,0.874362,0.999996,-0.000000,-0.000005,0.002783
28,4,573440,44,gripper,0,"","put banana on sheet metal",-0.168748,0.072492,0.996507,-0.132449,-0.723855,-0.081775,0.672164
28,4,573440,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.121569,0.059790,0.887386,0.993447,0.000265,0.037854,-0.107838
28,4,573440,45,obj,1,"013_banana_1","put banana on sheet metal",-0.206747,-0.043905,0.878547,0.992723,0.012985,0.003637,0.119662
28,4,573440,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074959,0.871344,0.999999,-0.000158,0.001164,0.000079
28,4,573440,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
28,4,573440,45,gripper,0,"","put banana on sheet metal",-0.188971,-0.040173,0.950083,-0.029759,-0.782932,0.009303,0.621325
28,4,573440,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.143837,0.062611,0.887203,0.751684,-0.026612,0.017532,0.658753
28,4,573440,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
28,4,573440,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
28,4,573440,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.213757,0.070873,0.874362,0.984009,0.000001,-0.000001,-0.178119
28,4,573440,46,gripper,0,"","put banana on sheet metal",-0.040894,-0.016150,0.966612,0.108389,-0.763236,0.245259,0.587852
28,4,573440,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.093063,0.105192,0.887540,0.981428,-0.003815,0.029828,0.189457
28,4,573440,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084667,-0.075304,0.878547,0.924320,0.011522,0.006972,0.381380
28,4,573440,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
28,4,573440,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.045000,0.874362,1.000000,-0.000002,-0.000002,0.000508
28,4,573440,47,gripper,0,"","put banana on sheet metal",-0.061607,-0.012436,1.029550,-0.220113,-0.726562,-0.127551,0.638270
28,4,573440,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.158257,-0.043270,0.889205,0.135267,0.036037,-0.060151,0.988325
28,4,573440,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.233047,-0.060867,0.896149,0.517693,-0.587788,0.405357,0.471365
28,4,573440,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.212418,0.080460,0.872199,0.999996,-0.000000,-0.000001,0.002766
28,4,573440,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234978,-0.074451,0.870870,0.999995,-0.000000,-0.000003,-0.002979
28,4,573440,48,gripper,0,"","put plastic bottle on cutting board",-0.108101,0.034193,0.996697,0.030535,-0.719240,0.072751,0.690267
28,4,573440,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.213062,0.123207,0.890487,-0.422382,-0.002035,-0.025125,0.906067
28,4,573440,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.242531,0.069229,0.889718,0.622158,-0.347612,0.618477,0.331017
28,4,573440,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234386,-0.074982,0.872199,0.999972,-0.000000,-0.000001,-0.007523
28,4,573440,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.217712,0.095333,0.870871,0.995684,-0.000000,-0.000018,0.092806
28,4,573440,49,gripper,0,"","put plastic bottle on cutting board",-0.217428,0.040642,1.026807,0.124108,-0.640180,0.259550,0.712321
28,4,573440,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.099419,-0.063080,0.890788,0.991589,-0.025001,0.011529,0.126468
28,4,573440,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.195095,-0.074234,0.887026,0.691464,-0.151403,0.693370,0.134882
28,4,573440,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000001
28,4,573440,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000184
28,4,573440,50,gripper,0,"","put plastic bottle on cutting board",-0.195963,-0.072495,0.982345,-0.070599,-0.696324,-0.068680,0.710938
28,4,573440,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",1.792133,-1.087421,0.022371,-0.034618,-0.817210,-0.006657,0.575261
28,4,573440,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.183357,0.062218,0.909637,-0.504029,-0.550700,0.458517,-0.482128
28,4,573440,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114950,0.074974,0.872199,1.000000,-0.000000,-0.000001,0.000756
28,4,573440,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235020,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000045
28,4,573440,51,gripper,0,"","put plastic bottle on cutting board",-0.184189,0.057026,0.948943,0.009670,-0.755673,-0.054824,0.652579
28,4,573440,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.201825,0.100285,0.888989,0.469706,-0.035094,0.062447,0.879912
28,4,573440,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.071825,-0.051723,0.895144,0.324134,-0.647426,0.304153,0.619086
28,4,573440,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085356,-0.075012,0.872199,0.999997,-0.000000,-0.000001,-0.002465
28,4,573440,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.105834,0.044788,0.870870,0.999957,-0.000000,-0.000001,0.009267
28,4,573440,52,gripper,0,"","put hamburger on frying pan",-0.210378,0.100145,0.916048,-0.205130,-0.699876,-0.112481,0.674865
28,4,573440,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.207283,0.098316,0.890507,0.472182,-0.024508,-0.011245,0.881089
28,4,573440,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.091703,0.068314,0.895357,-0.454619,0.553492,-0.446996,-0.535875
28,4,573440,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.088236,0.077190,0.872199,0.999818,-0.000000,-0.000001,-0.019088
28,4,573440,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.217896,0.076229,0.870870,0.999330,0.000000,-0.000001,0.036609
28,4,573440,53,gripper,0,"","put hamburger on frying pan",-0.127078,0.028307,1.015718,-0.198984,-0.632392,-0.235063,0.710796
28,4,573440,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.019463,-0.051617,0.894418,0.455076,0.445280,-0.684226,0.355622
28,4,573440,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.084396,0.054268,0.895359,0.458397,-0.550905,0.452751,0.530464
28,4,573440,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.081585,0.070415,0.872199,0.999610,0.000000,-0.000001,0.027924
28,4,573440,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.011234,-0.019447,0.870867,0.998862,0.000123,0.000210,0.047688
28,4,573440,54,gripper,0,"","put hamburger on frying pan",-0.063723,-0.029985,0.984982,0.035793,-0.746242,0.070313,0.660982
28,4,573440,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.200005,-0.017876,0.979981,0.581701,0.074491,0.080650,0.805960
28,4,573440,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.247463,0.037334,0.888429,-0.470843,-0.528921,0.440896,-0.551507
28,4,573440,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234688,-0.075027,0.872200,0.999973,-0.000000,-0.000001,0.007319
28,4,573440,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.206463,0.064526,0.870872,0.998244,-0.000035,-0.000046,-0.059229
28,4,573440,55,gripper,0,"","put hamburger on frying pan",-0.198158,-0.018824,1.013835,-0.116769,-0.663639,-0.130496,0.727268
28,4,573440,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.048637,0.081692,0.890732,0.990223,-0.026536,0.014480,0.136181
28,4,573440,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.267357,0.041946,0.885720,-0.450021,-0.545013,0.425574,-0.565092
28,4,573440,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.227142,-0.074577,0.872199,0.994201,0.000000,-0.000001,-0.107536
28,4,573440,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.067856,0.082382,0.870883,0.999562,0.000678,0.000733,0.029563
28,4,573440,56,gripper,0,"","put hamburger on cutting board",-0.074516,0.076958,1.021775,0.055182,-0.763733,0.009961,0.643092
28,4,573440,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.067322,0.135357,0.891557,0.726459,-0.041125,0.163226,0.666276
28,4,573440,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.232559,0.161709,0.886091,0.750502,-0.021172,0.007437,0.660487
28,4,573440,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084648,0.073662,0.873216,0.999810,-0.017704,-0.006795,-0.004514
28,4,573440,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233173,0.071613,0.870870,0.999857,-0.000000,-0.000000,0.016907
28,4,573440,57,gripper,0,"","put hamburger on cutting board",-0.068550,0.132717,0.922732,0.087157,-0.739349,0.063519,0.664629
28,4,573440,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.101410,0.070919,0.894768,0.739753,-0.048659,-0.008967,0.671056
28,4,573440,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.221725,0.101562,0.889698,0.539351,-0.466050,0.537868,0.450106
28,4,573440,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.087864,-0.068573,0.872200,0.999618,0.000001,-0.000001,-0.027650
28,4,573440,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.206711,0.076374,0.870871,0.999892,-0.000005,-0.000002,0.014703
28,4,573440,58,gripper,0,"","put hamburger on cutting board",-0.110794,0.068464,0.925395,0.004464,-0.763901,-0.022274,0.644933
28,4,573440,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082109,0.021511,0.888450,0.501875,-0.041508,-0.025847,0.863557
28,4,573440,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.223167,0.074352,0.888769,-0.685595,0.021723,-0.005429,-0.727639
28,4,573440,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.233335,-0.081001,0.872199,0.998307,0.000000,-0.000001,-0.058160
28,4,573440,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.232338,0.076557,0.870871,0.999750,0.000015,0.000024,0.022365
28,4,573440,59,gripper,0,"","put hamburger on cutting board",-0.088758,0.019716,0.930104,0.007152,-0.756373,-0.001198,0.654100
28,4,573440,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085958,0.075619,0.888112,0.711859,-0.026872,-0.006032,0.701782
28,4,573440,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.111930,-0.073780,0.895081,0.367063,-0.612940,0.363093,0.598107
28,4,573440,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084306,-0.070328,0.872200,0.999655,-0.000001,-0.000001,0.026277
28,4,573440,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.246563,-0.076286,0.870870,0.997403,0.000000,0.000000,0.072018
28,4,573440,60,gripper,0,"","put plastic bottle on frying pan",-0.136762,-0.027279,0.988809,-0.038702,-0.721879,0.014377,0.690787
28,4,573440,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.212496,-0.246582,0.022714,0.014542,-0.690642,0.706389,-0.154326
28,4,573440,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.924532,-0.432732,0.017291,-0.971725,0.006071,-0.021602,0.235045
28,4,573440,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.044998,0.872199,1.000000,0.000001,-0.000001,0.000052
28,4,573440,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.203245,-0.073643,0.870866,1.000000,0.000051,0.000114,0.000034
28,4,573440,61,gripper,0,"","put plastic bottle on frying pan",-0.186975,-0.056295,0.917056,-0.146901,-0.743692,-0.150817,0.634505
28,4,573440,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.215233,0.069008,0.890761,0.989682,-0.023241,0.021481,-0.139741
28,4,573440,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.196568,0.028690,0.893065,-0.175050,-0.741478,0.620316,-0.186484
28,4,573440,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205456,-0.044788,0.872199,0.999998,0.000000,-0.000001,-0.002056
28,4,573440,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235828,0.075161,0.870885,0.999988,0.000708,0.000745,0.004695
28,4,573440,62,gripper,0,"","put plastic bottle on frying pan",-0.199558,-0.032341,0.962953,-0.121546,-0.731773,-0.101420,0.662910
28,4,573440,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.118263,-0.016598,0.896120,0.972621,0.000202,-0.123998,0.196551
28,4,573440,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.175224,-0.051182,0.887026,0.704405,-0.027253,0.709185,0.011322
28,4,573440,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.081821,-0.073334,0.872199,0.999049,0.000000,-0.000000,-0.043597
28,4,573440,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235401,0.073353,0.870870,0.999995,-0.000000,-0.000001,0.003135
28,4,573440,63,gripper,0,"","put plastic bottle on frying pan",-0.138811,-0.021088,0.938648,-0.038670,-0.744440,-0.057656,0.664071
29,1,578560,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",1.160172,-0.869751,0.010280,-0.058297,-0.466560,0.032598,-0.881964
29,1,578560,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.171532,0.067780,0.882236,0.847308,-0.027242,0.058907,0.527122
29,1,578560,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082306,0.077751,0.869773,0.999925,0.001554,-0.003786,-0.011509
29,1,578560,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",2.292068,-0.868263,0.002488,-0.539000,0.000941,0.000419,0.842305
29,1,578560,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.368614,0.017521,0.848180,-0.021545,-0.580099,0.008883,0.814213
29,1,578560,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.085152,-0.010925,0.010903,0.244121,0.746003,0.470325,-0.403335
29,1,578560,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205971,0.075104,0.881638,0.999226,-0.004456,-0.039081,-0.000313
29,1,578560,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000013
29,1,578560,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.044998,0.871289,0.999999,-0.000153,-0.001019,-0.000014
29,1,578560,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.051006,-0.006298,0.978872,-0.035912,-0.847547,-0.064818,0.525522
29,1,578560,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.155762,-0.007187,0.938393,0.395315,-0.202837,0.106590,0.889507
29,1,578560,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205112,0.074059,0.881638,0.706768,0.024485,-0.030788,0.706351
29,1,578560,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000013
29,1,578560,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000007
29,1,578560,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.176249,-0.027760,0.981315,-0.222679,-0.696082,-0.280315,0.622341
29,1,578560,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.186289,-0.068840,0.885122,0.369729,0.627766,-0.451693,0.514960
29,1,578560,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.104799,0.066772,0.881638,0.236879,0.036945,-0.013591,0.970741
29,1,578560,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204994,-0.074997,0.869532,1.000000,0.000000,-0.000002,0.000061
29,1,578560,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
29,1,578560,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.149405,0.026928,0.952770,-0.069502,-0.743451,-0.071307,0.661336
29,1,578560,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.085480,-0.067429,0.879180,0.750449,-0.242718,-0.370117,-0.490843
29,1,578560,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235849,-0.045532,0.883220,0.998926,0.023090,-0.040145,-0.001711
29,1,578560,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204983,0.074852,0.869532,0.999997,0.000001,-0.000000,0.002253
29,1,578560,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
29,1,578560,4,gripper,0,"","put ketchup bottle on cloth",-0.109356,-0.058010,0.939287,-0.009894,-0.788405,0.060497,0.612095
29,1,578560,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.210470,0.068329,0.888182,0.676235,0.297249,-0.363449,0.567674
29,1,578560,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085112,-0.075974,0.881638,0.706804,0.024507,-0.030811,0.706313
29,1,578560,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
29,1,578560,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234999,0.075005,0.871288,1.000000,-0.000154,-0.001019,0.000146
29,1,578560,5,gripper,0,"","put ketchup bottle on cloth",-0.052185,-0.042469,0.963197,-0.025260,-0.749970,0.024885,0.660521
29,1,578560,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.216457,0.090599,0.887892,0.590971,0.346857,-0.300070,0.663628
29,1,578560,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.114388,0.044250,0.881638,0.382578,0.034418,-0.019081,0.923085
29,1,578560,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000015
29,1,578560,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000121
29,1,578560,6,gripper,0,"","put ketchup bottle on cloth",-0.165583,0.058907,1.024839,-0.007375,-0.752645,0.003752,0.658375
29,1,578560,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.060966,0.102951,0.887860,-0.043494,0.764032,-0.640696,-0.062226
29,1,578560,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115772,-0.045578,0.881638,0.923201,0.010845,-0.037816,0.382299
29,1,578560,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
29,1,578560,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000050
29,1,578560,7,gripper,0,"","put ketchup bottle on cloth",-0.115528,0.088234,0.978723,-0.013909,-0.795273,-0.052227,0.603837
29,1,578560,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094704,0.075031,0.879089,0.886322,-0.001492,-0.463066,0.000249
29,1,578560,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.002609,-0.072666,0.881169,0.978166,-0.004006,0.059301,-0.199147
29,1,578560,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000024
29,1,578560,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075016,0.871282,0.999999,-0.000450,-0.001265,0.000125
29,1,578560,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.243443,-0.054005,0.923952,0.039642,-0.700688,0.111804,0.703537
29,1,578560,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.251797,-0.088997,0.879126,0.597533,0.257593,-0.729217,0.211762
29,1,578560,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.076591,-0.525135,0.004849,-0.091396,-0.966135,-0.240278,-0.022267
29,1,578560,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
29,1,578560,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,0.075027,0.871210,0.999984,-0.003908,-0.004128,0.000145
29,1,578560,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.086475,0.103758,0.965360,-0.004150,-0.744679,-0.061563,0.664564
29,1,578560,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235062,0.065327,0.879088,0.626435,0.326440,-0.328433,0.627014
29,1,578560,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.123726,0.037773,0.887351,0.680655,-0.035595,0.016589,0.731551
29,1,578560,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114979,0.045017,0.869532,1.000000,-0.000001,-0.000001,0.000690
29,1,578560,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205002,-0.045013,0.871288,0.999999,-0.000156,-0.001021,-0.000034
29,1,578560,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.245077,0.063379,0.913126,-0.019591,-0.706546,-0.031056,0.706714
29,1,578560,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.212471,-0.069771,0.884977,0.466775,-0.508714,0.406396,0.598476
29,1,578560,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.079145,-0.054024,0.881638,0.916601,0.011481,-0.037619,0.397864
29,1,578560,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000004
29,1,578560,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235014,0.045017,0.871288,1.000000,-0.000154,-0.001020,0.000045
29,1,578560,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.083168,-0.053534,0.932774,0.126143,-0.765607,0.052367,0.628642
29,1,578560,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091861,0.068096,0.879089,0.818773,0.175811,-0.428402,0.339371
29,1,578560,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.112999,-0.074612,0.881638,0.931527,0.009996,-0.038048,0.361538
29,1,578560,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,-0.044998,0.869532,1.000000,0.000000,-0.000002,0.000000
29,1,578560,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
29,1,578560,12,gripper,0,"","put kitchen shovel on cloth",-0.108080,0.055593,0.935354,0.132069,-0.761543,0.010932,0.634421
29,1,578560,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.088634,0.086945,0.879212,0.263480,0.306275,-0.910351,0.089640
29,1,578560,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.234262,0.077671,0.881638,0.998901,-0.003445,-0.039183,0.025496
29,1,578560,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000003
29,1,578560,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084978,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000040
29,1,578560,13,gripper,0,"","put kitchen shovel on cloth",-0.102466,0.019392,0.993126,-0.039318,-0.716824,-0.055477,0.693931
29,1,578560,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.091900,-0.081844,0.879088,0.818028,0.176750,-0.428009,0.341172
29,1,578560,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.195694,0.058937,0.881638,0.902157,0.012799,-0.037222,0.429609
29,1,578560,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000000,0.000019
29,1,578560,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,-0.000007
29,1,578560,14,gripper,0,"","put kitchen shovel on cloth",-0.203093,0.085695,0.952724,-0.114037,-0.716963,-0.145337,0.672188
29,1,578560,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.097572,-0.049744,0.879095,0.275570,0.441966,-0.146293,0.841026
29,1,578560,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.175827,-0.007275,0.931364,0.525500,-0.145517,0.067444,0.835539
29,1,578560,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
29,1,578560,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
29,1,578560,15,gripper,0,"","put kitchen shovel on cloth",-0.199614,-0.007446,0.970155,-0.237645,-0.756441,-0.089960,0.602685
29,1,578560,16,obj,0,"003_bread_1","put bread on newspaper",-0.146515,-0.104580,0.886044,0.215172,0.878461,-0.292162,-0.310885
29,1,578560,16,obj,1,"005_7up can_1","put bread on newspaper",-0.199387,-0.053421,0.888744,0.648348,0.140840,-0.120762,0.738394
29,1,578560,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000042
29,1,578560,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205025,-0.074924,0.870447,0.999994,-0.000788,-0.000732,0.003199
29,1,578560,16,gripper,0,"","put bread on newspaper",-0.146275,-0.039057,0.999313,0.030450,-0.732982,0.107214,0.671055
29,1,578560,17,obj,0,"003_bread_1","put bread on newspaper",-0.211529,-0.056644,0.886547,0.273392,0.028077,0.002021,0.961491
29,1,578560,17,obj,1,"005_7up can_1","put bread on newspaper",-0.122631,-0.266514,0.885625,0.558870,-0.100499,0.062114,0.820796
29,1,578560,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.205021,-0.075008,0.869490,1.000000,0.000180,0.000875,-0.000190
29,1,578560,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235012,0.075020,0.870447,0.999991,-0.003111,-0.002731,-0.000015
29,1,578560,17,gripper,0,"","put bread on newspaper",-0.142832,-0.008520,1.001503,-0.083696,-0.696370,-0.065796,0.709743
29,1,578560,18,obj,0,"003_bread_1","put bread on newspaper",-0.202007,-0.044331,0.885146,0.382001,0.029640,0.004554,0.923675
29,1,578560,18,obj,1,"005_7up can_1","put bread on newspaper",-0.103882,-0.040520,0.951036,0.592578,0.162410,-0.033258,0.788269
29,1,578560,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.234951,-0.075058,0.869490,1.000000,0.000179,0.000869,-0.000145
29,1,578560,18,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.044987,0.870447,0.999999,-0.000923,-0.000845,-0.000034
29,1,578560,18,gripper,0,"","put bread on newspaper",-0.102194,-0.036978,0.983919,-0.131804,-0.768084,-0.091593,0.619907
29,1,578560,19,obj,0,"003_bread_1","put bread on newspaper",-0.229670,-0.130131,0.958294,0.696269,0.030313,0.072933,0.713422
29,1,578560,19,obj,1,"005_7up can_1","put bread on newspaper",-0.118237,-0.043503,0.888791,0.517862,0.452115,-0.388014,0.613886
29,1,578560,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
29,1,578560,19,recep,1,"003_carpet_1","put bread on newspaper",-0.115118,-0.045006,0.870447,0.999991,-0.003113,-0.002735,0.000250
29,1,578560,19,gripper,0,"","put bread on newspaper",-0.240647,-0.127272,0.991561,-0.109077,-0.689371,-0.016193,0.715966
29,1,578560,20,obj,0,"003_bread_1","put bread on carpet",-0.109327,0.086330,0.922902,0.725523,0.055073,0.009452,0.685926
29,1,578560,20,obj,1,"005_7up can_1","put bread on carpet",-0.235177,-0.084343,0.885636,0.676864,0.197749,-0.204832,0.678818
29,1,578560,20,recep,0,"004_newspaper_1","put bread on carpet",-0.084997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
29,1,578560,20,recep,1,"003_carpet_1","put bread on carpet",-0.205003,0.044998,0.870441,0.999999,-0.000676,-0.001048,-0.000000
29,1,578560,20,gripper,0,"","put bread on carpet",-0.101876,0.084671,0.964284,-0.007918,-0.707943,-0.045559,0.704754
29,1,578560,21,obj,0,"003_bread_1","put bread on carpet",-0.159384,-0.124287,0.889757,-0.113371,0.364974,-0.701039,-0.602067
29,1,578560,21,obj,1,"005_7up can_1","put bread on carpet",-0.208382,-0.041931,0.888756,0.496946,0.169446,-0.099500,0.845241
29,1,578560,21,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
29,1,578560,21,recep,1,"003_carpet_1","put bread on carpet",-0.205101,-0.074955,0.870366,0.999998,0.000153,-0.001138,0.001894
29,1,578560,21,gripper,0,"","put bread on carpet",-0.203539,-0.021214,0.961848,-0.191581,-0.753075,-0.112634,0.619264
29,1,578560,22,obj,0,"003_bread_1","put bread on carpet",-0.217079,0.075027,0.886493,0.950588,0.008327,-0.008338,0.310233
29,1,578560,22,obj,1,"005_7up can_1","put bread on carpet",-0.210491,-0.050247,0.885627,0.897938,0.084511,-0.217161,0.373371
29,1,578560,22,recep,0,"004_newspaper_1","put bread on carpet",-0.085007,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000038
29,1,578560,22,recep,1,"003_carpet_1","put bread on carpet",-0.235004,0.075008,0.870461,1.000000,-0.000073,-0.000242,0.000062
29,1,578560,22,gripper,0,"","put bread on carpet",-0.225250,-0.048691,0.936000,0.027252,-0.759941,0.010218,0.649340
29,1,578560,23,obj,0,"003_bread_1","put bread on carpet",-0.115570,-0.054024,0.886578,0.995376,0.006376,-0.007839,0.095520
29,1,578560,23,obj,1,"005_7up can_1","put bread on carpet",-0.242149,-0.083176,0.885804,0.797183,-0.118613,-0.569865,-0.160261
29,1,578560,23,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
29,1,578560,23,recep,1,"003_carpet_1","put bread on carpet",-0.114998,-0.044994,0.870448,0.999998,0.001522,0.001263,-0.000058
29,1,578560,23,gripper,0,"","put bread on carpet",-0.263046,-0.090109,0.913202,-0.013643,-0.689671,-0.013346,0.723871
29,1,578560,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.205559,-0.044886,0.883544,0.999916,0.001789,-0.012536,-0.002910
29,1,578560,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.016312,0.214266,0.885995,0.117997,0.545902,-0.825198,0.084350
29,1,578560,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084976,0.075003,0.869490,1.000000,0.000180,0.000874,-0.000054
29,1,578560,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000020
29,1,578560,24,gripper,0,"","put 7up can on newspaper",-0.065487,0.083068,0.987489,0.040970,-0.689994,-0.040359,0.721527
29,1,578560,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.208790,-0.049171,0.913473,0.648336,-0.011310,0.019691,0.761016
29,1,578560,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.172424,0.109083,0.887391,0.745870,0.086180,-0.068487,0.656933
29,1,578560,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205292,0.075203,0.869491,0.999995,0.000381,0.001193,0.002863
29,1,578560,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
29,1,578560,25,gripper,0,"","put 7up can on newspaper",-0.223215,-0.048573,0.944912,-0.150535,-0.722179,-0.062150,0.672260
29,1,578560,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.233425,-0.048391,0.883545,0.700082,0.010217,-0.007467,0.713950
29,1,578560,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.186169,0.060553,0.888102,-0.015580,0.620500,-0.783086,-0.038904
29,1,578560,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.207512,0.081343,0.869490,0.999817,0.000577,0.001418,-0.019071
29,1,578560,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000043
29,1,578560,26,gripper,0,"","put 7up can on newspaper",-0.196848,0.044616,0.947223,0.051037,-0.763100,-0.034486,0.643338
29,1,578560,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.195202,-0.037369,0.931039,0.998579,0.007279,0.011296,0.051575
29,1,578560,27,obj,1,"005_7up can_1","put 7up can on newspaper",0.211227,-0.089935,0.016947,-0.805510,-0.039901,-0.587816,0.063513
29,1,578560,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
29,1,578560,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075016,0.870447,0.999991,-0.003109,-0.002729,-0.000021
29,1,578560,27,gripper,0,"","put 7up can on newspaper",-0.194637,-0.027736,0.969187,-0.252452,-0.681526,-0.123410,0.675692
29,1,578560,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085492,-0.075512,0.883544,0.924243,0.006464,-0.010884,0.381593
29,1,578560,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.136034,0.018713,0.928949,0.641006,0.231939,-0.206148,0.702010
29,1,578560,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204939,-0.045025,0.869490,1.000000,0.000179,0.000873,0.000211
29,1,578560,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.235536,0.076939,0.870429,0.999936,-0.003093,-0.002593,0.010539
29,1,578560,28,gripper,0,"","put 7up can on carpet",-0.128870,0.017802,0.966609,-0.017725,-0.690340,-0.043371,0.721966
29,1,578560,29,obj,0,"003_bread_1","put 7up can on carpet",-0.096704,0.099865,0.886676,0.887992,0.009170,-0.008665,0.459686
29,1,578560,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.090500,-0.080238,0.885627,0.897950,0.084498,-0.217141,0.373357
29,1,578560,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204967,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000041
29,1,578560,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.084837,0.075251,0.870448,0.999996,-0.000925,-0.000846,-0.002508
29,1,578560,29,gripper,0,"","put 7up can on carpet",-0.113238,0.006811,0.971611,-0.116055,-0.753076,-0.102930,0.639384
29,1,578560,30,obj,0,"003_bread_1","put 7up can on carpet",-0.235538,-0.074871,0.883544,0.999915,0.001786,-0.012534,-0.003130
29,1,578560,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.112263,0.046255,0.889248,0.071077,0.668971,0.735991,-0.075781
29,1,578560,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.045000,0.869489,1.000000,0.000180,0.000874,0.000021
29,1,578560,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085033,0.074993,0.870460,1.000000,0.000017,-0.000158,-0.000126
29,1,578560,30,gripper,0,"","put 7up can on carpet",-0.116308,0.039195,0.962867,0.006717,-0.743784,-0.013906,0.668242
29,1,578560,31,obj,0,"003_bread_1","put 7up can on carpet",-0.103603,-0.068184,0.886733,0.998390,0.002458,-0.009706,0.055836
29,1,578560,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.234642,-0.088348,0.885641,0.939135,-0.063010,-0.274607,-0.196588
29,1,578560,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.045000,0.869489,1.000000,0.000180,0.000874,0.000021
29,1,578560,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000001
29,1,578560,31,gripper,0,"","put 7up can on carpet",-0.274193,-0.095332,0.915473,-0.067077,-0.767390,-0.015593,0.637472
29,1,578560,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.086044,-0.075732,0.887372,0.729038,-0.027273,0.023311,0.683532
29,1,578560,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.204567,0.075011,0.878547,0.706891,0.007945,0.010849,0.707194
29,1,578560,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,1,578560,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
29,1,578560,32,gripper,0,"","put carrot on sheet metal",-0.082977,-0.004273,0.989511,0.028869,-0.704939,0.092346,0.702637
29,1,578560,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.240105,-0.087745,0.887324,0.976214,-0.012792,0.033336,0.213849
29,1,578560,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.204681,0.044694,0.878547,0.923621,0.011494,0.006986,0.383070
29,1,578560,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
29,1,578560,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
29,1,578560,33,gripper,0,"","put carrot on sheet metal",-0.245148,-0.079028,0.955632,-0.120374,-0.689559,-0.006991,0.714122
29,1,578560,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.243427,0.070298,0.887559,0.250108,-0.029265,0.004863,0.967763
29,1,578560,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003192,0.013081,0.923940
29,1,578560,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,1,578560,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
29,1,578560,34,gripper,0,"","put carrot on sheet metal",-0.200274,0.066577,0.966442,-0.051254,-0.751439,-0.006818,0.657774
29,1,578560,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.117302,0.077775,0.887511,0.996603,0.000074,0.023549,0.078910
29,1,578560,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084990,-0.075438,0.878547,0.999909,0.013298,0.002058,0.000352
29,1,578560,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
29,1,578560,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000001,-0.000000
29,1,578560,35,gripper,0,"","put carrot on sheet metal",-0.167026,0.072517,1.006018,0.087061,-0.714778,-0.033247,0.693114
29,1,578560,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.100827,0.074469,0.887440,-0.012846,-0.034391,-0.002189,0.999323
29,1,578560,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084691,-0.074682,0.878548,0.382196,0.003187,0.013066,0.923984
29,1,578560,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
29,1,578560,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000000
29,1,578560,36,gripper,0,"","put carrot on flat bowl",-0.086303,0.083610,1.001188,0.036457,-0.723436,0.008313,0.689379
29,1,578560,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117619,-0.045579,0.887365,0.740392,-0.017763,0.024905,0.671479
29,1,578560,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234560,0.075006,0.878546,0.706808,0.007921,0.010823,0.707278
29,1,578560,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
29,1,578560,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
29,1,578560,37,gripper,0,"","put carrot on flat bowl",-0.075900,0.013673,0.984389,0.018056,-0.719288,0.034709,0.693610
29,1,578560,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.097961,0.082749,0.887272,0.120260,-0.031063,0.010531,0.992200
29,1,578560,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.204693,0.075316,0.878547,0.382327,0.003195,0.013085,0.923929
29,1,578560,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,1,578560,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.075000,0.874363,1.000000,-0.000000,-0.000000,-0.000000
29,1,578560,38,gripper,0,"","put carrot on flat bowl",-0.042418,0.101050,0.980210,0.231830,-0.568327,0.313954,0.724356
29,1,578560,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.132450,0.067426,0.896683,0.990364,0.092403,0.094472,-0.041419
29,1,578560,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084988,-0.075439,0.878547,0.999910,0.013258,0.002051,0.000262
29,1,578560,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
29,1,578560,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,0.044996,0.874362,1.000000,0.000000,-0.000000,0.000071
29,1,578560,39,gripper,0,"","put carrot on flat bowl",-0.110977,0.055183,1.047686,0.039471,-0.693544,0.067166,0.716189
29,1,578560,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087120,0.076651,0.887368,0.908504,-0.006399,0.018446,0.417419
29,1,578560,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234703,0.074701,0.878547,0.923866,0.011476,0.006966,0.382479
29,1,578560,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114998,-0.045008,0.871345,0.999999,-0.000158,0.001164,-0.000059
29,1,578560,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000001,-0.000001,0.000145
29,1,578560,40,gripper,0,"","put banana on sheet metal",-0.212574,0.072847,1.014491,-0.393223,-0.587782,-0.436320,0.556339
29,1,578560,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088528,-0.076784,0.887409,0.349863,-0.037180,0.010327,0.936006
29,1,578560,41,obj,1,"013_banana_1","put banana on sheet metal",-0.212711,-0.062105,0.878547,0.229623,0.001060,0.013423,0.973186
29,1,578560,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
29,1,578560,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000082
29,1,578560,41,gripper,0,"","put banana on sheet metal",-0.174707,-0.043800,0.930860,0.096524,-0.734488,0.104318,0.663572
29,1,578560,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117825,-0.070969,0.887419,0.913559,-0.012435,0.034711,0.405032
29,1,578560,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.045307,0.878547,0.923789,0.011527,0.006996,0.382664
29,1,578560,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
29,1,578560,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
29,1,578560,42,gripper,0,"","put banana on sheet metal",-0.194849,-0.012278,0.974799,-0.093224,-0.705359,0.020260,0.702401
29,1,578560,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
29,1,578560,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234797,-0.075357,0.878547,0.999907,0.013351,0.002077,0.001667
29,1,578560,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.045008,0.871344,0.999999,-0.000157,0.001163,0.000010
29,1,578560,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000139
29,1,578560,43,gripper,0,"","put banana on sheet metal",-0.203535,-0.046598,0.952990,-0.308716,-0.699070,-0.141267,0.629316
29,1,578560,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.238377,0.074526,0.887295,0.743024,-0.015333,0.025381,0.668608
29,1,578560,44,obj,1,"013_banana_1","put banana on flat bowl",-0.114561,-0.044994,0.878547,0.706802,0.007952,0.010858,0.707283
29,1,578560,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
29,1,578560,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
29,1,578560,44,gripper,0,"","put banana on flat bowl",-0.068397,0.055087,1.057303,0.091733,-0.682602,0.142264,0.710916
29,1,578560,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088127,0.072496,0.887177,0.358697,-0.019187,0.016482,0.933111
29,1,578560,45,obj,1,"013_banana_1","put banana on flat bowl",-0.233952,-0.044840,0.878547,0.378470,0.003138,0.013089,0.925516
29,1,578560,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.074982,0.871344,0.999999,-0.000157,0.001164,-0.000045
29,1,578560,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000093
29,1,578560,45,gripper,0,"","put banana on flat bowl",-0.196881,-0.032584,0.948402,-0.408161,-0.645413,-0.180551,0.619878
29,1,578560,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207561,-0.077003,0.887539,0.352634,-0.020466,0.004240,0.935528
29,1,578560,46,obj,1,"013_banana_1","put banana on flat bowl",-0.084702,-0.044678,0.878547,0.382821,0.003193,0.013054,0.923725
29,1,578560,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234978,0.045002,0.871344,0.999999,-0.000157,0.001163,-0.000007
29,1,578560,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000156
29,1,578560,46,gripper,0,"","put banana on flat bowl",-0.045450,-0.027031,0.990405,-0.017178,-0.743230,-0.020923,0.668488
29,1,578560,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
29,1,578560,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
29,1,578560,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000158,0.001164,-0.000045
29,1,578560,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
29,1,578560,47,gripper,0,"","put banana on flat bowl",-0.199478,-0.064003,0.951728,-0.132836,-0.699181,-0.090374,0.696659
29,1,578560,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.185425,0.010323,0.949147,0.210992,0.122558,0.006339,0.969754
29,1,578560,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.255905,-0.024902,0.887026,0.269322,-0.661697,0.256599,0.650984
29,1,578560,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000001
29,1,578560,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000001
29,1,578560,48,gripper,0,"","put hamburger on frying pan",-0.183674,0.011717,0.997090,-0.074694,-0.640360,-0.037577,0.763510
29,1,578560,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.226292,0.028679,0.895583,0.931565,-0.039615,-0.066827,0.355179
29,1,578560,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.067596,-0.027912,0.887921,0.677530,-0.322198,0.487356,0.446795
29,1,578560,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000002
29,1,578560,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
29,1,578560,49,gripper,0,"","put hamburger on frying pan",-0.061665,-0.027315,0.915823,0.052100,-0.781870,0.128442,0.607838
29,1,578560,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.213924,0.037731,0.888137,0.028668,-0.007725,-0.027307,0.999186
29,1,578560,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256359,0.094910,0.887026,0.266267,-0.662893,0.253495,0.652238
29,1,578560,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
29,1,578560,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
29,1,578560,50,gripper,0,"","put hamburger on frying pan",-0.227186,0.034224,0.914064,-0.109517,-0.731535,-0.105525,0.664626
29,1,578560,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.234379,0.075924,0.888112,0.999508,-0.023151,0.014917,-0.015015
29,1,578560,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.167416,-0.117962,0.972979,0.625462,-0.764819,0.002658,0.154409
29,1,578560,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.213833,-0.041805,0.872199,0.999999,-0.000000,-0.000001,0.001550
29,1,578560,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
29,1,578560,51,gripper,0,"","put hamburger on frying pan",-0.148821,-0.102251,1.041623,-0.128537,-0.621468,-0.042941,0.771630
29,1,578560,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.081982,-0.067032,0.890778,0.652496,-0.025787,-0.007868,0.757312
29,1,578560,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235743,0.104298,0.887026,0.497537,-0.513530,0.489870,0.498770
29,1,578560,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
29,1,578560,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084991,-0.075016,0.870870,1.000000,-0.000000,-0.000001,-0.000056
29,1,578560,52,gripper,0,"","put hamburger on cutting board",-0.128904,0.003817,0.997417,-0.038088,-0.702516,0.006140,0.710621
29,1,578560,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086102,0.074749,0.888112,0.388151,-0.022504,-0.015882,0.921184
29,1,578560,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255959,-0.024868,0.887115,0.268770,-0.664414,0.258890,0.647528
29,1,578560,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
29,1,578560,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.074997,0.870870,1.000000,0.000000,-0.000000,0.000006
29,1,578560,53,gripper,0,"","put hamburger on cutting board",-0.258198,-0.036909,0.945507,0.059726,-0.717878,0.029320,0.692983
29,1,578560,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.197617,0.062859,0.888112,-0.071302,-0.012872,-0.024351,0.997074
29,1,578560,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256130,-0.055054,0.887026,0.267741,-0.662318,0.254994,0.651635
29,1,578560,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
29,1,578560,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,-0.045082,0.870879,0.999999,0.000656,0.000693,-0.000377
29,1,578560,54,gripper,0,"","put hamburger on cutting board",-0.061876,-0.090025,0.922204,-0.233745,-0.732958,-0.074856,0.634455
29,1,578560,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.069958,0.050858,0.888412,0.728661,-0.002423,-0.030823,0.684176
29,1,578560,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.185074,0.096405,0.887026,0.648891,-0.290890,0.647354,0.274331
29,1,578560,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
29,1,578560,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000011
29,1,578560,55,gripper,0,"","put hamburger on cutting board",-0.082275,0.044291,0.932563,-0.054730,-0.705592,-0.097777,0.699703
29,1,578560,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.208763,0.075157,0.888221,0.708463,-0.028397,-0.010828,0.705093
29,1,578560,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.074287,0.077457,0.895062,0.535396,-0.490561,0.477052,0.495099
29,1,578560,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084923,0.075031,0.872199,0.999999,-0.000001,-0.000001,-0.001350
29,1,578560,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.114998,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000005
29,1,578560,56,gripper,0,"","put plastic bottle on frying pan",-0.221218,0.073130,0.914825,-0.070280,-0.760596,-0.059228,0.642687
29,1,578560,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.084389,-0.074047,0.888112,0.999586,-0.023250,0.014766,-0.008302
29,1,578560,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094196,0.108604,0.889704,0.636949,-0.317442,0.634762,0.301005
29,1,578560,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
29,1,578560,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.064045,0.099991,0.870869,0.985554,0.000003,0.000020,-0.169360
29,1,578560,57,gripper,0,"","put plastic bottle on frying pan",-0.130445,0.071209,0.915953,0.062062,-0.793442,-0.029633,0.604747
29,1,578560,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235939,0.045620,0.888112,0.713673,-0.026892,-0.005962,0.699938
29,1,578560,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.068825,0.023617,0.919419,-0.526168,-0.517724,0.407343,-0.537755
29,1,578560,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084988,-0.075001,0.872200,1.000000,-0.000000,-0.000000,-0.000052
29,1,578560,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,-0.075016,0.870870,1.000000,0.000001,0.000000,0.000050
29,1,578560,58,gripper,0,"","put plastic bottle on frying pan",-0.072317,0.021488,0.950634,-0.043553,-0.730188,-0.051338,0.679922
29,1,578560,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.169043,0.050709,0.888764,0.765377,-0.028488,-0.013559,0.642808
29,1,578560,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065046,0.096497,0.887026,0.649686,-0.289002,0.648201,0.272438
29,1,578560,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
29,1,578560,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
29,1,578560,59,gripper,0,"","put plastic bottle on frying pan",-0.177346,0.051702,0.916066,-0.158713,-0.712316,-0.077972,0.679217
29,1,578560,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.230904,0.015659,0.888113,0.844598,-0.027440,0.000024,0.534697
29,1,578560,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064855,-0.053425,0.887026,0.649027,-0.290569,0.647498,0.274008
29,1,578560,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000004
29,1,578560,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000004
29,1,578560,60,gripper,0,"","put plastic bottle on cutting board",-0.251732,0.008703,0.915275,-0.124389,-0.711624,-0.066593,0.688247
29,1,578560,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.066202,0.041103,0.895591,0.999451,0.017008,-0.003089,-0.028286
29,1,578560,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.077101,-0.079132,0.887026,0.701092,0.053882,0.707660,-0.069161
29,1,578560,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
29,1,578560,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,-0.000000,-0.000000,0.000009
29,1,578560,61,gripper,0,"","put plastic bottle on cutting board",-0.082397,0.040585,0.920380,-0.074439,-0.778292,-0.036299,0.622417
29,1,578560,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236179,-0.045189,0.888112,0.394945,-0.022620,-0.015707,0.918292
29,1,578560,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.115486,0.084930,0.892450,0.022095,-0.785069,0.618229,0.031167
29,1,578560,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
29,1,578560,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084721,0.075123,0.870870,1.000000,0.000001,0.000001,-0.000974
29,1,578560,62,gripper,0,"","put plastic bottle on cutting board",-0.144583,0.047400,1.047171,-0.269980,-0.628734,-0.240171,0.688565
29,1,578560,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.114391,-0.044044,0.888112,0.999594,-0.023263,0.014742,-0.007355
29,1,578560,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.178318,0.075756,0.887436,0.756001,-0.010190,0.654449,0.007388
29,1,578560,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084961,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000206
29,1,578560,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
29,1,578560,63,gripper,0,"","put plastic bottle on cutting board",-0.181517,0.090958,0.951015,-0.048103,-0.755623,-0.131388,0.639888
29,2,583680,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",1.160065,-0.869720,0.010289,-0.058623,-0.461943,0.032247,-0.884382
29,2,583680,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.138206,0.124542,0.873649,0.045381,0.476117,0.874336,0.082397
29,2,583680,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.021400,0.093964,0.869532,0.873147,-0.000000,-0.000000,0.487457
29,2,583680,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",2.292068,-0.868263,0.002488,-0.539012,0.000941,0.000419,0.842297
29,2,583680,0,gripper,0,"","put ketchup bottle on cloth",-0.045135,0.169044,0.921957,0.047264,-0.849867,0.042025,0.523189
29,2,583680,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.085152,-0.010925,0.010903,0.244120,0.746003,0.470326,-0.403334
29,2,583680,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.091835,0.100563,0.880699,0.161632,-0.231553,0.958102,0.047943
29,2,583680,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.230389,-0.045822,0.869532,0.999881,0.000001,-0.000000,-0.015426
29,2,583680,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.052063,0.040985,0.871289,0.998550,-0.000103,-0.001026,0.053827
29,2,583680,1,gripper,0,"","put ketchup bottle on cloth",-0.101950,0.026154,0.918946,-0.163185,-0.878191,-0.084996,0.441506
29,2,583680,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.125591,-0.076889,0.888580,0.524428,0.057692,-0.089692,0.844750
29,2,583680,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205112,0.074059,0.881638,0.706769,0.024508,-0.030809,0.706349
29,2,583680,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.239056,-0.046104,0.869532,0.999955,0.000000,-0.000001,0.009478
29,2,583680,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.115120,-0.075386,0.871288,0.999998,-0.000154,-0.001020,0.001419
29,2,583680,2,gripper,0,"","put ketchup bottle on cloth",-0.181623,-0.030323,0.949378,-0.067912,-0.763191,-0.033379,0.641727
29,2,583680,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.186285,-0.068832,0.885122,0.369587,0.627889,-0.451526,0.515059
29,2,583680,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.104799,0.066772,0.881638,0.236853,0.036950,-0.013591,0.970747
29,2,583680,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204998,-0.074997,0.869532,1.000000,0.000000,-0.000002,0.000203
29,2,583680,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
29,2,583680,3,gripper,0,"","put ketchup bottle on cloth",-0.242137,-0.028748,0.966547,0.008879,-0.786601,0.049752,0.615390
29,2,583680,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.168436,0.110664,0.885223,0.201566,-0.665689,-0.693106,-0.189297
29,2,583680,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235851,-0.045547,0.883219,0.998925,0.023087,-0.040147,-0.001724
29,2,583680,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204983,0.074852,0.869532,0.999997,0.000001,-0.000001,0.002236
29,2,583680,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.074997,0.871289,1.000000,-0.000154,-0.001019,-0.000005
29,2,583680,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.165359,0.082634,1.035774,-0.005961,-0.662064,-0.041775,0.748258
29,2,583680,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.210468,0.068329,0.888182,0.676205,0.297279,-0.363476,0.567677
29,2,583680,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.078880,-0.082748,0.881672,0.596283,0.008827,-0.012108,0.802634
29,2,583680,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
29,2,583680,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234999,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000146
29,2,583680,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.095692,-0.087677,0.914391,-0.127358,-0.767595,-0.144282,0.611359
29,2,583680,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.216454,0.090599,0.887892,0.591080,0.346816,-0.300141,0.663520
29,2,583680,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.102348,0.018654,0.881638,0.577336,0.029348,-0.026222,0.815557
29,2,583680,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000029
29,2,583680,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000154,-0.001019,0.000111
29,2,583680,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.131557,0.007355,0.933974,-0.061809,-0.726967,-0.105405,0.675713
29,2,583680,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.060905,0.102646,0.887723,-0.055707,0.763204,-0.639069,-0.077512
29,2,583680,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.256889,-0.224602,0.888956,0.463291,0.462715,-0.539860,0.528968
29,2,583680,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.315639,-0.296486,0.869532,0.895753,0.000001,0.000000,-0.444551
29,2,583680,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000078
29,2,583680,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.260342,-0.218517,0.932483,-0.079575,-0.771045,-0.058781,0.629048
29,2,583680,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094704,0.075031,0.879089,0.886323,-0.001489,-0.463065,0.000254
29,2,583680,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.001144,-0.050014,0.012838,-0.127996,-0.038223,0.009419,-0.990993
29,2,583680,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000001
29,2,583680,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075012,0.871282,0.999999,-0.000450,-0.001265,0.000244
29,2,583680,8,gripper,0,"","put kitchen shovel on cloth",-0.079857,0.088840,0.955007,0.007831,-0.716992,-0.065984,0.693907
29,2,583680,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.198723,-0.075813,0.879225,-0.196646,-0.683221,0.673783,-0.201384
29,2,583680,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.076591,-0.525135,0.004849,-0.091395,-0.966132,-0.240293,-0.022268
29,2,583680,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
29,2,583680,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.273212,0.089249,0.822107,0.990772,-0.001875,-0.002481,0.135502
29,2,583680,9,gripper,0,"","put kitchen shovel on cloth",-0.231451,-0.073086,0.914967,-0.104415,-0.743585,-0.031970,0.659664
29,2,583680,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.235062,0.065327,0.879088,0.626436,0.326439,-0.328433,0.627014
29,2,583680,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.123722,0.037785,0.887351,0.680952,-0.035575,0.016592,0.731275
29,2,583680,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.114979,0.045017,0.869532,1.000000,-0.000003,-0.000001,0.000682
29,2,583680,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205002,-0.045021,0.871288,0.999999,-0.000155,-0.001020,-0.000042
29,2,583680,10,gripper,0,"","put kitchen shovel on cloth",-0.086798,0.059114,1.001495,0.046958,-0.729008,0.018080,0.682653
29,2,583680,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.219219,-0.078938,0.884977,0.478832,-0.500361,0.416649,0.588865
29,2,583680,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.081266,0.006176,0.902588,0.686842,-0.044756,0.019626,0.725162
29,2,583680,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.214529,-0.086781,0.869532,0.999740,-0.000000,0.000000,-0.022815
29,2,583680,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235014,0.045017,0.871288,0.999999,-0.000154,-0.001019,0.000035
29,2,583680,11,gripper,0,"","put kitchen shovel on cloth",-0.110297,0.005562,0.934450,-0.023290,-0.776403,-0.002219,0.629802
29,2,583680,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218374,-0.035183,0.885083,0.617324,0.330760,-0.323162,0.636455
29,2,583680,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.112999,-0.074612,0.881638,0.931527,0.009997,-0.038051,0.361538
29,2,583680,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235000,-0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000000
29,2,583680,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205016,0.075020,0.871282,0.999999,-0.000450,-0.001265,-0.000029
29,2,583680,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.194515,-0.099539,1.083111,0.053815,-0.779539,0.011286,0.623935
29,2,583680,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.084208,0.040352,0.878982,-0.491174,0.491434,-0.427115,-0.578631
29,2,583680,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234259,0.077671,0.881638,0.998896,-0.003438,-0.039216,0.025626
29,2,583680,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000007
29,2,583680,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084965,-0.074993,0.871288,0.999999,-0.000154,-0.001019,-0.000073
29,2,583680,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.143583,0.033676,0.914119,0.023431,-0.810322,0.036459,0.584380
29,2,583680,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.053253,-0.072762,0.879768,0.971159,-0.030904,0.147589,0.184694
29,2,583680,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.195694,0.058937,0.881638,0.902161,0.012792,-0.037210,0.429601
29,2,583680,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000000,-0.000001,0.000015
29,2,583680,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205021,-0.074989,0.871282,0.999999,-0.000452,-0.001266,0.000004
29,2,583680,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.069818,-0.071884,0.928936,0.042154,-0.776558,0.017279,0.628396
29,2,583680,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.190948,0.096958,0.885369,0.710048,-0.183106,0.209491,0.646851
29,2,583680,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.172714,-0.009102,0.881638,0.524500,0.030956,-0.024315,0.850500
29,2,583680,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000041
29,2,583680,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000018
29,2,583680,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.177870,0.069729,1.051634,0.083093,-0.781071,-0.010753,0.618796
29,2,583680,16,obj,0,"003_bread_1","put bread on carpet",-0.147751,-0.108810,0.885844,0.177141,0.807322,-0.452480,-0.334833
29,2,583680,16,obj,1,"005_7up can_1","put bread on carpet",-0.174713,-0.054005,0.888650,0.595109,0.328817,-0.285117,0.675598
29,2,583680,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084946,0.075500,0.869490,0.999455,0.000151,0.000880,0.033004
29,2,583680,16,recep,1,"003_carpet_1","put bread on carpet",-0.205063,-0.074940,0.870369,0.999995,0.000121,-0.001086,0.002888
29,2,583680,16,gripper,0,"","put bread on carpet",-0.119270,0.083660,0.961638,0.167333,-0.760664,0.026590,0.626645
29,2,583680,17,obj,0,"003_bread_1","put bread on carpet",-0.211525,-0.056644,0.886547,0.274005,0.028077,0.002021,0.961316
29,2,583680,17,obj,1,"005_7up can_1","put bread on carpet",-0.122494,-0.266891,0.885609,0.559595,-0.090617,0.055393,0.821933
29,2,583680,17,recep,0,"004_newspaper_1","put bread on carpet",-0.205017,-0.075008,0.869490,1.000000,0.000180,0.000874,-0.000230
29,2,583680,17,recep,1,"003_carpet_1","put bread on carpet",-0.235012,0.075024,0.870447,0.999991,-0.003114,-0.002734,-0.000038
29,2,583680,17,gripper,0,"","put bread on carpet",-0.087494,0.011833,1.030995,0.051130,-0.733181,0.058656,0.675567
29,2,583680,18,obj,0,"003_bread_1","put bread on carpet",-0.202011,-0.044323,0.885146,0.381892,0.029620,0.004554,0.923721
29,2,583680,18,obj,1,"005_7up can_1","put bread on carpet",-0.103222,-0.046116,0.888555,0.580767,0.188963,-0.142613,0.778886
29,2,583680,18,recep,0,"004_newspaper_1","put bread on carpet",-0.234951,-0.075058,0.869490,1.000000,0.000179,0.000869,-0.000176
29,2,583680,18,recep,1,"003_carpet_1","put bread on carpet",-0.114994,-0.044991,0.870448,0.999998,0.001527,0.001266,-0.000030
29,2,583680,18,gripper,0,"","put bread on carpet",-0.117912,0.133034,0.923555,0.152587,-0.741323,0.132142,0.640074
29,2,583680,19,obj,0,"003_bread_1","put bread on carpet",-0.236490,-0.136848,0.883544,0.667704,0.010544,-0.007006,0.744319
29,2,583680,19,obj,1,"005_7up can_1","put bread on carpet",-0.118233,-0.043503,0.888791,0.518799,0.451525,-0.388689,0.613102
29,2,583680,19,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
29,2,583680,19,recep,1,"003_carpet_1","put bread on carpet",-0.115116,-0.045006,0.870447,0.999991,-0.003112,-0.002733,0.000345
29,2,583680,19,gripper,0,"","put bread on carpet",-0.091782,0.106936,0.976340,0.080858,-0.716752,0.066129,0.689460
29,2,583680,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.116031,0.089668,0.883544,0.753330,0.009600,-0.008241,0.657521
29,2,583680,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.096342,-0.087139,0.888729,0.642137,0.130032,-0.088803,0.750244
29,2,583680,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084921,-0.074997,0.869490,1.000000,0.000180,0.000869,0.000248
29,2,583680,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205003,0.044998,0.870441,0.999999,-0.000675,-0.001048,-0.000000
29,2,583680,20,gripper,0,"","put 7up can on newspaper",-0.153025,-0.043636,0.988283,-0.092869,-0.674698,-0.091152,0.726533
29,2,583680,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.166254,-0.111237,0.886632,0.036796,0.511147,-0.829000,-0.223905
29,2,583680,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.089489,-0.076897,0.888852,0.595486,0.358707,-0.306422,0.650255
29,2,583680,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085009,-0.074982,0.869490,1.000000,0.000177,0.000874,-0.000157
29,2,583680,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.207954,-0.073914,0.870368,0.999987,0.000121,-0.001094,0.005060
29,2,583680,21,gripper,0,"","put 7up can on newspaper",-0.092436,0.057262,1.015102,0.065089,-0.707483,0.074344,0.699789
29,2,583680,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.217079,0.075005,0.886493,0.950594,0.008329,-0.008336,0.310214
29,2,583680,22,obj,1,"005_7up can_1","put 7up can on newspaper",0.239349,-0.075413,0.016946,0.582410,-0.415281,-0.429152,-0.551516
29,2,583680,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084881,-0.075066,0.869490,1.000000,0.000180,0.000873,-0.000393
29,2,583680,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.074978,0.870461,1.000000,-0.000070,-0.000239,0.000138
29,2,583680,22,gripper,0,"","put 7up can on newspaper",-0.191992,-0.028006,0.993553,-0.084515,-0.676246,-0.109658,0.723549
29,2,583680,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.115688,-0.052639,0.886577,0.995834,0.003096,-0.007377,0.090838
29,2,583680,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.230907,-0.149986,0.885847,-0.056495,-0.774276,-0.078252,0.625445
29,2,583680,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
29,2,583680,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115002,-0.044991,0.870447,0.999998,-0.001350,-0.001213,-0.000034
29,2,583680,23,gripper,0,"","put 7up can on newspaper",-0.102022,0.008795,1.006841,-0.021315,-0.703873,0.006452,0.709977
29,2,583680,24,obj,0,"003_bread_1","put 7up can on carpet",-0.095917,-0.068209,0.886691,0.999462,0.002080,-0.009774,0.031219
29,2,583680,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.016312,0.214268,0.885995,0.117967,0.546204,-0.824999,0.084394
29,2,583680,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084976,0.075005,0.869490,1.000000,0.000180,0.000874,0.000017
29,2,583680,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074961,0.870447,0.999999,-0.000923,-0.000845,-0.000064
29,2,583680,24,gripper,0,"","put 7up can on carpet",-0.217628,0.065800,0.971303,0.120492,-0.656184,0.064640,0.742109
29,2,583680,25,obj,0,"003_bread_1","put 7up can on carpet",-0.094040,0.048067,0.886633,0.624869,0.015369,-0.005108,0.780562
29,2,583680,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.171524,0.108856,0.887348,0.746148,0.085328,-0.069181,0.656655
29,2,583680,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205288,0.075228,0.869490,0.999995,0.000540,0.001422,0.002916
29,2,583680,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,0.075029,0.870461,1.000000,0.000018,-0.000158,-0.000055
29,2,583680,25,gripper,0,"","put 7up can on carpet",-0.157543,0.051997,1.013010,-0.009136,-0.686842,-0.049794,0.725042
29,2,583680,26,obj,0,"003_bread_1","put 7up can on carpet",-0.233425,-0.048391,0.883545,0.700082,0.010216,-0.007464,0.713950
29,2,583680,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.185978,0.060814,0.888086,-0.006721,0.624414,-0.780330,-0.033865
29,2,583680,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.207516,0.081331,0.869489,0.999807,0.000574,0.001409,-0.019612
29,2,583680,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,-0.074966,0.870447,0.999999,-0.000923,-0.000845,-0.000077
29,2,583680,26,gripper,0,"","put 7up can on carpet",-0.077072,0.132572,0.967778,0.086465,-0.752865,0.116849,0.641922
29,2,583680,27,obj,0,"003_bread_1","put 7up can on carpet",-0.237038,0.066084,0.886595,0.999939,0.002367,-0.010766,-0.000948
29,2,583680,27,obj,1,"005_7up can_1","put 7up can on carpet",0.211226,-0.089935,0.016947,-0.805517,-0.039907,-0.587805,0.063522
29,2,583680,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000014
29,2,583680,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.234985,0.074970,0.870424,0.999999,-0.000664,-0.001214,0.000368
29,2,583680,27,gripper,0,"","put 7up can on carpet",-0.046871,0.060255,0.959386,0.003568,-0.766523,0.002489,0.642203
29,2,583680,28,obj,0,"003_bread_1","put bread on newspaper",-0.183742,-0.045967,0.885608,0.895430,0.014989,0.005466,0.444917
29,2,583680,28,obj,1,"005_7up can_1","put bread on newspaper",-0.180113,0.026133,0.886325,0.232555,-0.749675,0.514259,0.345606
29,2,583680,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.204906,-0.045040,0.869490,1.000000,0.000179,0.000871,0.000482
29,2,583680,28,recep,1,"003_carpet_1","put bread on newspaper",-0.235520,0.076933,0.870461,0.999943,0.000035,-0.000164,0.010653
29,2,583680,28,gripper,0,"","put bread on newspaper",-0.127381,0.047623,0.988778,0.004006,-0.744160,-0.001036,0.667989
29,2,583680,29,obj,0,"003_bread_1","put bread on newspaper",-0.128967,0.097013,0.893053,0.658601,-0.111263,-0.710881,0.220257
29,2,583680,29,obj,1,"005_7up can_1","put bread on newspaper",-0.175751,-0.002775,0.885946,0.414282,-0.434280,0.763217,0.239313
29,2,583680,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.204967,-0.074991,0.869490,1.000000,0.000179,0.000874,0.000056
29,2,583680,29,recep,1,"003_carpet_1","put bread on newspaper",-0.086592,0.083687,0.870448,0.999987,-0.000928,-0.000842,-0.004941
29,2,583680,29,gripper,0,"","put bread on newspaper",-0.063816,0.067278,0.923484,0.199334,-0.758643,-0.067004,0.616633
29,2,583680,30,obj,0,"003_bread_1","put bread on newspaper",-0.247139,0.050596,0.886820,0.978137,-0.018345,-0.127122,0.163560
29,2,583680,30,obj,1,"005_7up can_1","put bread on newspaper",-0.112244,0.046303,0.889243,0.072177,0.669387,0.735359,-0.077192
29,2,583680,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,0.044998,0.869489,1.000000,0.000180,0.000874,-0.000156
29,2,583680,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085033,0.075039,0.870461,1.000000,0.000019,-0.000159,-0.000248
29,2,583680,30,gripper,0,"","put bread on newspaper",-0.134594,0.037746,0.934670,-0.179723,-0.740495,-0.171920,0.624348
29,2,583680,31,obj,0,"003_bread_1","put bread on newspaper",-0.103603,-0.068178,0.886733,0.998413,0.002444,-0.009728,0.055417
29,2,583680,31,obj,1,"005_7up can_1","put bread on newspaper",-0.105450,-0.197479,0.886002,-0.107385,-0.337043,-0.934296,0.044296
29,2,583680,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.204998,0.045000,0.869489,1.000000,0.000179,0.000874,0.000047
29,2,583680,31,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000018
29,2,583680,31,gripper,0,"","put bread on newspaper",-0.130539,-0.079740,0.977331,-0.022856,-0.728487,-0.092372,0.678419
29,2,583680,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.080505,-0.068080,0.887532,0.574742,-0.023197,0.018400,0.817798
29,2,583680,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.204567,0.075011,0.878547,0.706891,0.007942,0.010845,0.707194
29,2,583680,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,2,583680,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000000
29,2,583680,32,gripper,0,"","put carrot on flat bowl",-0.049534,-0.024832,0.979369,0.149514,-0.751672,0.168096,0.619982
29,2,583680,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.076496,0.090447,0.895299,0.980767,0.091305,-0.011251,-0.172141
29,2,583680,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.204681,0.044694,0.878547,0.923621,0.011514,0.006996,0.383070
29,2,583680,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
29,2,583680,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084900,0.075006,0.874362,0.999999,0.000000,0.000000,0.001303
29,2,583680,33,gripper,0,"","put carrot on flat bowl",-0.087002,0.060779,1.028796,0.051483,-0.702232,0.032928,0.709321
29,2,583680,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.249249,0.066533,0.887551,0.294350,-0.036463,0.012510,0.954920
29,2,583680,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084690,0.075313,0.878547,0.382300,0.003198,0.013096,0.923940
29,2,583680,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,2,583680,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
29,2,583680,34,gripper,0,"","put carrot on flat bowl",-0.250282,0.059163,0.948980,-0.098152,-0.748207,-0.161616,0.635950
29,2,583680,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117819,0.078861,0.887546,0.996798,-0.000351,0.031149,0.073643
29,2,583680,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084990,-0.075437,0.878547,0.999910,0.013277,0.002056,0.000352
29,2,583680,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
29,2,583680,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000001,0.000000,-0.000000
29,2,583680,35,gripper,0,"","put carrot on flat bowl",-0.126381,0.069983,1.044745,-0.108419,-0.698941,-0.162051,0.688089
29,2,583680,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.100117,0.073276,0.887511,-0.014678,-0.032786,-0.001127,0.999354
29,2,583680,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084692,-0.074683,0.878547,0.382189,0.003178,0.013040,0.923986
29,2,583680,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
29,2,583680,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,-0.000001,0.000000
29,2,583680,36,gripper,0,"","put banana on sheet metal",-0.042144,-0.039286,0.966606,0.014794,-0.714897,0.045001,0.697624
29,2,583680,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.121567,-0.046518,0.887429,0.750410,-0.020082,0.025650,0.660169
29,2,583680,37,obj,1,"013_banana_1","put banana on sheet metal",-0.234560,0.075006,0.878546,0.706809,0.007942,0.010848,0.707277
29,2,583680,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
29,2,583680,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
29,2,583680,37,gripper,0,"","put banana on sheet metal",-0.176393,0.107001,0.973387,-0.029128,-0.733424,0.087275,0.673516
29,2,583680,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.095699,0.081277,0.887482,0.118991,-0.035286,0.003655,0.992261
29,2,583680,38,obj,1,"013_banana_1","put banana on sheet metal",-0.204693,0.075315,0.878547,0.382328,0.003181,0.013042,0.923929
29,2,583680,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001163,0.000000
29,2,583680,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
29,2,583680,38,gripper,0,"","put banana on sheet metal",-0.185562,0.095562,0.981071,0.181616,-0.700062,0.164596,0.670699
29,2,583680,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.132450,0.067428,0.896683,0.990364,0.092396,0.094460,-0.041456
29,2,583680,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075440,0.878547,0.999910,0.013278,0.002053,0.000262
29,2,583680,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
29,2,583680,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,0.044996,0.874362,1.000000,0.000001,-0.000001,0.000071
29,2,583680,39,gripper,0,"","put banana on sheet metal",-0.049406,-0.060283,0.973042,0.004963,-0.791440,0.011679,0.611115
29,2,583680,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090012,0.077522,0.887034,0.914691,0.004914,0.016612,0.403782
29,2,583680,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234695,0.074701,0.878547,0.924029,0.011504,0.006974,0.382085
29,2,583680,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114998,-0.045015,0.871345,0.999999,-0.000157,0.001164,-0.000071
29,2,583680,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000001,-0.000000,0.000272
29,2,583680,40,gripper,0,"","put banana on flat bowl",-0.201176,0.066648,0.971717,-0.230557,-0.654311,-0.196844,0.692801
29,2,583680,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086578,-0.082399,0.887408,0.324977,-0.005665,0.000024,0.945705
29,2,583680,41,obj,1,"013_banana_1","put banana on flat bowl",-0.212711,-0.062111,0.878546,0.228996,0.001047,0.013393,0.973335
29,2,583680,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
29,2,583680,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000196
29,2,583680,41,gripper,0,"","put banana on flat bowl",-0.160786,-0.054310,0.932179,0.072976,-0.807294,0.141577,0.568249
29,2,583680,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.120079,-0.070829,0.887409,0.916389,-0.007386,0.018642,0.399786
29,2,583680,42,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,-0.045307,0.878547,0.923958,0.011506,0.006978,0.382258
29,2,583680,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
29,2,583680,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
29,2,583680,42,gripper,0,"","put banana on flat bowl",-0.230146,-0.031693,0.937873,-0.101124,-0.749865,-0.069398,0.650123
29,2,583680,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087521,0.079309,0.887321,0.996816,0.003048,0.035436,0.071362
29,2,583680,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234795,-0.075359,0.878547,0.999908,0.013330,0.002073,0.001439
29,2,583680,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.045013,0.871344,0.999999,-0.000157,0.001163,0.000018
29,2,583680,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000313
29,2,583680,43,gripper,0,"","put banana on flat bowl",-0.207708,-0.043124,0.959932,-0.222039,-0.626515,-0.144073,0.733090
29,2,583680,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.281888,0.072205,0.887431,0.960692,-0.009409,0.027838,0.276056
29,2,583680,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.114562,-0.044994,0.878547,0.706803,0.007926,0.010829,0.707283
29,2,583680,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
29,2,583680,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
29,2,583680,44,gripper,0,"","put carrot on sheet metal",-0.241141,0.067876,1.014233,-0.051542,-0.707651,-0.143905,0.689830
29,2,583680,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.090723,0.069174,0.887332,0.371761,-0.031044,0.018123,0.927632
29,2,583680,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.233953,-0.044834,0.878547,0.379023,0.003139,0.013065,0.925290
29,2,583680,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.074961,0.871344,0.999999,-0.000157,0.001163,-0.000093
29,2,583680,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000187
29,2,583680,45,gripper,0,"","put carrot on sheet metal",-0.028261,0.056217,0.973110,0.094433,-0.736877,0.006837,0.669364
29,2,583680,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.210770,-0.077591,0.886998,0.349860,-0.017150,-0.006572,0.936622
29,2,583680,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.084702,-0.044672,0.878547,0.383340,0.003205,0.013067,0.923509
29,2,583680,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234978,0.044998,0.871344,0.999999,-0.000157,0.001163,-0.000012
29,2,583680,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000305
29,2,583680,46,gripper,0,"","put carrot on sheet metal",-0.186047,-0.063203,0.971486,-0.055852,-0.690240,0.028702,0.720851
29,2,583680,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.205387,0.076410,0.887529,0.711677,-0.030331,0.030788,0.701176
29,2,583680,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
29,2,583680,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000157,0.001164,-0.000043
29,2,583680,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
29,2,583680,47,gripper,0,"","put carrot on sheet metal",-0.184250,0.091241,0.982313,-0.072630,-0.737925,-0.031048,0.670244
29,2,583680,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065216,0.055492,0.893258,-0.545214,0.829588,-0.112585,-0.043005
29,2,583680,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.255898,-0.024906,0.887026,0.269480,-0.661628,0.256757,0.650926
29,2,583680,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,0.075016,0.872199,1.000000,0.000000,-0.000001,-0.000030
29,2,583680,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084999,0.075001,0.870883,1.000000,0.000699,0.000713,-0.000032
29,2,583680,48,gripper,0,"","put hamburger on cutting board",-0.191887,0.074551,0.973713,0.032889,-0.697448,0.006034,0.715855
29,2,583680,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.143982,0.003014,0.978054,0.541596,0.165617,0.113791,0.816270
29,2,583680,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065598,-0.022388,0.887026,0.590553,-0.400170,0.586131,0.384137
29,2,583680,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234173,0.042950,0.872199,0.992065,-0.000001,-0.000001,0.125728
29,2,583680,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000046
29,2,583680,49,gripper,0,"","put hamburger on cutting board",-0.175285,-0.008877,1.012527,-0.203029,-0.734795,-0.128920,0.634220
29,2,583680,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.077625,-0.065529,0.890753,-0.012963,-0.011861,-0.021270,0.999619
29,2,583680,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256359,0.094921,0.887026,0.266288,-0.662885,0.253516,0.652230
29,2,583680,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
29,2,583680,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085022,-0.075027,0.870871,1.000000,-0.000000,0.000000,0.000220
29,2,583680,50,gripper,0,"","put hamburger on cutting board",-0.215792,-0.036705,0.934220,-0.128877,-0.676385,-0.049715,0.723480
29,2,583680,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.207096,0.040478,0.888112,0.848948,-0.027534,0.000051,0.527758
29,2,583680,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.114222,-0.085014,0.887026,0.322907,-0.637877,0.311129,0.626134
29,2,583680,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.212883,-0.043140,0.872199,0.999696,-0.000000,-0.000000,-0.024640
29,2,583680,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000016
29,2,583680,51,gripper,0,"","put hamburger on cutting board",-0.216727,0.035288,0.935610,-0.068745,-0.647375,-0.008122,0.759021
29,2,583680,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.081980,-0.067039,0.890778,0.652355,-0.025772,-0.007900,0.757434
29,2,583680,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.239451,-0.087669,0.894396,0.721895,-0.028283,0.010537,0.691344
29,2,583680,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234961,-0.074986,0.872199,1.000000,-0.000000,-0.000001,-0.000399
29,2,583680,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084991,-0.075016,0.870870,1.000000,-0.000000,-0.000000,-0.000056
29,2,583680,52,gripper,0,"","put plastic bottle on frying pan",-0.106648,-0.042521,0.989100,0.026037,-0.764508,0.048550,0.642255
29,2,583680,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,0.074749,0.888112,0.388134,-0.022504,-0.015881,0.921191
29,2,583680,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.080540,-0.086674,0.893888,0.489862,0.510936,-0.455014,0.540317
29,2,583680,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084965,-0.074913,0.872199,1.000000,-0.000001,-0.000000,-0.000846
29,2,583680,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204988,0.074997,0.870870,1.000000,0.000000,-0.000000,0.000008
29,2,583680,53,gripper,0,"","put plastic bottle on frying pan",-0.115735,-0.037548,1.004803,-0.034980,-0.722270,-0.036413,0.689766
29,2,583680,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.197617,0.062859,0.888112,-0.072236,-0.012849,-0.024360,0.997007
29,2,583680,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.275406,-0.082260,0.887026,0.326297,-0.636179,0.314581,0.624376
29,2,583680,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
29,2,583680,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,-0.045181,0.870870,1.000000,0.000000,-0.000001,-0.000968
29,2,583680,54,gripper,0,"","put plastic bottle on frying pan",-0.234194,-0.070528,0.964780,0.064121,-0.713201,-0.000280,0.698020
29,2,583680,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.008060,0.045685,0.888112,0.678850,-0.026566,-0.007260,0.733760
29,2,583680,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.077789,-0.054058,0.895039,0.404334,-0.582734,0.366038,0.602455
29,2,583680,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084988,-0.075005,0.872199,1.000000,0.000000,-0.000000,-0.000129
29,2,583680,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,-0.045002,0.870862,1.000000,0.000073,-0.000001,0.000025
29,2,583680,55,gripper,0,"","put plastic bottle on frying pan",-0.163481,-0.052626,1.011467,-0.117975,-0.715534,-0.124691,0.677159
29,2,583680,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.209030,0.075249,0.888112,0.713212,-0.026885,-0.005983,0.700406
29,2,583680,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.074089,0.079952,0.895133,0.518209,-0.497848,0.492817,0.490651
29,2,583680,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084755,0.075497,0.872199,0.999974,-0.000001,-0.000001,0.007212
29,2,583680,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.114998,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000010
29,2,583680,56,gripper,0,"","put plastic bottle on cutting board",-0.052525,0.027020,0.951017,-0.051870,-0.741086,-0.040219,0.668195
29,2,583680,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084389,-0.074047,0.888112,0.999585,-0.023248,0.014769,-0.008466
29,2,583680,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.093590,0.108807,0.889702,0.637894,-0.315501,0.635739,0.298976
29,2,583680,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
29,2,583680,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.063934,0.100128,0.870870,0.985538,-0.000003,-0.000003,-0.169452
29,2,583680,57,gripper,0,"","put plastic bottle on cutting board",-0.128685,0.057508,1.067781,0.080498,-0.691605,0.051274,0.715943
29,2,583680,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235935,0.045620,0.888112,0.714021,-0.026892,-0.005948,0.699582
29,2,583680,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.177345,-0.055084,0.889033,-0.467968,-0.459411,0.303208,-0.691385
29,2,583680,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084789,-0.074993,0.872199,1.000000,-0.000001,-0.000001,-0.000668
29,2,583680,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204525,-0.075100,0.870870,0.999999,-0.000000,0.000002,0.001171
29,2,583680,58,gripper,0,"","put plastic bottle on cutting board",-0.101885,0.046555,0.944134,-0.082426,-0.723606,-0.071002,0.681586
29,2,583680,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.168945,0.050648,0.888112,0.774697,-0.027319,-0.003480,0.631733
29,2,583680,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.225040,-0.044258,0.889560,0.550494,-0.452471,0.549315,0.436440
29,2,583680,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
29,2,583680,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234291,-0.074459,0.870870,0.999999,-0.000004,-0.000005,-0.001231
29,2,583680,59,gripper,0,"","put plastic bottle on cutting board",-0.136463,0.001261,1.041262,-0.030379,-0.719657,-0.030530,0.692993
29,2,583680,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.114771,0.067478,0.895760,0.901419,0.026045,0.004657,0.432139
29,2,583680,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064855,-0.053425,0.887026,0.649026,-0.290569,0.647499,0.274008
29,2,583680,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115000,0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000004
29,2,583680,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234987,-0.075012,0.870870,1.000000,0.000000,-0.000001,0.000004
29,2,583680,60,gripper,0,"","put hamburger on frying pan",-0.065192,0.005577,1.003834,0.127913,-0.686161,0.150046,0.700220
29,2,583680,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.130970,0.046612,0.963487,0.984711,-0.020182,-0.026996,0.170904
29,2,583680,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.077127,-0.079132,0.887026,0.701094,0.053865,0.707661,-0.069145
29,2,583680,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
29,2,583680,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000009
29,2,583680,61,gripper,0,"","put hamburger on frying pan",-0.134047,0.046516,1.009221,-0.089449,-0.768166,-0.082795,0.628542
29,2,583680,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.175980,-0.083637,0.891418,-0.084456,-0.060310,-0.105317,0.989009
29,2,583680,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.115353,0.085068,0.892446,0.022746,-0.785162,0.618059,0.031722
29,2,583680,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
29,2,583680,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084713,0.075184,0.870870,0.999999,0.000000,0.000003,-0.001177
29,2,583680,62,gripper,0,"","put hamburger on frying pan",-0.188860,-0.089655,0.916514,-0.243159,-0.705292,-0.200882,0.634889
29,2,583680,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.101238,0.102474,0.896460,0.994750,-0.016525,0.018639,-0.099256
29,2,583680,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175652,0.076115,0.887026,0.704495,-0.016836,0.709508,0.000978
29,2,583680,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084961,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000356
29,2,583680,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000001,-0.000000,0.000026
29,2,583680,63,gripper,0,"","put hamburger on frying pan",-0.144751,0.089884,0.965894,0.052910,-0.737422,0.030026,0.672687
29,3,588800,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",1.160065,-0.869720,0.010289,-0.058636,-0.461943,0.032254,-0.884381
29,3,588800,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.091927,0.051315,0.875497,0.053466,0.483913,0.868298,0.095014
29,3,588800,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.011253,0.100601,0.869533,0.902140,-0.000000,-0.000001,0.431444
29,3,588800,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",2.292068,-0.868263,0.002488,-0.539006,0.000941,0.000420,0.842301
29,3,588800,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.090321,0.058270,0.915982,-0.231508,-0.790144,-0.165069,0.542981
29,3,588800,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.085152,-0.010925,0.010903,0.244120,0.746003,0.470326,-0.403334
29,3,588800,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.235188,-0.044167,0.879543,-0.074836,-0.791761,0.603162,0.060913
29,3,588800,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.230389,-0.045822,0.869532,0.999881,0.000001,-0.000000,-0.015436
29,3,588800,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.052063,0.040985,0.871289,0.998548,-0.000098,-0.001026,0.053864
29,3,588800,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.202278,0.007381,1.028050,-0.031787,-0.748516,-0.080871,0.657399
29,3,588800,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.231735,-0.063705,0.885084,0.597796,0.340767,-0.313496,0.654398
29,3,588800,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.204987,0.066978,0.884605,0.666592,0.059499,0.005492,0.743024
29,3,588800,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.239700,-0.045441,0.869531,0.999948,0.000000,-0.000000,0.010160
29,3,588800,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115120,-0.075386,0.871288,0.999998,-0.000156,-0.001020,0.001455
29,3,588800,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.180094,0.070698,0.914349,-0.108208,-0.698893,-0.058549,0.704564
29,3,588800,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.187187,-0.067940,0.885122,0.352078,0.642715,-0.430217,0.527135
29,3,588800,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.127369,0.001228,0.883207,0.588745,-0.033553,0.053729,0.805833
29,3,588800,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205303,-0.074821,0.869532,1.000000,0.000000,-0.000001,0.000228
29,3,588800,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
29,3,588800,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.155444,0.011486,0.951826,-0.001516,-0.834802,0.025396,0.549963
29,3,588800,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.169050,0.110588,0.885433,0.207733,-0.655753,-0.709432,-0.153431
29,3,588800,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.181111,-0.052063,0.881809,0.970758,-0.010271,-0.044045,-0.235759
29,3,588800,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204983,0.074852,0.869531,0.999997,0.000001,0.000000,0.002261
29,3,588800,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.074997,0.871289,1.000000,-0.000154,-0.001019,-0.000005
29,3,588800,4,gripper,0,"","put kitchen shovel on cloth",-0.146211,0.050743,0.969687,0.029994,-0.787043,0.067904,0.612416
29,3,588800,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.210405,0.068390,0.888178,0.675829,0.297292,-0.362267,0.568889
29,3,588800,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.228399,0.110252,0.881966,-0.078722,-0.649180,0.752684,0.076385
29,3,588800,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
29,3,588800,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234983,0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000055
29,3,588800,5,gripper,0,"","put kitchen shovel on cloth",-0.182630,0.051315,0.997680,0.129283,-0.679296,0.167112,0.702791
29,3,588800,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.216454,0.090599,0.887892,0.591266,0.346746,-0.300263,0.663335
29,3,588800,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.207188,0.022766,0.884634,0.711204,0.103401,-0.116047,0.685588
29,3,588800,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000028
29,3,588800,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,1.000000,-0.000154,-0.001019,0.000124
29,3,588800,6,gripper,0,"","put kitchen shovel on cloth",-0.156620,-0.037148,0.953146,-0.157241,-0.722173,-0.177508,0.649795
29,3,588800,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.060909,0.102661,0.887723,-0.055660,0.763902,-0.638221,-0.077643
29,3,588800,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.248211,-0.241333,0.873649,0.062164,0.661506,-0.744017,-0.070595
29,3,588800,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.319168,-0.362473,0.006727,-0.000001,0.914362,0.404896,0.000000
29,3,588800,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000117
29,3,588800,7,gripper,0,"","put kitchen shovel on cloth",-0.198938,-0.099377,0.949619,-0.089915,-0.745466,-0.058441,0.657861
29,3,588800,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.223053,-0.057873,0.885368,-0.608751,0.211561,-0.180745,-0.742963
29,3,588800,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.001144,-0.050018,0.012838,-0.128061,-0.038224,0.009422,-0.990985
29,3,588800,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000022
29,3,588800,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075012,0.871282,0.999999,-0.000450,-0.001265,0.000352
29,3,588800,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.233608,-0.072550,0.953419,-0.048003,-0.732448,-0.055712,0.676840
29,3,588800,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.072598,0.096153,0.885123,-0.525438,-0.432077,0.641389,-0.354747
29,3,588800,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.076591,-0.525135,0.004849,-0.091395,-0.966136,-0.240276,-0.022267
29,3,588800,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,0.075001,0.869533,1.000000,-0.000001,-0.000000,0.000021
29,3,588800,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.273151,0.089249,0.822123,0.990780,-0.002216,-0.002968,0.135429
29,3,588800,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.218578,0.015854,0.938682,0.015035,-0.770754,0.184059,0.609782
29,3,588800,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.111649,0.073345,0.885083,0.508122,0.377986,-0.266374,0.726625
29,3,588800,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.123734,0.037888,0.887350,0.682609,-0.035443,0.016568,0.729736
29,3,588800,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114979,0.045006,0.869532,1.000000,0.000001,-0.000001,0.000707
29,3,588800,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205002,-0.045033,0.871288,0.999999,-0.000156,-0.001020,-0.000051
29,3,588800,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.188019,0.004454,1.050860,-0.068606,-0.722442,-0.074759,0.683946
29,3,588800,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.216558,-0.112255,0.885122,0.410782,0.588166,-0.500714,0.484360
29,3,588800,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.236950,-0.077782,0.887184,0.591959,0.011778,-0.029398,0.805346
29,3,588800,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.214556,-0.086864,0.869531,0.999740,-0.000001,0.000000,-0.022793
29,3,588800,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235014,0.045017,0.871288,0.999999,-0.000153,-0.001019,0.000034
29,3,588800,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.081116,-0.010069,0.914084,0.150707,-0.726309,0.108952,0.661734
29,3,588800,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202086,0.093399,0.888275,0.438716,0.550951,-0.546435,0.453200
29,3,588800,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.112999,-0.074612,0.881638,0.931527,0.009996,-0.038048,0.361538
29,3,588800,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.231397,-0.044235,0.869532,0.999929,-0.006402,0.000063,-0.010072
29,3,588800,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.204032,0.075993,0.871282,0.999954,-0.000463,-0.001260,-0.009555
29,3,588800,12,gripper,0,"","put ketchup bottle on cloth",-0.211959,0.012733,1.029844,-0.109355,-0.712032,-0.082941,0.688602
29,3,588800,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.074442,-0.034630,0.887771,-0.049378,0.802475,-0.589272,-0.079707
29,3,588800,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234255,0.077671,0.881638,0.998894,-0.003434,-0.039200,0.025753
29,3,588800,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000007
29,3,588800,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084929,-0.074959,0.871289,0.999999,-0.000154,-0.001019,-0.000346
29,3,588800,13,gripper,0,"","put ketchup bottle on cloth",-0.113379,-0.021103,0.989716,-0.165059,-0.683198,-0.148525,0.695655
29,3,588800,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.423000,-0.268097,0.010288,-0.886284,-0.002321,0.463075,-0.007548
29,3,588800,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.209541,-0.134823,0.882816,0.683472,0.076804,-0.083783,0.721074
29,3,588800,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.074493,0.086964,0.869532,0.985317,0.000001,-0.000000,-0.170736
29,3,588800,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.200134,-0.071987,0.871288,0.999554,-0.000184,-0.001014,-0.029857
29,3,588800,14,gripper,0,"","put ketchup bottle on cloth",-0.193401,-0.026175,0.958104,-0.037944,-0.738391,0.038701,0.672191
29,3,588800,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.191109,0.097088,0.885368,0.709479,-0.183293,0.209346,0.647470
29,3,588800,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.095528,0.070114,0.894979,0.780165,0.065999,0.020779,0.621735
29,3,588800,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235043,0.075035,0.869532,1.000000,-0.000001,-0.000001,0.000595
29,3,588800,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.075008,0.871288,1.000000,-0.000154,-0.001019,0.000020
29,3,588800,15,gripper,0,"","put ketchup bottle on cloth",-0.133415,0.006979,1.027973,0.079987,-0.768631,0.066906,0.631136
29,3,588800,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.150360,-0.108475,0.887061,0.230049,0.804839,-0.389940,-0.383743
29,3,588800,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.165321,-0.063736,0.888582,0.508348,0.459998,-0.377474,0.622494
29,3,588800,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084946,0.075500,0.869490,0.999454,0.000151,0.000880,0.033021
29,3,588800,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205299,-0.075153,0.870448,0.999997,-0.000163,-0.000191,0.002519
29,3,588800,16,gripper,0,"","put 7up can on newspaper",-0.121456,-0.048214,0.968856,-0.095479,-0.630468,-0.104144,0.763248
29,3,588800,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.211517,-0.056644,0.886547,0.274197,0.028077,0.002021,0.961261
29,3,588800,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.122494,-0.266918,0.885609,0.559451,-0.090626,0.055377,0.822031
29,3,588800,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205009,-0.075008,0.869490,1.000000,0.000180,0.000874,-0.000233
29,3,588800,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000040
29,3,588800,17,gripper,0,"","put 7up can on newspaper",-0.178394,0.048584,1.030984,-0.032987,-0.690823,0.002459,0.722267
29,3,588800,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.202011,-0.044323,0.885146,0.381853,0.029617,0.004552,0.923737
29,3,588800,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.103477,-0.043289,0.888632,0.585243,0.124803,-0.085378,0.796634
29,3,588800,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234951,-0.075058,0.869490,1.000000,0.000180,0.000870,-0.000207
29,3,588800,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114876,-0.044945,0.870448,0.999998,-0.001343,-0.001208,0.000041
29,3,588800,18,gripper,0,"","put 7up can on newspaper",-0.087278,0.009970,1.015478,-0.153252,-0.717024,-0.002929,0.679987
29,3,588800,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.172764,-0.129910,0.883544,0.596075,0.011139,-0.006008,0.802829
29,3,588800,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.118216,-0.043503,0.888791,0.519423,0.451120,-0.389164,0.612570
29,3,588800,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
29,3,588800,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115097,-0.045006,0.870447,0.999991,-0.003113,-0.002735,0.000418
29,3,588800,19,gripper,0,"","put 7up can on newspaper",-0.133158,-0.025038,0.973254,-0.046087,-0.760673,-0.006822,0.647461
29,3,588800,20,obj,0,"003_bread_1","put 7up can on carpet",-0.195929,0.020916,0.886535,0.777708,0.009294,-0.004515,0.628540
29,3,588800,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.096342,-0.087139,0.888730,0.642163,0.130028,-0.088801,0.750223
29,3,588800,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084921,-0.074997,0.869490,1.000000,0.000180,0.000868,0.000248
29,3,588800,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.204970,0.045094,0.870448,0.999998,-0.001333,-0.001202,0.000477
29,3,588800,20,gripper,0,"","put 7up can on carpet",-0.131625,-0.072598,1.020943,-0.066903,-0.716172,-0.005792,0.694686
29,3,588800,21,obj,0,"003_bread_1","put 7up can on carpet",-0.166391,-0.110294,0.886626,0.040400,0.506566,-0.830005,-0.229892
29,3,588800,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.090027,-0.063999,0.888664,0.672338,0.065917,-0.037395,0.736355
29,3,588800,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084972,-0.074982,0.869490,1.000000,0.000182,0.000875,-0.000196
29,3,588800,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.207977,-0.073917,0.870447,0.999998,-0.000165,-0.000184,0.001964
29,3,588800,21,gripper,0,"","put 7up can on carpet",-0.175736,0.010487,0.973862,-0.050237,-0.735102,-0.037077,0.675076
29,3,588800,22,obj,0,"003_bread_1","put 7up can on carpet",-0.217079,0.075008,0.886493,0.950589,0.008328,-0.008341,0.310227
29,3,588800,22,obj,1,"005_7up can_1","put 7up can on carpet",0.239349,-0.075413,0.016946,0.582409,-0.415281,-0.429152,-0.551516
29,3,588800,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084888,-0.075066,0.869490,1.000000,0.000180,0.000873,-0.000371
29,3,588800,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.074974,0.870461,1.000000,-0.000071,-0.000240,0.000217
29,3,588800,22,gripper,0,"","put 7up can on carpet",-0.271378,-0.007504,0.922493,0.038757,-0.710926,0.118239,0.692171
29,3,588800,23,obj,0,"003_bread_1","put 7up can on carpet",-0.115685,-0.052567,0.886578,0.995969,0.003073,-0.007369,0.089342
29,3,588800,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.073208,-0.189262,0.885877,0.041864,0.733204,0.042987,-0.677356
29,3,588800,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
29,3,588800,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,-0.044994,0.870447,0.999998,-0.001351,-0.001214,0.000051
29,3,588800,23,gripper,0,"","put 7up can on carpet",-0.092419,-0.181219,0.943841,-0.128430,-0.773020,0.001300,0.621245
29,3,588800,24,obj,0,"003_bread_1","put bread on newspaper",-0.100754,-0.060408,0.886685,0.992117,0.003653,-0.009901,0.124868
29,3,588800,24,obj,1,"005_7up can_1","put bread on newspaper",-0.016312,0.214272,0.885995,0.117930,0.546529,-0.824784,0.084437
29,3,588800,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.084976,0.075005,0.869490,1.000000,0.000180,0.000874,0.000085
29,3,588800,24,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,-0.073137,0.870422,0.999993,-0.000689,-0.001257,-0.003399
29,3,588800,24,gripper,0,"","put bread on newspaper",-0.292885,-0.043063,0.914670,-0.031714,-0.712638,-0.023760,0.700412
29,3,588800,25,obj,0,"003_bread_1","put bread on newspaper",-0.094040,0.048073,0.886633,0.624738,0.015357,-0.005084,0.780667
29,3,588800,25,obj,1,"005_7up can_1","put bread on newspaper",-0.170116,0.108759,0.887349,0.744322,0.097316,-0.056123,0.658305
29,3,588800,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.205288,0.075235,0.869491,0.999993,0.000503,0.001383,0.003323
29,3,588800,25,recep,1,"003_carpet_1","put bread on newspaper",-0.084999,0.075050,0.870461,1.000000,0.000018,-0.000158,-0.000106
29,3,588800,25,gripper,0,"","put bread on newspaper",-0.106060,0.036075,1.001138,0.006271,-0.698256,-0.042954,0.714531
29,3,588800,26,obj,0,"003_bread_1","put bread on newspaper",-0.116875,-0.057726,0.886553,0.465453,0.013867,-0.003831,0.884956
29,3,588800,26,obj,1,"005_7up can_1","put bread on newspaper",-0.183903,0.066185,0.887996,0.140599,0.621567,-0.764804,0.094663
29,3,588800,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.207367,0.080927,0.869490,0.999843,0.000573,0.001409,-0.017673
29,3,588800,26,recep,1,"003_carpet_1","put bread on newspaper",-0.114929,-0.074341,0.870348,0.999998,-0.000438,-0.001815,0.000667
29,3,588800,26,gripper,0,"","put bread on newspaper",-0.192959,0.050116,0.942346,0.109150,-0.756481,0.018193,0.644586
29,3,588800,27,obj,0,"003_bread_1","put bread on newspaper",-0.226822,0.089905,0.886494,0.997203,0.003657,-0.009739,0.074018
29,3,588800,27,obj,1,"005_7up can_1","put bread on newspaper",0.211227,-0.089935,0.016947,-0.805514,-0.039893,-0.587812,0.063503
29,3,588800,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.084980,0.075005,0.869490,1.000000,0.000180,0.000874,-0.000034
29,3,588800,27,recep,1,"003_carpet_1","put bread on newspaper",-0.234440,0.074652,0.870362,0.999995,-0.000480,-0.001701,0.002396
29,3,588800,27,gripper,0,"","put bread on newspaper",-0.068340,0.091276,0.936396,0.016798,-0.790866,-0.032045,0.610918
29,3,588800,28,obj,0,"003_bread_1","put bread on carpet",-0.183742,-0.045967,0.885607,0.895481,0.014987,0.005459,0.444813
29,3,588800,28,obj,1,"005_7up can_1","put bread on carpet",-0.180103,0.026134,0.886322,0.231979,-0.750019,0.515015,0.344117
29,3,588800,28,recep,0,"004_newspaper_1","put bread on carpet",-0.204906,-0.045040,0.869490,1.000000,0.000179,0.000871,0.000481
29,3,588800,28,recep,1,"003_carpet_1","put bread on carpet",-0.235520,0.076933,0.870461,0.999943,0.000035,-0.000164,0.010659
29,3,588800,28,gripper,0,"","put bread on carpet",-0.108926,0.045159,1.005578,-0.035654,-0.702976,-0.023078,0.709945
29,3,588800,29,obj,0,"003_bread_1","put bread on carpet",-0.128660,0.099773,0.893080,0.664382,-0.131375,-0.707390,0.202327
29,3,588800,29,obj,1,"005_7up can_1","put bread on carpet",-0.175751,-0.002775,0.885946,0.414295,-0.434236,0.763243,0.239289
29,3,588800,29,recep,0,"004_newspaper_1","put bread on carpet",-0.204947,-0.074991,0.869490,1.000000,0.000180,0.000875,0.000019
29,3,588800,29,recep,1,"003_carpet_1","put bread on carpet",-0.087215,0.085619,0.870448,0.999841,-0.000938,-0.000829,-0.017792
29,3,588800,29,gripper,0,"","put bread on carpet",-0.169747,0.093000,0.954642,-0.087688,-0.688502,-0.073988,0.716101
29,3,588800,30,obj,0,"003_bread_1","put bread on carpet",-0.247139,0.050596,0.886820,0.978110,-0.018414,-0.127136,0.163700
29,3,588800,30,obj,1,"005_7up can_1","put bread on carpet",-0.112236,0.046335,0.889235,0.072860,0.669320,0.735277,-0.077908
29,3,588800,30,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,0.044994,0.869489,1.000000,0.000180,0.000874,-0.000392
29,3,588800,30,recep,1,"003_carpet_1","put bread on carpet",-0.085033,0.075047,0.870448,1.000000,-0.000128,-0.000157,-0.000248
29,3,588800,30,gripper,0,"","put bread on carpet",-0.198513,0.014928,0.994653,-0.008240,-0.724530,0.004494,0.689180
29,3,588800,31,obj,0,"003_bread_1","put bread on carpet",-0.103603,-0.068169,0.886733,0.998436,0.002445,-0.009714,0.054999
29,3,588800,31,obj,1,"005_7up can_1","put bread on carpet",-0.105450,-0.197479,0.886002,-0.107391,-0.336866,-0.934360,0.044275
29,3,588800,31,recep,0,"004_newspaper_1","put bread on carpet",-0.204788,0.044794,0.869490,0.999968,0.000186,0.000873,-0.007926
29,3,588800,31,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000031
29,3,588800,31,gripper,0,"","put bread on carpet",-0.143789,-0.002664,0.962453,-0.029594,-0.720437,-0.027332,0.692350
29,3,588800,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.085892,-0.070104,0.887313,0.585698,-0.024843,0.025090,0.809760
29,3,588800,32,obj,1,"013_banana_1","put banana on sheet metal",-0.204567,0.075011,0.878546,0.706892,0.007929,0.010831,0.707194
29,3,588800,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,3,588800,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000001,-0.000000
29,3,588800,32,gripper,0,"","put banana on sheet metal",-0.174316,0.083373,0.977395,-0.049039,-0.707558,-0.029469,0.704336
29,3,588800,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.076496,0.090447,0.895299,0.980767,0.091303,-0.011250,-0.172142
29,3,588800,33,obj,1,"013_banana_1","put banana on sheet metal",-0.204681,0.044694,0.878547,0.923621,0.011484,0.006980,0.383070
29,3,588800,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
29,3,588800,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084900,0.075006,0.874362,0.999999,0.000001,-0.000000,0.001303
29,3,588800,33,gripper,0,"","put banana on sheet metal",-0.133177,0.045835,1.013701,-0.129891,-0.715574,-0.069649,0.682811
29,3,588800,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.250225,0.062219,0.887233,0.302173,-0.019559,0.000081,0.953052
29,3,588800,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084690,0.075313,0.878547,0.382300,0.003189,0.013068,0.923940
29,3,588800,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,3,588800,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
29,3,588800,34,gripper,0,"","put banana on sheet metal",-0.048540,0.084910,0.954363,0.106382,-0.756011,0.019769,0.645553
29,3,588800,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.118511,0.079236,0.887398,0.997129,-0.000100,0.023867,0.071858
29,3,588800,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084990,-0.075437,0.878546,0.999910,0.013257,0.002054,0.000352
29,3,588800,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
29,3,588800,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
29,3,588800,35,gripper,0,"","put banana on sheet metal",-0.054729,-0.049607,0.957098,-0.038802,-0.736950,-0.048344,0.673098
29,3,588800,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.097987,0.071540,0.887269,0.011119,-0.033254,-0.006430,0.999364
29,3,588800,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084692,-0.074683,0.878548,0.382182,0.003187,0.013065,0.923989
29,3,588800,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,0.074916,0.871344,0.999999,-0.000158,0.001164,-0.000021
29,3,588800,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000001
29,3,588800,36,gripper,0,"","put banana on flat bowl",-0.042555,-0.042564,0.998639,0.010258,-0.747992,0.001195,0.663627
29,3,588800,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.124243,-0.047737,0.887372,0.758523,-0.018849,0.017835,0.651129
29,3,588800,37,obj,1,"013_banana_1","put banana on flat bowl",-0.235683,0.074536,0.878547,0.690753,0.007701,0.011023,0.722966
29,3,588800,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
29,3,588800,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
29,3,588800,37,gripper,0,"","put banana on flat bowl",-0.210679,0.099773,0.981983,0.006490,-0.702488,-0.030990,0.710991
29,3,588800,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094116,0.077482,0.887551,0.149277,-0.028561,0.006686,0.988360
29,3,588800,38,obj,1,"013_banana_1","put banana on flat bowl",-0.204693,0.075315,0.878547,0.382327,0.003192,0.013074,0.923929
29,3,588800,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,3,588800,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
29,3,588800,38,gripper,0,"","put banana on flat bowl",-0.173655,0.104090,1.004305,0.042351,-0.729642,-0.059607,0.679909
29,3,588800,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.132450,0.067429,0.896683,0.990365,0.092391,0.094456,-0.041457
29,3,588800,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084988,-0.075439,0.878547,0.999910,0.013262,0.002052,0.000263
29,3,588800,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001163,-0.000009
29,3,588800,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.044996,0.874362,1.000000,0.000000,-0.000000,0.000071
29,3,588800,39,gripper,0,"","put banana on flat bowl",-0.062309,-0.052260,0.948722,-0.078408,-0.760575,-0.067352,0.640969
29,3,588800,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.095772,0.081018,0.887490,0.877533,-0.012395,0.024268,0.478741
29,3,588800,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234688,0.074701,0.878547,0.924191,0.011500,0.006965,0.381693
29,3,588800,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114998,-0.045023,0.871345,0.999999,-0.000158,0.001164,-0.000086
29,3,588800,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000399
29,3,588800,40,gripper,0,"","put carrot on sheet metal",-0.054638,0.062811,0.995923,0.211372,-0.817475,0.106811,0.525021
29,3,588800,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.110958,-0.052011,0.887435,0.346032,-0.018967,0.006902,0.938005
29,3,588800,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.212708,-0.062113,0.878547,0.228876,0.001048,0.013413,0.973363
29,3,588800,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
29,3,588800,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000000,0.000001,0.000310
29,3,588800,41,gripper,0,"","put carrot on sheet metal",-0.074480,-0.031240,0.982698,0.048668,-0.733878,0.093129,0.671105
29,3,588800,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.122612,-0.069569,0.887424,0.919386,-0.008174,0.018448,0.392838
29,3,588800,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.234665,-0.045307,0.878547,0.924128,0.011533,0.006986,0.381845
29,3,588800,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
29,3,588800,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
29,3,588800,42,gripper,0,"","put carrot on sheet metal",-0.122416,-0.047950,0.997581,-0.063827,-0.737577,0.028872,0.671620
29,3,588800,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088570,0.079784,0.887474,0.997210,-0.000502,0.021743,0.071402
29,3,588800,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234793,-0.075361,0.878547,0.999908,0.013340,0.002071,0.001214
29,3,588800,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.045019,0.871344,0.999999,-0.000157,0.001164,0.000026
29,3,588800,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000486
29,3,588800,43,gripper,0,"","put carrot on sheet metal",-0.161959,0.059602,1.008785,0.237708,-0.686221,0.170800,0.665900
29,3,588800,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.282235,0.077253,0.887500,0.995361,-0.003061,0.037979,0.088341
29,3,588800,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.114561,-0.044994,0.878547,0.706802,0.007947,0.010852,0.707283
29,3,588800,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
29,3,588800,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
29,3,588800,44,gripper,0,"","put carrot on flat bowl",-0.245886,0.095780,0.991266,0.016022,-0.688564,0.069872,0.721623
29,3,588800,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.100765,0.067713,0.887556,0.439032,-0.023513,0.007947,0.898129
29,3,588800,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.233953,-0.044827,0.878547,0.379587,0.003143,0.013052,0.925059
29,3,588800,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.074940,0.871343,0.999999,-0.000158,0.001163,-0.000129
29,3,588800,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,0.000000,0.000000,0.000281
29,3,588800,45,gripper,0,"","put carrot on flat bowl",-0.060893,0.071261,0.995783,-0.004245,-0.720368,-0.035545,0.692667
29,3,588800,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.122330,0.083401,0.894265,-0.004598,0.027199,-0.062335,0.997674
29,3,588800,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.084702,-0.044666,0.878547,0.383885,0.003213,0.013067,0.923283
29,3,588800,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234978,0.044994,0.871344,0.999999,-0.000158,0.001163,-0.000018
29,3,588800,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115032,0.074986,0.874363,1.000000,-0.000000,-0.000001,-0.000764
29,3,588800,46,gripper,0,"","put carrot on flat bowl",-0.078800,0.062108,0.990123,-0.078404,-0.754756,-0.028037,0.650700
29,3,588800,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.221725,0.055470,0.887935,0.856824,-0.024604,0.044540,0.513092
29,3,588800,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
29,3,588800,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045006,0.871344,0.999999,-0.000157,0.001164,-0.000046
29,3,588800,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
29,3,588800,47,gripper,0,"","put carrot on flat bowl",-0.226702,0.060753,0.958635,-0.228413,-0.680429,-0.129408,0.684176
29,3,588800,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.070328,0.056564,0.893680,-0.529728,0.846745,-0.000499,0.049101
29,3,588800,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.197884,0.103397,0.895344,0.431184,-0.572606,0.423062,0.554275
29,3,588800,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.198967,0.106819,0.872199,0.988388,-0.000000,-0.000001,-0.151948
29,3,588800,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,0.074989,0.870854,1.000000,0.000381,0.000658,-0.000084
29,3,588800,48,gripper,0,"","put plastic bottle on frying pan",-0.088928,0.052767,0.920652,-0.025500,-0.797172,-0.055824,0.600625
29,3,588800,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.152992,0.015953,0.889010,0.845622,0.053639,-0.054162,0.528312
29,3,588800,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.232586,0.058865,0.895383,0.548652,-0.457882,0.538359,0.446649
29,3,588800,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234291,0.042973,0.872199,0.992237,-0.000001,-0.000001,0.124361
29,3,588800,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115044,0.078644,0.870871,0.999768,0.000000,-0.000002,-0.021552
29,3,588800,49,gripper,0,"","put plastic bottle on frying pan",-0.248577,0.053659,1.028380,0.125232,-0.614258,0.049107,0.777556
29,3,588800,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.077621,-0.065510,0.890754,-0.015497,-0.011841,-0.021341,0.999582
29,3,588800,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.223881,-0.069893,0.895101,0.519014,-0.504387,0.463760,0.511024
29,3,588800,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235226,-0.075031,0.872199,0.999995,-0.000000,-0.000001,0.003141
29,3,588800,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085022,-0.075005,0.870871,1.000000,0.000000,-0.000001,0.000246
29,3,588800,50,gripper,0,"","put plastic bottle on frying pan",-0.113905,0.021975,1.018478,0.090688,-0.770874,0.108055,0.621171
29,3,588800,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206917,0.040218,0.888112,0.851158,-0.027541,0.000147,0.524187
29,3,588800,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.217888,-0.016399,0.895338,0.484175,-0.525391,0.471300,0.517123
29,3,588800,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.212883,-0.043144,0.872199,0.999697,-0.000001,-0.000001,-0.024618
29,3,588800,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.044998,0.870871,1.000000,-0.000000,-0.000001,-0.000030
29,3,588800,51,gripper,0,"","put plastic bottle on frying pan",-0.186157,-0.051468,0.985100,-0.081962,-0.767479,-0.088646,0.629603
29,3,588800,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.081031,-0.070560,0.891348,0.661586,0.039764,-0.064405,0.746039
29,3,588800,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.112490,-0.082035,0.914959,0.215338,0.438979,-0.583557,0.648374
29,3,588800,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236169,-0.072277,0.872199,0.999905,-0.000000,-0.000001,0.013810
29,3,588800,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.085036,-0.075108,0.870871,1.000000,0.000000,-0.000004,0.000149
29,3,588800,52,gripper,0,"","put plastic bottle on cutting board",-0.135282,-0.034004,1.039664,-0.100346,-0.734335,0.012434,0.671214
29,3,588800,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.089499,0.020309,0.888324,0.199994,-0.034075,0.042157,0.978297
29,3,588800,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078503,-0.092388,0.893868,0.521878,0.482008,-0.483202,0.511690
29,3,588800,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.081429,-0.080757,0.872199,0.998164,-0.000001,-0.000001,-0.060565
29,3,588800,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204987,0.074997,0.870870,1.000000,0.000000,-0.000000,0.000010
29,3,588800,53,gripper,0,"","put plastic bottle on cutting board",-0.102091,0.012350,0.919397,0.037531,-0.764145,-0.078997,0.639088
29,3,588800,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.228489,-0.006420,0.896223,-0.088991,-0.050437,-0.012489,0.994676
29,3,588800,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.272644,-0.085522,0.887614,0.358437,-0.564193,0.292904,0.683679
29,3,588800,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
29,3,588800,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,-0.045177,0.870870,1.000000,0.000000,-0.000001,-0.000979
29,3,588800,54,gripper,0,"","put plastic bottle on cutting board",-0.246826,-0.003645,0.923855,-0.112591,-0.698601,-0.008352,0.706548
29,3,588800,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.008060,0.045685,0.888112,0.678484,-0.026563,-0.007266,0.734099
29,3,588800,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.242924,-0.040939,0.889701,0.484930,-0.525586,0.476913,0.511034
29,3,588800,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084976,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000393
29,3,588800,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234787,-0.045280,0.870869,1.000000,0.000004,0.000001,-0.000187
29,3,588800,55,gripper,0,"","put plastic bottle on cutting board",-0.109467,0.041845,1.013994,0.009986,-0.707680,-0.000496,0.706463
29,3,588800,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.176682,0.063236,0.888112,0.558240,-0.025138,-0.011249,0.829222
29,3,588800,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.074097,0.079952,0.895133,0.519110,-0.496866,0.493510,0.489997
29,3,588800,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084755,0.075497,0.872199,0.999974,-0.000000,-0.000001,0.007267
29,3,588800,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114998,-0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000023
29,3,588800,56,gripper,0,"","put hamburger on frying pan",-0.200737,0.003212,0.939730,-0.191965,-0.708058,-0.065629,0.676384
29,3,588800,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.207439,-0.081997,0.894036,0.998482,-0.045721,-0.028724,-0.010867
29,3,588800,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.093193,0.108555,0.889704,0.638597,-0.314041,0.636387,0.297630
29,3,588800,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000007
29,3,588800,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.063965,0.100117,0.870870,0.985553,-0.000001,-0.000002,-0.169367
29,3,588800,57,gripper,0,"","put hamburger on frying pan",-0.073704,0.051929,1.011734,0.099926,-0.732319,0.139337,0.659021
29,3,588800,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.074501,-0.050049,0.896290,0.678180,-0.029250,-0.055142,0.732240
29,3,588800,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.178181,-0.055523,0.889109,-0.479650,-0.443468,0.301275,-0.694626
29,3,588800,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084789,-0.074993,0.872199,1.000000,-0.000001,-0.000001,-0.000889
29,3,588800,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204536,-0.075115,0.870870,0.999999,-0.000000,0.000001,0.001505
29,3,588800,58,gripper,0,"","put hamburger on frying pan",-0.091911,0.034622,1.008067,-0.024324,-0.726630,0.137299,0.672730
29,3,588800,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.078300,-0.063122,0.895372,0.938119,-0.015313,-0.037152,0.343975
29,3,588800,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.225052,-0.044315,0.889560,0.550881,-0.451990,0.549725,0.435933
29,3,588800,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084995,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000209
29,3,588800,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234293,-0.074455,0.870870,0.999999,-0.000004,-0.000005,-0.001512
29,3,588800,59,gripper,0,"","put hamburger on frying pan",-0.143259,-0.006145,1.016453,-0.108961,-0.717752,-0.118226,0.677482
29,3,588800,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.215691,-0.057343,0.890509,0.792739,-0.028799,-0.000608,0.608880
29,3,588800,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065530,-0.030014,0.922378,0.590626,-0.311588,0.690295,0.278507
29,3,588800,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114844,0.045113,0.872199,0.999998,-0.000001,-0.000001,-0.001942
29,3,588800,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234994,-0.075008,0.870864,1.000000,0.000056,0.000001,0.000037
29,3,588800,60,gripper,0,"","put hamburger on cutting board",-0.048458,-0.036869,0.953644,0.173114,-0.705753,0.313719,0.611167
29,3,588800,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.205885,-0.062103,0.890516,0.956768,-0.028617,0.008639,0.289312
29,3,588800,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.077150,-0.079132,0.887026,0.701095,0.053848,0.707663,-0.069128
29,3,588800,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.207949,0.076199,0.872199,0.998076,-0.000001,-0.000001,0.062000
29,3,588800,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.075016,0.870864,1.000000,0.000058,0.000001,-0.000001
29,3,588800,61,gripper,0,"","put hamburger on cutting board",-0.053677,-0.090078,1.005810,-0.144624,-0.687768,-0.114973,0.702026
29,3,588800,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.120605,-0.089470,0.896323,-0.396151,-0.001764,-0.023735,0.917877
29,3,588800,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.115047,0.085304,0.892450,0.022240,-0.782566,0.621395,0.031065
29,3,588800,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.074238,-0.074059,0.872199,0.999787,-0.000001,-0.000000,0.020623
29,3,588800,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084694,0.075169,0.870871,0.999999,-0.000000,-0.000010,-0.001070
29,3,588800,62,gripper,0,"","put hamburger on cutting board",-0.146742,0.010530,1.014624,0.018699,-0.690533,0.031670,0.722365
29,3,588800,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.204315,-0.060120,0.890504,0.997814,-0.026503,0.014126,0.058866
29,3,588800,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175652,0.076115,0.887026,0.704495,-0.016798,0.709509,0.000941
29,3,588800,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083298,0.072865,0.872199,0.999977,-0.000000,-0.000001,-0.006839
29,3,588800,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,-0.075016,0.870864,1.000000,0.000067,0.000010,0.000046
29,3,588800,63,gripper,0,"","put hamburger on cutting board",-0.114204,-0.028946,1.053434,-0.046418,-0.736145,-0.026804,0.674698
29,4,593920,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",1.160057,-0.869720,0.010289,-0.058650,-0.461943,0.032261,-0.884380
29,4,593920,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.092026,0.051422,0.875493,0.054115,0.489951,0.864909,0.094616
29,4,593920,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.011215,0.100578,0.869532,0.901580,0.000001,-0.000001,0.432611
29,4,593920,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",2.292068,-0.868263,0.002488,-0.539020,0.000941,0.000419,0.842292
29,4,593920,0,gripper,0,"","put kitchen shovel on cloth",-0.055584,0.086674,0.944397,0.175206,-0.727589,0.071740,0.659371
29,4,593920,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.085152,-0.010925,0.010903,0.244121,0.746003,0.470326,-0.403334
29,4,593920,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.231281,-0.075455,0.879216,-0.043686,-0.612279,0.783380,0.097579
29,4,593920,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.233578,-0.047043,0.869532,0.998893,0.000001,-0.000001,-0.047045
29,4,593920,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.052063,0.040985,0.871289,0.998545,-0.000099,-0.001026,0.053906
29,4,593920,1,gripper,0,"","put kitchen shovel on cloth",-0.215174,-0.074986,0.934635,-0.181958,-0.715678,-0.118459,0.663825
29,4,593920,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.190956,-0.153290,0.879903,-0.659290,-0.203531,0.193095,-0.697586
29,4,593920,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.140385,-0.070435,0.890141,0.760599,0.009110,-0.039668,0.647945
29,4,593920,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.227638,-0.048523,0.869534,0.995665,0.000016,0.000022,-0.093008
29,4,593920,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.112579,-0.075294,0.871288,0.999978,-0.000147,-0.001020,0.006615
29,4,593920,2,gripper,0,"","put kitchen shovel on cloth",-0.202776,-0.067345,0.920825,0.040156,-0.744150,0.090555,0.660627
29,4,593920,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.196854,-0.081253,0.884980,0.594864,-0.398313,0.515060,0.471377
29,4,593920,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.114027,-0.024612,0.884645,0.561907,-0.158142,0.089291,0.807019
29,4,593920,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.216490,-0.111343,0.869532,0.970479,0.000001,-0.000001,-0.241184
29,4,593920,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.081490,-0.082581,0.871282,0.998348,-0.000523,-0.001236,-0.057447
29,4,593920,3,gripper,0,"","put kitchen shovel on cloth",-0.118633,-0.083652,0.972193,-0.166815,-0.757485,-0.092065,0.624430
29,4,593920,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.169573,0.110359,0.885716,0.213864,-0.647474,-0.721167,-0.122300
29,4,593920,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.146163,-0.007195,0.883907,0.948594,0.030948,-0.010821,-0.314792
29,4,593920,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205017,0.074883,0.869531,0.999998,0.000001,-0.000000,0.001708
29,4,593920,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
29,4,593920,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.123689,-0.015717,0.964521,-0.154411,-0.671417,-0.116364,0.715413
29,4,593920,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.209431,0.063141,0.888292,0.576122,0.345048,-0.309815,0.673083
29,4,593920,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.228392,0.110191,0.881664,-0.078813,-0.647449,0.754638,0.071549
29,4,593920,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
29,4,593920,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234930,0.074898,0.871210,0.999984,-0.003905,-0.004131,0.000844
29,4,593920,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.227119,0.048271,0.974475,-0.185919,-0.683996,-0.241905,0.662620
29,4,593920,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.084579,-0.045555,0.908194,0.495840,0.310961,-0.160755,0.794735
29,4,593920,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.207188,0.022774,0.884633,0.711208,0.103387,-0.116026,0.685589
29,4,593920,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000052
29,4,593920,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000151
29,4,593920,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.105400,-0.048389,0.947024,-0.221848,-0.740508,-0.120036,0.622915
29,4,593920,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.060913,0.102699,0.887723,-0.055668,0.764403,-0.637603,-0.077796
29,4,593920,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.248211,-0.241333,0.873649,0.062169,0.661553,-0.743975,-0.070591
29,4,593920,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.319168,-0.362473,0.006727,-0.000001,0.914362,0.404897,0.000000
29,4,593920,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000157
29,4,593920,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.118456,-0.003536,0.968943,-0.009279,-0.733550,0.021109,0.679244
29,4,593920,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.209366,0.000801,0.879118,0.550361,0.355720,-0.280270,0.701437
29,4,593920,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.001144,-0.050018,0.012838,-0.128124,-0.038221,0.009424,-0.990977
29,4,593920,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.231064,-0.075916,0.869532,0.993727,-0.016960,-0.001888,0.110523
29,4,593920,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075012,0.871282,0.999999,-0.000450,-0.001265,0.000460
29,4,593920,8,gripper,0,"","put ketchup bottle on cloth",-0.220097,-0.020479,0.953440,-0.062867,-0.752524,-0.029489,0.654894
29,4,593920,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.072613,0.096043,0.885123,-0.526497,-0.430181,0.642630,-0.353230
29,4,593920,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.076588,-0.525135,0.004849,-0.091396,-0.966138,-0.240268,-0.022266
29,4,593920,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.075001,0.869533,1.000000,-0.000003,0.000001,0.000027
29,4,593920,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.273151,0.089249,0.822123,0.990781,-0.002214,-0.002967,0.135425
29,4,593920,9,gripper,0,"","put ketchup bottle on cloth",-0.207079,-0.034918,0.986824,0.002607,-0.763665,0.118178,0.634699
29,4,593920,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.111561,0.073261,0.885085,0.508713,0.378259,-0.267109,0.725799
29,4,593920,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.124016,0.038101,0.887347,0.681803,-0.035547,0.016513,0.730485
29,4,593920,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114964,0.044998,0.869532,1.000000,-0.000001,0.000000,0.000086
29,4,593920,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.206120,-0.046379,0.871288,0.999937,-0.000146,-0.001022,0.011184
29,4,593920,10,gripper,0,"","put ketchup bottle on cloth",-0.168537,0.042768,0.993752,-0.024485,-0.722614,-0.018768,0.690563
29,4,593920,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.255260,0.026211,0.886468,0.152938,0.625043,-0.741037,0.191822
29,4,593920,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234938,-0.068020,0.887165,0.652809,-0.043258,0.015329,0.756131
29,4,593920,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.214310,-0.085140,0.869532,0.998743,0.000001,-0.000001,-0.050128
29,4,593920,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235020,0.045025,0.871288,1.000000,-0.000154,-0.001019,-0.000098
29,4,593920,11,gripper,0,"","put ketchup bottle on cloth",-0.116784,0.018269,1.023660,0.079449,-0.731584,0.092842,0.670710
29,4,593920,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.202086,0.093399,0.888275,0.438717,0.550950,-0.546435,0.453200
29,4,593920,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.345640,-0.640537,0.004850,-0.090550,-0.959549,0.265359,0.025507
29,4,593920,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.263144,-0.119083,0.875527,0.000001,0.991312,0.131530,0.000000
29,4,593920,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.204032,0.075993,0.871282,0.999953,-0.000462,-0.001260,-0.009555
29,4,593920,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.183398,-0.074623,0.965258,-0.175763,-0.755585,-0.191320,0.601327
29,4,593920,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.206137,-0.065712,0.885113,-0.071194,0.694279,-0.712890,-0.068530
29,4,593920,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.231445,0.077484,0.881641,0.998952,-0.005322,0.039839,0.021895
29,4,593920,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000103
29,4,593920,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084929,-0.074955,0.871288,0.999999,-0.000154,-0.001019,-0.000345
29,4,593920,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.255716,-0.037537,0.929124,-0.121452,-0.634382,-0.189254,0.739589
29,4,593920,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.423000,-0.268097,0.010288,-0.886289,-0.002316,0.463066,-0.007538
29,4,593920,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.195210,-0.070854,0.890280,0.649892,0.011662,-0.018271,0.759718
29,4,593920,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.074493,0.086964,0.869532,0.985310,0.000000,-0.000000,-0.170773
29,4,593920,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.197296,-0.069332,0.871237,0.999986,-0.002638,-0.003094,0.003437
29,4,593920,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.237637,-0.075174,0.932214,-0.075338,-0.762699,-0.050819,0.640338
29,4,593920,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.174870,0.112946,0.885086,0.674313,0.299143,-0.352978,0.575519
29,4,593920,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089550,0.051552,0.891909,0.579457,-0.503302,0.492086,0.410814
29,4,593920,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.221188,0.092686,0.869532,0.999177,0.000002,0.000001,0.040572
29,4,593920,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084698,0.075089,0.871282,0.999997,-0.000450,-0.001267,0.001816
29,4,593920,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.161747,0.057520,0.971686,0.063208,-0.739926,-0.007627,0.669668
29,4,593920,16,obj,0,"003_bread_1","put 7up can on carpet",-0.150734,-0.108467,0.887603,0.252529,0.812839,-0.314539,-0.420223
29,4,593920,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.157074,-0.064190,0.888519,0.558625,0.425294,-0.406016,0.584990
29,4,593920,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084946,0.075500,0.869490,0.999454,0.000151,0.000879,0.033025
29,4,593920,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.205299,-0.075123,0.870418,0.999998,0.000054,-0.000578,0.001873
29,4,593920,16,gripper,0,"","put 7up can on carpet",-0.176739,-0.045256,0.984758,-0.017464,-0.725219,0.005980,0.688271
29,4,593920,17,obj,0,"003_bread_1","put 7up can on carpet",-0.211521,-0.056644,0.886547,0.274427,0.028077,0.002021,0.961196
29,4,593920,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.122494,-0.266945,0.885609,0.559346,-0.090649,0.055375,0.822100
29,4,593920,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205013,-0.075008,0.869490,1.000000,0.000180,0.000875,-0.000208
29,4,593920,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075031,0.870447,0.999991,-0.003114,-0.002734,-0.000057
29,4,593920,17,gripper,0,"","put 7up can on carpet",-0.131712,-0.000885,1.024094,0.010088,-0.731816,0.046524,0.679837
29,4,593920,18,obj,0,"003_bread_1","put 7up can on carpet",-0.202023,-0.044304,0.885147,0.381562,0.029571,0.004553,0.923859
29,4,593920,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.103317,-0.043346,0.888629,0.580237,0.126796,-0.085689,0.799941
29,4,593920,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234951,-0.075058,0.869490,1.000000,0.000180,0.000870,-0.000241
29,4,593920,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.114876,-0.044941,0.870448,0.999998,-0.001311,-0.001184,0.000054
29,4,593920,18,gripper,0,"","put 7up can on carpet",-0.005011,0.115126,0.956826,-0.046085,-0.817006,0.196696,0.540081
29,4,593920,19,obj,0,"003_bread_1","put 7up can on carpet",-0.172754,-0.129910,0.883544,0.595382,0.011146,-0.006000,0.803343
29,4,593920,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.118202,-0.043503,0.888791,0.521257,0.449949,-0.390512,0.611014
29,4,593920,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000875,0.000002
29,4,593920,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.115091,-0.045006,0.870447,0.999991,-0.003109,-0.002731,0.000483
29,4,593920,19,gripper,0,"","put 7up can on carpet",-0.208727,-0.058159,0.999317,-0.056189,-0.729318,-0.012570,0.681748
29,4,593920,20,obj,0,"003_bread_1","put bread on newspaper",-0.195929,0.020916,0.886535,0.777708,0.009294,-0.004515,0.628540
29,4,593920,20,obj,1,"005_7up can_1","put bread on newspaper",-0.096342,-0.087147,0.888729,0.642127,0.130038,-0.088815,0.750250
29,4,593920,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.084921,-0.074997,0.869490,1.000000,0.000180,0.000869,0.000248
29,4,593920,20,recep,1,"003_carpet_1","put bread on newspaper",-0.204970,0.045094,0.870448,0.999998,-0.001332,-0.001201,0.000477
29,4,593920,20,gripper,0,"","put bread on newspaper",-0.081974,-0.090837,0.975389,-0.013894,-0.719096,-0.004063,0.694759
29,4,593920,21,obj,0,"003_bread_1","put bread on newspaper",-0.166830,-0.108292,0.886648,0.037227,0.501858,-0.833111,-0.229520
29,4,593920,21,obj,1,"005_7up can_1","put bread on newspaper",-0.088650,-0.074078,0.888605,0.633168,0.285198,-0.241018,0.677990
29,4,593920,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.084923,-0.074986,0.869490,1.000000,0.000180,0.000873,-0.000284
29,4,593920,21,recep,1,"003_carpet_1","put bread on newspaper",-0.208002,-0.073921,0.870417,0.999998,0.000054,-0.000591,-0.001785
29,4,593920,21,gripper,0,"","put bread on newspaper",-0.116001,0.061989,0.969094,0.104694,-0.718837,0.025616,0.686773
29,4,593920,22,obj,0,"003_bread_1","put bread on newspaper",-0.216232,0.090111,0.886522,0.895399,0.009908,-0.007552,0.445090
29,4,593920,22,obj,1,"005_7up can_1","put bread on newspaper",0.239349,-0.075413,0.016946,0.582404,-0.415285,-0.429148,-0.551521
29,4,593920,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.084900,-0.075066,0.869490,1.000000,0.000180,0.000874,-0.000357
29,4,593920,22,recep,1,"003_carpet_1","put bread on newspaper",-0.233749,0.076332,0.870461,0.999925,-0.000076,-0.000247,0.012257
29,4,593920,22,gripper,0,"","put bread on newspaper",-0.196531,0.042555,1.016522,-0.071737,-0.676817,-0.021365,0.732336
29,4,593920,23,obj,0,"003_bread_1","put bread on newspaper",-0.115681,-0.052559,0.886578,0.995802,0.003092,-0.007363,0.091183
29,4,593920,23,obj,1,"005_7up can_1","put bread on newspaper",-0.037384,-0.190475,0.885610,0.027445,0.105905,0.008135,-0.993964
29,4,593920,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.085014,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
29,4,593920,23,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,-0.044998,0.870447,0.999998,-0.001352,-0.001216,0.000140
29,4,593920,23,gripper,0,"","put bread on newspaper",-0.084511,-0.234266,0.915391,-0.134925,-0.807137,-0.070555,0.570392
29,4,593920,24,obj,0,"003_bread_1","put bread on carpet",-0.109070,-0.053185,0.886623,0.980940,0.005457,-0.010146,0.193968
29,4,593920,24,obj,1,"005_7up can_1","put bread on carpet",-0.016312,0.214275,0.885995,0.117889,0.546895,-0.824543,0.084487
29,4,593920,24,recep,0,"004_newspaper_1","put bread on carpet",-0.084961,0.074986,0.869490,0.999999,0.000179,0.000874,0.000671
29,4,593920,24,recep,1,"003_carpet_1","put bread on carpet",-0.084999,-0.072651,0.870356,0.999975,-0.000463,-0.001732,-0.006797
29,4,593920,24,gripper,0,"","put bread on carpet",-0.117874,0.091160,0.938820,0.020342,-0.794839,-0.018876,0.606186
29,4,593920,25,obj,0,"003_bread_1","put bread on carpet",-0.094040,0.048071,0.886633,0.624279,0.015374,-0.005101,0.781033
29,4,593920,25,obj,1,"005_7up can_1","put bread on carpet",-0.170528,0.102928,0.887266,0.718754,0.210506,-0.194482,0.633449
29,4,593920,25,recep,0,"004_newspaper_1","put bread on carpet",-0.205288,0.075247,0.869491,0.999991,0.000517,0.001403,0.004072
29,4,593920,25,recep,1,"003_carpet_1","put bread on carpet",-0.084999,0.075064,0.870461,1.000000,0.000018,-0.000158,-0.000152
29,4,593920,25,gripper,0,"","put bread on carpet",-0.157547,0.020267,0.981622,-0.034094,-0.672845,-0.048743,0.737388
29,4,593920,26,obj,0,"003_bread_1","put bread on carpet",-0.116245,-0.053946,0.886636,0.455288,0.014191,-0.002556,0.890227
29,4,593920,26,obj,1,"005_7up can_1","put bread on carpet",-0.208248,0.025766,0.888035,-0.710176,0.216625,-0.268173,-0.613846
29,4,593920,26,recep,0,"004_newspaper_1","put bread on carpet",-0.209213,0.081984,0.869484,0.999638,0.000338,0.000983,-0.026903
29,4,593920,26,recep,1,"003_carpet_1","put bread on carpet",-0.114735,-0.073658,0.870448,0.999995,-0.000922,-0.000854,0.002971
29,4,593920,26,gripper,0,"","put bread on carpet",-0.236952,0.029462,0.916739,0.026291,-0.721974,0.029869,0.690775
29,4,593920,27,obj,0,"003_bread_1","put bread on carpet",-0.222992,0.085789,0.886524,0.998169,0.003155,-0.007880,0.059891
29,4,593920,27,obj,1,"005_7up can_1","put bread on carpet",0.211227,-0.089935,0.016947,-0.805505,-0.039909,-0.587822,0.063524
29,4,593920,27,recep,0,"004_newspaper_1","put bread on carpet",-0.084990,0.075006,0.869490,1.000000,0.000180,0.000874,-0.000015
29,4,593920,27,recep,1,"003_carpet_1","put bread on carpet",-0.234129,0.074102,0.870447,0.999993,-0.000900,-0.000853,0.003623
29,4,593920,27,gripper,0,"","put bread on carpet",-0.071852,0.054996,0.974001,-0.082752,-0.733768,-0.070700,0.670625
29,4,593920,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.183535,-0.046074,0.885609,0.895743,0.015022,0.005391,0.444284
29,4,593920,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.113537,0.161598,0.885936,0.331928,-0.534342,0.741924,0.232059
29,4,593920,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204627,-0.044998,0.869490,0.999999,0.000184,0.000878,-0.000877
29,4,593920,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.237067,0.085896,0.870363,0.997101,-0.000300,-0.001659,0.076074
29,4,593920,28,gripper,0,"","put 7up can on newspaper",-0.124672,0.154485,0.969975,0.105527,-0.725974,0.076357,0.675274
29,4,593920,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.213518,-0.065655,0.886705,0.002170,0.568414,-0.816798,-0.098704
29,4,593920,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.178165,-0.006321,0.885866,0.513546,-0.403955,0.699665,0.289067
29,4,593920,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205181,-0.076124,0.869490,0.999993,0.000183,0.000875,-0.003524
29,4,593920,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.082001,0.080132,0.870448,0.999349,-0.000557,-0.000568,0.036079
29,4,593920,29,gripper,0,"","put 7up can on newspaper",-0.115244,0.070823,0.933312,-0.031793,-0.748180,0.005494,0.662711
29,4,593920,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.250210,0.051449,0.886236,0.982505,-0.009519,-0.104684,0.153738
29,4,593920,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.197105,0.042372,0.893091,-0.223162,-0.614293,-0.563069,0.505763
29,4,593920,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204937,0.044981,0.869478,0.999999,0.000442,0.001426,-0.000572
29,4,593920,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083038,0.074238,0.870448,0.999990,-0.000931,-0.000848,-0.004245
29,4,593920,30,gripper,0,"","put 7up can on newspaper",-0.201803,0.055788,1.012245,0.017604,-0.702424,-0.009802,0.711474
29,4,593920,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.074265,-0.017241,0.885232,0.956571,-0.051204,-0.014462,-0.286601
29,4,593920,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.105450,-0.197479,0.886002,-0.107409,-0.336704,-0.934417,0.044261
29,4,593920,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204788,0.044794,0.869490,0.999969,0.000186,0.000873,-0.007874
29,4,593920,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.078346,-0.074789,0.870447,0.996569,-0.000991,-0.000767,-0.082751
29,4,593920,31,gripper,0,"","put 7up can on newspaper",-0.079597,-0.020638,0.945335,0.019930,-0.814188,-0.045377,0.578483
29,4,593920,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089386,-0.071075,0.887701,0.590251,-0.037860,0.027730,0.805854
29,4,593920,32,obj,1,"013_banana_1","put banana on flat bowl",-0.204567,0.075011,0.878547,0.706892,0.007941,0.010845,0.707194
29,4,593920,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
29,4,593920,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,-0.000001
29,4,593920,32,gripper,0,"","put banana on flat bowl",-0.173393,0.075348,0.965529,-0.041726,-0.675247,-0.193356,0.710573
29,4,593920,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.076496,0.090447,0.895299,0.980767,0.091307,-0.011252,-0.172141
29,4,593920,33,obj,1,"013_banana_1","put banana on flat bowl",-0.204681,0.044694,0.878547,0.923621,0.011497,0.006987,0.383070
29,4,593920,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
29,4,593920,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084900,0.075006,0.874362,0.999999,0.000001,-0.000001,0.001303
29,4,593920,33,gripper,0,"","put banana on flat bowl",-0.177511,0.046078,0.983968,-0.004505,-0.721724,-0.050428,0.690327
29,4,593920,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.252903,0.057312,0.887152,0.318061,-0.022049,-0.001638,0.947812
29,4,593920,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084690,0.075314,0.878547,0.382300,0.003199,0.013098,0.923940
29,4,593920,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
29,4,593920,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
29,4,593920,34,gripper,0,"","put banana on flat bowl",-0.157755,-0.063748,1.013664,-0.016744,-0.753371,-0.048871,0.655563
29,4,593920,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118629,0.080224,0.887410,0.997023,-0.004743,0.032597,0.069709
29,4,593920,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084990,-0.075438,0.878547,0.999910,0.013285,0.002056,0.000352
29,4,593920,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000004
29,4,593920,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,-0.000000,-0.000001,-0.000001
29,4,593920,35,gripper,0,"","put banana on flat bowl",-0.130695,0.002902,1.043883,0.008639,-0.743035,-0.044301,0.667729
29,4,593920,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.099385,0.074038,0.887308,0.069495,-0.034107,0.008322,0.996964
29,4,593920,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084692,-0.074683,0.878547,0.382179,0.003179,0.013040,0.923991
29,4,593920,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,0.074916,0.871344,0.999999,-0.000157,0.001164,-0.000021
29,4,593920,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000002
29,4,593920,36,gripper,0,"","put carrot on sheet metal",-0.079051,0.089489,0.991847,-0.024320,-0.741958,0.050448,0.668103
29,4,593920,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.129076,-0.048055,0.887383,0.791001,-0.020896,0.022174,0.611056
29,4,593920,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.235683,0.074536,0.878547,0.690753,0.007711,0.011034,0.722966
29,4,593920,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074999,0.871344,0.999999,-0.000158,0.001164,0.000000
29,4,593920,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
29,4,593920,37,gripper,0,"","put carrot on sheet metal",-0.101637,-0.029902,0.972876,-0.040240,-0.750505,0.029073,0.658998
29,4,593920,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.092766,0.073679,0.887230,0.157270,-0.029915,0.012974,0.987017
29,4,593920,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.204693,0.075315,0.878547,0.382327,0.003191,0.013072,0.923929
29,4,593920,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
29,4,593920,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
29,4,593920,38,gripper,0,"","put carrot on sheet metal",-0.083595,0.112382,1.012424,0.138489,-0.655577,0.058363,0.740023
29,4,593920,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.132450,0.067431,0.896684,0.990364,0.092388,0.094445,-0.041516
29,4,593920,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084988,-0.075440,0.878547,0.999910,0.013282,0.002053,0.000263
29,4,593920,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
29,4,593920,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.044996,0.874362,1.000000,0.000000,-0.000000,0.000071
29,4,593920,39,gripper,0,"","put carrot on sheet metal",-0.183924,-0.014372,1.036541,-0.127093,-0.750064,-0.063428,0.645932
29,4,593920,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.098991,0.080881,0.887131,0.874770,-0.017018,0.012219,0.484085
29,4,593920,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234688,0.074703,0.878547,0.924359,0.011482,0.006950,0.381288
29,4,593920,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114998,-0.045031,0.871345,0.999999,-0.000157,0.001164,-0.000103
29,4,593920,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000524
29,4,593920,40,gripper,0,"","put carrot on flat bowl",-0.060966,0.115352,0.971687,0.134073,-0.766645,0.070224,0.623978
29,4,593920,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.112274,-0.054647,0.887248,0.349092,-0.018012,0.001174,0.936915
29,4,593920,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.212708,-0.062113,0.878547,0.228911,0.001050,0.013420,0.973354
29,4,593920,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
29,4,593920,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000000,0.000001,0.000422
29,4,593920,41,gripper,0,"","put carrot on flat bowl",-0.103436,-0.000448,0.998124,-0.165805,-0.635392,-0.020539,0.753899
29,4,593920,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.126637,-0.067024,0.887511,0.925938,-0.009438,0.015771,0.377228
29,4,593920,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.234661,-0.045305,0.878547,0.924294,0.011512,0.006968,0.381443
29,4,593920,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
29,4,593920,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
29,4,593920,42,gripper,0,"","put carrot on flat bowl",-0.113615,-0.048221,0.969002,-0.205418,-0.716571,-0.140431,0.651620
29,4,593920,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088877,0.080776,0.887288,0.997175,-0.007566,0.027955,0.069304
29,4,593920,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234791,-0.075361,0.878547,0.999909,0.013322,0.002066,0.001000
29,4,593920,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.045025,0.871344,0.999999,-0.000157,0.001164,0.000035
29,4,593920,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000659
29,4,593920,43,gripper,0,"","put carrot on flat bowl",-0.083428,-0.009605,1.040652,-0.108710,-0.756183,-0.168613,0.622848
29,4,593920,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.283732,0.080009,0.887384,0.996315,-0.003995,0.023730,0.082320
29,4,593920,44,obj,1,"013_banana_1","put banana on sheet metal",-0.114561,-0.044994,0.878547,0.706802,0.007950,0.010857,0.707283
29,4,593920,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,-0.074997,0.871344,0.999999,-0.000158,0.001163,-0.000000
29,4,593920,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000000
29,4,593920,44,gripper,0,"","put banana on sheet metal",-0.062870,0.050510,1.008024,0.112894,-0.715851,0.023353,0.688670
29,4,593920,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.104515,0.064278,0.887256,0.455821,-0.032335,0.008549,0.889443
29,4,593920,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234009,-0.045591,0.878547,0.416403,0.003679,0.012947,0.909080
29,4,593920,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.074921,0.871343,0.999999,-0.000158,0.001164,-0.000171
29,4,593920,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000375
29,4,593920,45,gripper,0,"","put banana on sheet metal",-0.186200,-0.037251,0.925423,0.111020,-0.730489,0.116670,0.663663
29,4,593920,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.122330,0.083403,0.894266,-0.004654,0.027196,-0.062330,0.997674
29,4,593920,46,obj,1,"013_banana_1","put banana on sheet metal",-0.084702,-0.044661,0.878547,0.384429,0.003223,0.013071,0.923056
29,4,593920,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234978,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000027
29,4,593920,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115032,0.074986,0.874363,1.000000,-0.000001,-0.000001,-0.000763
29,4,593920,46,gripper,0,"","put banana on sheet metal",-0.040184,-0.036530,0.987806,-0.053810,-0.748644,0.052424,0.658702
29,4,593920,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.222111,0.055809,0.887529,0.840766,-0.023350,0.036374,0.539670
29,4,593920,47,obj,1,"013_banana_1","put banana on sheet metal",-0.233322,-0.074657,0.878547,0.695214,0.007766,0.010978,0.718677
29,4,593920,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045008,0.871344,0.999999,-0.000158,0.001164,-0.000042
29,4,593920,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
29,4,593920,47,gripper,0,"","put banana on sheet metal",-0.218594,-0.057448,0.949274,-0.092228,-0.716295,-0.057186,0.689308
29,4,593920,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.037239,-0.050083,0.888112,0.260339,0.007978,0.026359,-0.965125
29,4,593920,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.080574,0.082668,0.904563,0.467252,-0.456422,0.461773,0.600101
29,4,593920,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.196136,0.103710,0.872199,0.943854,-0.000000,-0.000001,-0.330363
29,4,593920,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.039116,0.119736,0.870870,0.946191,-0.000000,-0.000001,0.323607
29,4,593920,48,gripper,0,"","put plastic bottle on cutting board",-0.087334,0.078114,0.928989,0.075275,-0.828313,-0.105040,0.545158
29,4,593920,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.154865,0.014378,0.888792,0.818074,0.037336,-0.071889,0.569380
29,4,593920,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.122444,0.089428,0.889702,0.546420,-0.460149,0.540347,0.444649
29,4,593920,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236687,0.033405,0.872199,0.984392,-0.000001,-0.000001,0.175990
29,4,593920,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115482,0.078934,0.870870,0.999770,-0.000000,0.000000,-0.021443
29,4,593920,49,gripper,0,"","put plastic bottle on cutting board",-0.124872,-0.053930,1.082608,0.026342,-0.713361,0.042131,0.699033
29,4,593920,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.077000,-0.065166,0.890748,-0.050563,-0.010862,-0.021857,0.998423
29,4,593920,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.131313,-0.182724,0.887026,-0.573457,0.425049,-0.568348,-0.409221
29,4,593920,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234215,-0.074665,0.872199,0.999951,-0.000000,-0.000001,-0.009870
29,4,593920,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084927,-0.074932,0.870870,1.000000,-0.000000,-0.000001,-0.000244
29,4,593920,50,gripper,0,"","put plastic bottle on cutting board",-0.187241,-0.055605,0.968522,0.008134,-0.745229,0.005518,0.666736
29,4,593920,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.190329,0.033943,0.888112,0.807942,-0.027471,-0.001984,0.588618
29,4,593920,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.200144,-0.029011,0.895330,0.485196,-0.524969,0.471784,0.516151
29,4,593920,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.196726,-0.052917,0.872199,0.999218,-0.000001,-0.000001,-0.039534
29,4,593920,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.103241,0.044281,0.870870,0.999835,0.000000,-0.000001,0.018174
29,4,593920,51,gripper,0,"","put plastic bottle on cutting board",-0.228623,0.016455,0.969076,-0.071831,-0.733964,-0.023519,0.674970
29,4,593920,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.081504,-0.068645,0.890593,0.694229,-0.027821,-0.004391,0.719203
29,4,593920,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.246922,-0.041103,0.895399,-0.419614,0.578245,-0.404874,-0.570643
29,4,593920,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236487,-0.072159,0.872199,0.999958,-0.000000,-0.000000,0.009203
29,4,593920,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085061,-0.075104,0.870870,1.000000,0.000000,-0.000001,0.000057
29,4,593920,52,gripper,0,"","put hamburger on frying pan",-0.190827,-0.040558,1.001318,-0.098192,-0.692127,-0.129698,0.703205
29,4,593920,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.089382,0.018322,0.888113,0.202960,-0.019012,-0.019930,0.978800
29,4,593920,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.078497,-0.092403,0.893867,0.522737,0.481178,-0.483994,0.510846
29,4,593920,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.081429,-0.080757,0.872199,0.998163,-0.000000,-0.000001,-0.060587
29,4,593920,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205521,0.075592,0.870870,0.999991,0.000000,-0.000001,0.004316
29,4,593920,53,gripper,0,"","put hamburger on frying pan",-0.103128,-0.038750,0.956180,-0.034717,-0.757485,0.019401,0.651641
29,4,593920,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.075668,0.071144,0.895671,-0.191041,-0.144650,0.008708,0.970826
29,4,593920,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.274853,-0.082870,0.887026,0.333317,-0.632592,0.321735,0.620656
29,4,593920,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000012
29,4,593920,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,-0.045177,0.870870,1.000000,-0.000000,-0.000001,-0.000985
29,4,593920,54,gripper,0,"","put hamburger on frying pan",-0.164146,0.020472,1.008823,-0.051870,-0.706351,0.060035,0.703401
29,4,593920,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.008060,0.045685,0.888112,0.678332,-0.026562,-0.007272,0.734239
29,4,593920,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.236122,-0.037834,0.889701,0.519476,-0.490966,0.512474,0.475887
29,4,593920,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084976,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000393
29,4,593920,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233345,-0.043934,0.870869,0.999994,0.000003,0.000001,0.003555
29,4,593920,55,gripper,0,"","put hamburger on frying pan",-0.216711,-0.024172,0.963453,-0.085430,-0.723130,-0.030420,0.684733
29,4,593920,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.166580,-0.020073,0.898459,0.515532,-0.049083,-0.043370,0.854364
29,4,593920,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.074104,0.079952,0.895134,0.520217,-0.495656,0.494353,0.489198
29,4,593920,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084755,0.075497,0.872199,0.999973,-0.000001,-0.000001,0.007357
29,4,593920,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114998,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000036
29,4,593920,56,gripper,0,"","put hamburger on cutting board",-0.182392,-0.023285,0.923936,-0.147022,-0.715526,-0.091182,0.676826
29,4,593920,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065426,0.033295,0.891748,0.970446,0.080794,0.096337,0.205974
29,4,593920,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.089287,0.105560,0.889743,0.631836,-0.327412,0.629455,0.312044
29,4,593920,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205399,-0.073780,0.872199,0.999996,-0.000000,-0.000000,0.003003
29,4,593920,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.060844,0.098591,0.870878,0.988470,0.000605,0.000472,-0.151412
29,4,593920,57,gripper,0,"","put hamburger on cutting board",-0.108519,0.035870,0.914320,-0.000793,-0.788832,-0.000579,0.614608
29,4,593920,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.076424,-0.069336,0.896482,0.581423,-0.033698,-0.004308,0.812892
29,4,593920,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182522,-0.061691,0.888351,-0.409196,-0.567995,0.361613,-0.615772
29,4,593920,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.094486,-0.085434,0.872199,0.994071,0.000000,-0.000001,0.108734
29,4,593920,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.206802,-0.075783,0.870871,0.999996,0.000000,-0.000008,0.002921
29,4,593920,58,gripper,0,"","put hamburger on cutting board",-0.151604,-0.050022,1.008734,-0.183366,-0.699081,-0.044673,0.689687
29,4,593920,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.097454,-0.064163,0.895046,0.954918,0.078572,0.061872,0.279518
29,4,593920,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.225060,-0.044342,0.889560,0.551181,-0.451616,0.550025,0.435562
29,4,593920,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085022,-0.075008,0.872199,1.000000,-0.000001,-0.000001,0.000273
29,4,593920,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234303,-0.074455,0.870870,0.999998,-0.000005,-0.000005,-0.001766
29,4,593920,59,gripper,0,"","put hamburger on cutting board",-0.190440,-0.006474,1.056043,0.000462,-0.668845,-0.037036,0.742479
29,4,593920,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.215691,-0.057343,0.890509,0.792739,-0.028799,-0.000608,0.608880
29,4,593920,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.108179,0.049992,0.895005,0.626504,-0.369276,0.573775,0.376711
29,4,593920,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.113491,0.050682,0.872200,0.996214,-0.000001,-0.000001,-0.086930
29,4,593920,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234994,-0.075008,0.870864,1.000000,0.000056,0.000000,0.000037
29,4,593920,60,gripper,0,"","put plastic bottle on frying pan",-0.164010,-0.014139,1.004529,0.124241,-0.692311,0.097985,0.704037
29,4,593920,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205843,-0.062103,0.890516,0.958213,-0.028575,0.008769,0.284491
29,4,593920,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.091730,-0.079926,0.887026,0.703843,-0.046407,0.708188,0.030355
29,4,593920,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.207949,0.076199,0.872199,0.998078,0.000000,-0.000000,0.061968
29,4,593920,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234995,-0.075016,0.870864,1.000000,0.000057,-0.000001,-0.000016
29,4,593920,61,gripper,0,"","put plastic bottle on frying pan",-0.066804,-0.062353,0.988630,-0.188206,-0.713745,-0.175936,0.651301
29,4,593920,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.142113,-0.109619,0.893721,-0.267505,-0.586720,-0.141064,0.751200
29,4,593920,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.089085,-0.042606,0.898185,-0.074206,-0.659746,0.746725,-0.040385
29,4,593920,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.074711,-0.074413,0.872200,0.999736,0.000000,-0.000000,0.022985
29,4,593920,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084061,0.076763,0.870870,0.999938,0.000000,-0.000001,-0.011115
29,4,593920,62,gripper,0,"","put plastic bottle on frying pan",-0.128389,0.045362,0.998259,0.129146,-0.739596,0.061741,0.657652
29,4,593920,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.204304,-0.060127,0.890504,0.998210,-0.026413,0.014267,0.051719
29,4,593920,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.102493,0.060600,0.887026,0.703998,-0.042525,0.708433,0.026495
29,4,593920,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.026970,0.067528,0.872199,0.999999,-0.000001,-0.000000,-0.001585
29,4,593920,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,-0.075016,0.870864,1.000000,0.000057,0.000000,0.000102
29,4,593920,63,gripper,0,"","put plastic bottle on frying pan",-0.124531,0.046320,1.004602,-0.069769,-0.728883,-0.055746,0.678789
30,1,599040,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.237686,-0.088356,0.885084,0.741863,0.252022,-0.388475,0.484987
30,1,599040,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085732,0.074417,0.881638,0.923121,0.010853,-0.037812,0.382492
30,1,599040,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234383,-0.074852,0.869531,0.999965,-0.000000,-0.000001,0.008316
30,1,599040,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000101
30,1,599040,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.179153,0.023716,0.998103,0.220427,-0.677037,0.253772,0.654701
30,1,599040,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.196632,0.086693,0.885289,0.533384,0.467534,0.539778,-0.453380
30,1,599040,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.076538,0.091820,0.881641,0.999159,-0.004115,0.039958,-0.008256
30,1,599040,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.234982,0.075005,0.869532,1.000000,-0.000001,0.000002,0.000228
30,1,599040,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
30,1,599040,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.216326,0.078308,0.962164,-0.069357,-0.664400,0.014587,0.744009
30,1,599040,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.047245,-0.075684,0.885362,0.611070,0.070545,-0.048344,0.786943
30,1,599040,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.204391,-0.045715,0.881638,0.382430,0.034415,-0.019075,0.923146
30,1,599040,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.034924,-0.085579,0.869532,0.995706,0.000000,0.000000,-0.092573
30,1,599040,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000173
30,1,599040,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.082647,-0.064339,0.997590,0.013140,-0.736582,0.030482,0.675533
30,1,599040,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.098831,-0.064697,0.885122,0.448108,0.546501,-0.547205,0.448444
30,1,599040,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235113,0.044029,0.881638,0.706767,0.024489,-0.030794,0.706352
30,1,599040,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085001,-0.074997,0.869532,1.000000,-0.000001,-0.000000,-0.000052
30,1,599040,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.074997,0.871288,1.000000,-0.000155,-0.001019,-0.000024
30,1,599040,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.089401,-0.053371,0.966892,0.212306,-0.739665,0.153429,0.619904
30,1,599040,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.202267,-0.051132,0.885095,0.584837,0.347189,-0.307325,0.665565
30,1,599040,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085114,0.044014,0.881638,0.706785,0.024503,-0.030811,0.706333
30,1,599040,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235007,-0.045074,0.869532,1.000000,-0.000001,-0.000002,-0.000082
30,1,599040,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114992,-0.074997,0.871289,0.999999,-0.000157,-0.001019,-0.000005
30,1,599040,4,gripper,0,"","put ketchup bottle on cloth",-0.227483,-0.068478,0.930295,-0.103187,-0.782765,-0.104916,0.604668
30,1,599040,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.188885,-0.073265,0.879375,0.991918,0.012932,-0.087250,0.091212
30,1,599040,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.115948,0.075119,0.881638,0.999224,-0.004448,-0.039124,-0.000110
30,1,599040,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000035
30,1,599040,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,-0.044998,0.871289,1.000000,-0.000155,-0.001019,-0.000019
30,1,599040,5,gripper,0,"","put ketchup bottle on cloth",-0.223442,-0.073952,0.921126,-0.037044,-0.755696,-0.027562,0.653293
30,1,599040,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.102795,0.060066,0.886733,-0.160317,0.597120,-0.782521,-0.073536
30,1,599040,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085106,-0.075996,0.881638,0.706928,0.024483,-0.030799,0.706190
30,1,599040,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
30,1,599040,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.083179,0.075058,0.871282,0.999938,-0.000438,-0.001271,0.011011
30,1,599040,6,gripper,0,"","put ketchup bottle on cloth",-0.110210,0.062153,0.959485,0.181702,-0.807978,0.041786,0.558936
30,1,599040,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.082527,-0.084564,0.879088,0.865903,0.097239,-0.452747,0.189150
30,1,599040,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.207027,-0.044548,0.881638,0.918355,0.011313,-0.037674,0.393797
30,1,599040,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.074997,0.869532,1.000000,0.000001,-0.000000,0.000015
30,1,599040,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
30,1,599040,7,gripper,0,"","put ketchup bottle on cloth",-0.351500,-0.081032,0.901323,0.048236,-0.505158,0.374818,0.775887
30,1,599040,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244667,0.045017,0.879088,0.886322,-0.001355,-0.463066,0.000511
30,1,599040,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.122139,0.084942,0.887089,0.810821,-0.000467,-0.060952,0.582112
30,1,599040,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084976,0.075020,0.869532,1.000000,-0.000003,0.000002,-0.000397
30,1,599040,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.227104,-0.107826,0.871289,0.999291,-0.000118,-0.001025,0.037637
30,1,599040,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.170490,0.073092,0.992655,0.128942,-0.697311,0.096649,0.698420
30,1,599040,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228016,-0.052181,0.879085,0.336872,0.437626,-0.182189,0.813516
30,1,599040,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.078468,0.099037,0.887319,0.799498,-0.040224,0.033409,0.598388
30,1,599040,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.082027,0.070927,0.869532,0.997610,0.000002,-0.000003,0.069101
30,1,599040,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
30,1,599040,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.250355,-0.052485,0.932120,0.227173,-0.737411,0.185528,0.608438
30,1,599040,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.244740,0.075008,0.879088,0.886321,-0.001239,-0.463068,0.000734
30,1,599040,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.063049,0.062683,0.882196,0.997978,0.009892,-0.036896,0.050805
30,1,599040,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000033
30,1,599040,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.075001,0.871288,1.000000,-0.000154,-0.001020,0.000075
30,1,599040,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.070488,0.025127,0.922215,-0.077824,-0.715416,-0.047869,0.692699
30,1,599040,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.228067,-0.081886,0.879088,0.338524,0.427338,-0.178364,0.819128
30,1,599040,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.112564,-0.093380,0.920658,0.476508,0.014996,0.057163,0.877182
30,1,599040,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.103621,-0.099140,0.869532,0.978120,0.000000,-0.000000,-0.208042
30,1,599040,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.216732,0.049644,0.871278,0.999987,-0.001135,-0.000826,0.004854
30,1,599040,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.132607,-0.103487,0.960823,-0.220952,-0.704093,-0.195581,0.645896
30,1,599040,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.125831,0.107750,0.912417,0.726800,0.351057,-0.355507,0.471312
30,1,599040,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.188486,-0.015667,0.881638,0.689815,0.025211,-0.030204,0.722916
30,1,599040,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235000,0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000000
30,1,599040,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075008,0.871288,1.000000,-0.000158,-0.001019,-0.000014
30,1,599040,12,gripper,0,"","put kitchen shovel on cloth",-0.141200,0.106443,0.953317,0.175056,-0.720688,0.068236,0.667314
30,1,599040,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.002275,0.090870,0.010573,0.923935,0.081544,0.266032,-0.262528
30,1,599040,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.171877,-0.052826,0.881702,0.978067,-0.015821,0.059470,0.198990
30,1,599040,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.083485,-0.075554,0.869579,0.999821,-0.000371,0.000704,0.018883
30,1,599040,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.254257,0.083214,0.871288,0.999787,-0.000175,-0.001016,-0.020597
30,1,599040,13,gripper,0,"","put kitchen shovel on cloth",-0.174016,-0.076532,0.964635,-0.167629,-0.684356,-0.118841,0.699595
30,1,599040,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.079086,-0.030663,0.888019,0.392373,0.613827,-0.476438,0.492205
30,1,599040,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.085106,0.074036,0.881638,0.706801,0.024497,-0.030801,0.706317
30,1,599040,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235325,-0.078743,0.869532,0.999802,0.000000,-0.000001,-0.019890
30,1,599040,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.105862,-0.044468,0.871374,0.998244,-0.002386,-0.003757,-0.059075
30,1,599040,14,gripper,0,"","put kitchen shovel on cloth",-0.157532,-0.017588,0.918857,-0.158541,-0.795256,-0.012382,0.585046
30,1,599040,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.235023,-0.084805,0.879088,0.627135,0.326076,-0.328802,0.626311
30,1,599040,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.113846,-0.022091,0.889803,0.568400,-0.035953,0.003396,0.821959
30,1,599040,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
30,1,599040,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000016
30,1,599040,15,gripper,0,"","put kitchen shovel on cloth",-0.270075,-0.079172,0.916280,-0.112060,-0.759382,-0.022225,0.640537
30,1,599040,16,obj,0,"003_bread_1","put bread on newspaper",-0.235504,-0.075508,0.883544,0.924219,0.006465,-0.010880,0.381652
30,1,599040,16,obj,1,"005_7up can_1","put bread on newspaper",-0.130074,-0.062820,0.888850,0.741067,0.236065,-0.300285,0.552198
30,1,599040,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075001,0.869490,1.000000,0.000180,0.000874,0.000042
30,1,599040,16,recep,1,"003_carpet_1","put bread on newspaper",-0.114769,-0.044994,0.870448,0.999998,0.001526,0.001266,0.000262
30,1,599040,16,gripper,0,"","put bread on newspaper",-0.250660,-0.082668,0.919846,-0.017183,-0.746859,-0.030050,0.664081
30,1,599040,17,obj,0,"003_bread_1","put bread on newspaper",-0.077568,0.062389,0.883836,0.337345,0.009081,-0.005377,0.941322
30,1,599040,17,obj,1,"005_7up can_1","put bread on newspaper",-0.195877,-0.050148,0.888146,0.763507,0.083646,-0.070630,0.636453
30,1,599040,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.204655,-0.075016,0.869490,0.999999,0.000180,0.000869,-0.000994
30,1,599040,17,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
30,1,599040,17,gripper,0,"","put bread on newspaper",-0.091059,0.059956,0.913680,-0.006383,-0.708478,-0.034816,0.704844
30,1,599040,18,obj,0,"003_bread_1","put bread on newspaper",-0.218208,-0.022659,0.886542,0.404608,0.014618,-0.002221,0.914370
30,1,599040,18,obj,1,"005_7up can_1","put bread on newspaper",-0.305855,-0.055618,0.887718,-0.234829,-0.608311,-0.744278,0.144443
30,1,599040,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
30,1,599040,18,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,-0.045002,0.870446,0.999999,-0.000726,-0.001046,-0.000004
30,1,599040,18,gripper,0,"","put bread on newspaper",-0.223906,-0.030367,0.957636,-0.095677,-0.734140,-0.076113,0.667901
30,1,599040,19,obj,0,"003_bread_1","put bread on newspaper",-0.224579,0.051826,0.885981,0.983196,0.007090,0.004831,0.182349
30,1,599040,19,obj,1,"005_7up can_1","put bread on newspaper",-0.210505,-0.080261,0.885627,0.898043,0.084445,-0.217162,0.373133
30,1,599040,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.235012,0.044987,0.869490,1.000000,0.000179,0.000875,-0.000107
30,1,599040,19,recep,1,"003_carpet_1","put bread on newspaper",-0.115009,0.075005,0.870448,0.999999,-0.000923,-0.000846,-0.000009
30,1,599040,19,gripper,0,"","put bread on newspaper",-0.133981,-0.009184,1.019679,0.030607,-0.686689,0.034428,0.725490
30,1,599040,20,obj,0,"003_bread_1","put bread on carpet",-0.232432,-0.075855,0.886821,-0.073254,0.015709,0.001900,0.997188
30,1,599040,20,obj,1,"005_7up can_1","put bread on carpet",-0.176550,-0.068661,0.888625,0.433616,0.515905,-0.346644,0.652424
30,1,599040,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
30,1,599040,20,recep,1,"003_carpet_1","put bread on carpet",-0.204937,-0.074986,0.870448,1.000000,-0.000127,-0.000158,-0.000490
30,1,599040,20,gripper,0,"","put bread on carpet",-0.163943,-0.064400,0.985662,-0.109077,-0.714090,-0.123494,0.680388
30,1,599040,21,obj,0,"003_bread_1","put bread on carpet",-0.253864,0.071476,0.886672,0.922753,0.004894,-0.009153,0.385252
30,1,599040,21,obj,1,"005_7up can_1","put bread on carpet",-0.067036,0.069431,0.931819,0.774592,0.149011,-0.169706,0.590764
30,1,599040,21,recep,0,"004_newspaper_1","put bread on carpet",-0.204947,-0.044998,0.869490,1.000000,0.000180,0.000873,-0.000071
30,1,599040,21,recep,1,"003_carpet_1","put bread on carpet",-0.235023,0.075008,0.870447,0.999991,-0.003114,-0.002734,0.000009
30,1,599040,21,gripper,0,"","put bread on carpet",-0.082712,0.072018,0.962547,0.105269,-0.755866,0.085298,0.640554
30,1,599040,22,obj,0,"003_bread_1","put bread on carpet",-0.190289,0.073742,0.886462,0.999676,0.005321,-0.007323,0.023775
30,1,599040,22,obj,1,"005_7up can_1","put bread on carpet",-0.245316,-0.076256,0.885679,0.926766,-0.032668,-0.363006,-0.090906
30,1,599040,22,recep,0,"004_newspaper_1","put bread on carpet",-0.115009,-0.044998,0.869490,1.000000,0.000180,0.000874,0.000038
30,1,599040,22,recep,1,"003_carpet_1","put bread on carpet",-0.205002,0.074989,0.870452,0.999998,0.001568,0.001265,0.000029
30,1,599040,22,gripper,0,"","put bread on carpet",-0.263639,-0.085274,0.919847,-0.186026,-0.734884,-0.115539,0.641865
30,1,599040,23,obj,0,"003_bread_1","put bread on carpet",-0.294582,0.095882,0.885344,0.964511,-0.017905,-0.073200,0.253060
30,1,599040,23,obj,1,"005_7up can_1","put bread on carpet",-0.114525,0.042728,0.885988,0.324347,0.369385,-0.859938,0.137332
30,1,599040,23,recep,0,"004_newspaper_1","put bread on carpet",-0.205002,-0.075005,0.869490,1.000000,0.000180,0.000875,0.000022
30,1,599040,23,recep,1,"003_carpet_1","put bread on carpet",-0.235008,0.075031,0.870447,0.999991,-0.003114,-0.002733,-0.000032
30,1,599040,23,gripper,0,"","put bread on carpet",-0.074963,0.070549,0.930516,0.275531,-0.730995,0.183172,0.596806
30,1,599040,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.235558,0.045116,0.883544,0.999916,0.001786,-0.012528,-0.002890
30,1,599040,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.054062,-0.024250,0.944566,-0.401756,0.576777,0.670507,0.237360
30,1,599040,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000029
30,1,599040,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114998,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000016
30,1,599040,24,gripper,0,"","put 7up can on newspaper",-0.078827,-0.028375,0.976572,-0.001692,-0.733976,-0.012928,0.679050
30,1,599040,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.090805,-0.064459,0.886537,0.821437,0.019160,0.001880,0.569973
30,1,599040,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.221016,-0.078371,0.886073,0.530601,0.412732,-0.338044,0.658666
30,1,599040,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084980,-0.075033,0.869490,1.000000,0.000180,0.000874,0.000124
30,1,599040,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
30,1,599040,25,gripper,0,"","put 7up can on newspaper",-0.241766,-0.080797,0.915130,-0.129599,-0.735713,-0.074696,0.660568
30,1,599040,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.228321,0.088474,0.887161,0.982721,0.008285,0.002187,0.184892
30,1,599040,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.120491,-0.080252,0.885626,0.897940,0.084501,-0.217125,0.373390
30,1,599040,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.202194,0.073235,0.869490,0.999885,0.000166,0.000876,0.015168
30,1,599040,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.045015,0.870447,0.999999,-0.000923,-0.000845,-0.000021
30,1,599040,26,gripper,0,"","put 7up can on newspaper",-0.165272,0.070631,1.026576,0.172830,-0.740555,0.169069,0.626996
30,1,599040,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.196581,-0.059734,0.885974,0.285014,0.027968,0.002087,0.958113
30,1,599040,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.186657,-0.002630,0.888659,0.555714,0.060881,-0.048471,0.827723
30,1,599040,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205526,-0.045362,0.869489,0.999989,0.000175,0.000882,0.004712
30,1,599040,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114889,0.045059,0.870460,1.000000,0.000015,-0.000160,0.000424
30,1,599040,27,gripper,0,"","put 7up can on newspaper",-0.126820,-0.069451,1.005410,-0.046259,-0.729149,0.011637,0.682691
30,1,599040,28,obj,0,"003_bread_1","put 7up can on carpet",-0.084199,-0.075869,0.883544,0.999902,0.001889,-0.012513,0.006012
30,1,599040,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.122925,-0.071711,0.885885,-0.509349,0.202791,0.827888,0.118497
30,1,599040,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,0.075001,0.869490,1.000000,0.000180,0.000875,0.000001
30,1,599040,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.115002,0.045004,0.870447,0.999999,-0.000922,-0.000845,0.000004
30,1,599040,28,gripper,0,"","put 7up can on carpet",-0.113061,-0.017252,0.914558,-0.241080,-0.791106,-0.197693,0.526260
30,1,599040,29,obj,0,"003_bread_1","put 7up can on carpet",-0.099241,-0.054317,0.886702,0.991463,0.003522,-0.009645,0.129980
30,1,599040,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.190380,-0.060087,0.885866,0.567268,-0.227422,0.775229,0.159707
30,1,599040,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084995,0.075003,0.869490,1.000000,0.000180,0.000875,0.000002
30,1,599040,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.085001,-0.075003,0.870447,0.999999,-0.000923,-0.000845,0.000032
30,1,599040,29,gripper,0,"","put 7up can on carpet",-0.243284,-0.076821,0.913697,-0.111222,-0.722158,-0.082479,0.677727
30,1,599040,30,obj,0,"003_bread_1","put 7up can on carpet",-0.161602,0.070995,0.883544,0.556312,0.011423,-0.005452,0.830877
30,1,599040,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.118721,-0.065935,0.888705,0.695337,0.196101,-0.208282,0.659294
30,1,599040,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
30,1,599040,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.115055,-0.044989,0.870460,1.000000,0.000019,-0.000158,-0.000216
30,1,599040,30,gripper,0,"","put 7up can on carpet",-0.172461,0.075500,0.941496,0.078034,-0.678086,0.060281,0.728338
30,1,599040,31,obj,0,"003_bread_1","put 7up can on carpet",-0.114491,-0.045488,0.883544,0.383674,0.012264,-0.003124,0.923382
30,1,599040,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.132153,0.066820,0.887535,-0.000371,-0.967876,-0.129731,-0.215375
30,1,599040,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
30,1,599040,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.072460,0.071091,0.870419,0.999469,-0.000591,-0.001259,0.032543
30,1,599040,31,gripper,0,"","put 7up can on carpet",-0.163540,0.074053,0.928627,0.038899,-0.732440,-0.055019,0.677490
30,1,599040,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.245476,-0.088831,0.887471,0.800439,-0.010171,0.009841,0.599247
30,1,599040,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074995,0.878547,0.706686,0.007961,0.010867,0.707399
30,1,599040,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000025
30,1,599040,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
30,1,599040,32,gripper,0,"","put carrot on sheet metal",-0.209320,-0.054961,0.991758,-0.037811,-0.680957,0.102329,0.724153
30,1,599040,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.220398,-0.049134,0.897195,0.993361,0.081168,-0.051671,0.063063
30,1,599040,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013266,0.002052,0.000289
30,1,599040,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
30,1,599040,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235020,-0.074999,0.874363,1.000000,0.000001,-0.000000,-0.000112
30,1,599040,33,gripper,0,"","put carrot on sheet metal",-0.145117,0.030575,1.009558,0.039777,-0.717044,0.086103,0.690544
30,1,599040,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232647,0.090414,0.894620,0.995556,0.091570,-0.011669,0.018598
30,1,599040,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204990,-0.075440,0.878547,0.999910,0.013273,0.002050,0.000284
30,1,599040,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,1,599040,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235004,0.075001,0.874362,1.000000,0.000001,-0.000002,-0.000004
30,1,599040,34,gripper,0,"","put carrot on sheet metal",-0.242586,0.033844,1.021063,-0.090593,-0.673815,-0.001631,0.733323
30,1,599040,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.069143,0.078502,0.888337,0.725455,-0.042955,0.043669,0.685539
30,1,599040,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.234680,-0.075307,0.878547,0.923646,0.011497,0.006985,0.383010
30,1,599040,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
30,1,599040,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
30,1,599040,35,gripper,0,"","put carrot on sheet metal",-0.068985,0.082906,0.946758,0.132015,-0.754035,0.118151,0.632491
30,1,599040,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087552,-0.071544,0.887171,0.996862,0.006756,0.023048,0.075425
30,1,599040,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.084993,0.074561,0.878547,0.999910,0.013276,0.002048,0.000284
30,1,599040,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
30,1,599040,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000001,0.000000
30,1,599040,36,gripper,0,"","put carrot on flat bowl",-0.182925,0.011680,1.014630,0.190788,-0.683673,0.205354,0.673810
30,1,599040,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.201923,0.045965,0.887311,0.995886,-0.008580,0.034220,0.083465
30,1,599040,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234991,-0.075435,0.878546,0.999910,0.013262,0.002051,0.000311
30,1,599040,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
30,1,599040,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
30,1,599040,37,gripper,0,"","put carrot on flat bowl",-0.166948,0.059048,0.962476,0.083296,-0.745017,0.060480,0.659055
30,1,599040,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.077473,-0.060239,0.898651,0.093711,-0.275490,0.050798,0.955376
30,1,599040,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075326,0.878547,0.382266,0.003211,0.013141,0.923953
30,1,599040,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,1,599040,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
30,1,599040,38,gripper,0,"","put carrot on flat bowl",-0.046091,-0.061866,0.957126,0.015882,-0.769456,0.086503,0.632615
30,1,599040,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087151,-0.072403,0.887309,0.996543,0.003259,0.035011,0.075269
30,1,599040,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.235001,0.074566,0.878547,0.999909,0.013315,0.002046,-0.000081
30,1,599040,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
30,1,599040,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
30,1,599040,39,gripper,0,"","put carrot on flat bowl",-0.056465,-0.067213,0.979204,-0.019842,-0.761108,-0.032778,0.647492
30,1,599040,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.207901,-0.072231,0.887362,0.908679,-0.007470,0.022956,0.416796
30,1,599040,40,obj,1,"013_banana_1","put banana on sheet metal",-0.084679,-0.075304,0.878547,0.923904,0.011489,0.006971,0.382389
30,1,599040,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074991,0.871345,0.999999,-0.000158,0.001164,-0.000058
30,1,599040,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000099
30,1,599040,40,gripper,0,"","put banana on sheet metal",-0.143036,-0.084154,0.982326,-0.118064,-0.706208,0.013744,0.697955
30,1,599040,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.117496,-0.047106,0.887515,0.349889,-0.015833,0.009024,0.936614
30,1,599040,41,obj,1,"013_banana_1","put banana on sheet metal",-0.204704,0.075333,0.878547,0.382798,0.003188,0.013040,0.923734
30,1,599040,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074978,0.871344,0.999999,-0.000158,0.001163,-0.000048
30,1,599040,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
30,1,599040,41,gripper,0,"","put banana on sheet metal",-0.160927,0.077150,0.942691,0.131509,-0.763764,0.174080,0.607508
30,1,599040,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.116985,-0.042198,0.887356,0.912062,-0.015054,0.024806,0.409025
30,1,599040,42,obj,1,"013_banana_1","put banana on sheet metal",-0.234676,-0.075308,0.878547,0.923826,0.011486,0.006973,0.382576
30,1,599040,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
30,1,599040,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.045000,0.874362,1.000000,-0.000001,-0.000002,0.000109
30,1,599040,42,gripper,0,"","put banana on sheet metal",-0.189833,-0.070534,0.943385,0.055940,-0.735398,0.137968,0.661079
30,1,599040,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232569,-0.046631,0.887529,0.928581,-0.015948,0.040175,0.368603
30,1,599040,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084675,0.074692,0.878547,0.923804,0.011494,0.006978,0.382631
30,1,599040,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114990,-0.075012,0.871345,0.999999,-0.000156,0.001164,-0.000056
30,1,599040,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000060
30,1,599040,43,gripper,0,"","put banana on sheet metal",-0.111804,0.083179,1.006585,0.059754,-0.712365,0.069384,0.695810
30,1,599040,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087634,-0.075468,0.887259,0.740854,-0.027246,0.019584,0.670828
30,1,599040,44,obj,1,"013_banana_1","put banana on flat bowl",-0.234473,0.045000,0.878547,0.706517,0.007947,0.010859,0.707568
30,1,599040,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114992,0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000033
30,1,599040,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075001,0.874362,1.000000,-0.000001,-0.000000,0.000002
30,1,599040,44,gripper,0,"","put banana on flat bowl",-0.192419,0.027665,1.001541,0.134263,-0.660749,0.186946,0.714447
30,1,599040,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.117210,-0.040556,0.887329,0.996939,-0.007694,0.035033,0.069469
30,1,599040,45,obj,1,"013_banana_1","put banana on flat bowl",-0.084980,0.074562,0.878547,0.999910,0.013293,0.002048,0.000117
30,1,599040,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,0.045008,0.871344,0.999999,-0.000157,0.001163,0.000010
30,1,599040,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000165
30,1,599040,45,gripper,0,"","put banana on flat bowl",-0.195481,-0.068376,0.953276,-0.297012,-0.766763,-0.028918,0.568350
30,1,599040,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086510,0.074554,0.887481,0.741599,-0.020850,0.022992,0.670125
30,1,599040,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
30,1,599040,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
30,1,599040,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
30,1,599040,46,gripper,0,"","put banana on flat bowl",-0.228468,-0.063338,0.979150,0.115407,-0.676049,0.177114,0.705882
30,1,599040,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.238110,0.074636,0.887379,0.743563,-0.019694,0.027231,0.667821
30,1,599040,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084560,-0.074993,0.878547,0.707241,0.007952,0.010846,0.706844
30,1,599040,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000048
30,1,599040,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,-0.075001,0.874363,1.000000,0.000000,-0.000002,0.000095
30,1,599040,47,gripper,0,"","put banana on flat bowl",-0.056219,-0.036952,0.987979,0.039749,-0.761617,0.066764,0.643352
30,1,599040,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083572,0.067375,0.894246,0.862119,-0.043282,-0.031794,0.503851
30,1,599040,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065102,-0.053635,0.887026,0.649571,-0.289280,0.648075,0.272717
30,1,599040,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000006
30,1,599040,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000032
30,1,599040,48,gripper,0,"","put hamburger on frying pan",-0.081535,0.081516,0.966987,0.077116,-0.744349,0.040569,0.662082
30,1,599040,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.115170,0.037968,0.894377,0.996283,-0.053183,-0.058759,0.033759
30,1,599040,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.066410,-0.048141,0.887040,0.614081,-0.364518,0.603760,0.354268
30,1,599040,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.115002,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000013
30,1,599040,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
30,1,599040,49,gripper,0,"","put hamburger on frying pan",-0.070707,-0.045538,0.915167,0.183702,-0.741850,0.167409,0.622806
30,1,599040,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.205452,-0.077702,0.894142,0.996021,-0.015130,-0.049359,0.072639
30,1,599040,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.055775,-0.044262,0.886995,0.707035,-0.016344,0.706989,0.001201
30,1,599040,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000020
30,1,599040,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
30,1,599040,50,gripper,0,"","put hamburger on frying pan",-0.036690,-0.043030,0.945921,-0.004561,-0.742559,0.117417,0.659392
30,1,599040,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.088736,-0.054893,0.895516,0.350200,0.033648,-0.063250,0.933931
30,1,599040,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.256369,0.094902,0.887027,0.266344,-0.662863,0.253574,0.652207
30,1,599040,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085001,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000109
30,1,599040,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115000,0.044998,0.870871,1.000000,0.000000,-0.000001,-0.000005
30,1,599040,51,gripper,0,"","put hamburger on frying pan",-0.164527,-0.040308,1.001810,-0.088952,-0.669852,-0.107261,0.729302
30,1,599040,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.055057,0.065037,0.890485,0.963111,-0.021162,0.020437,-0.267491
30,1,599040,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.175792,0.075993,0.887026,0.704493,-0.018375,0.709469,0.002507
30,1,599040,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115000,-0.075001,0.872199,1.000000,0.000000,-0.000000,-0.000000
30,1,599040,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084990,0.044994,0.870870,1.000000,0.000000,-0.000000,-0.000035
30,1,599040,52,gripper,0,"","put hamburger on cutting board",-0.159400,0.105982,1.058007,-0.021968,-0.708586,-0.005068,0.705264
30,1,599040,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.072838,-0.058189,0.890529,0.691675,-0.027785,-0.004497,0.721660
30,1,599040,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205839,-0.045704,0.887026,0.497118,-0.513941,0.489441,0.499185
30,1,599040,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000040
30,1,599040,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084955,-0.075005,0.870870,1.000000,0.000000,0.000000,0.000086
30,1,599040,53,gripper,0,"","put hamburger on cutting board",-0.198556,-0.023813,0.958516,-0.144590,-0.733341,-0.023913,0.663877
30,1,599040,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.201859,0.064449,0.890582,0.900521,-0.028473,0.006155,0.433835
30,1,599040,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064983,-0.053391,0.887027,0.649648,-0.289094,0.648158,0.272531
30,1,599040,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205002,-0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000005
30,1,599040,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,0.044979,0.870870,1.000000,0.000001,-0.000001,0.000079
30,1,599040,54,gripper,0,"","put hamburger on cutting board",-0.131058,-0.002817,1.034826,0.033443,-0.751588,0.066764,0.655393
30,1,599040,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.166031,-0.098442,0.888963,0.816296,-0.081039,-0.012115,0.571793
30,1,599040,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256214,0.064816,0.887026,0.267112,-0.662560,0.254352,0.651898
30,1,599040,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.078232,-0.072784,0.872199,0.999032,-0.000001,-0.000001,-0.043988
30,1,599040,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
30,1,599040,55,gripper,0,"","put hamburger on cutting board",-0.181459,-0.097588,0.919511,-0.234055,-0.758933,-0.095250,0.600138
30,1,599040,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.206116,0.044773,0.888112,0.398449,-0.022681,-0.015627,0.916777
30,1,599040,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094421,0.069252,0.895308,0.311562,-0.644636,0.301594,0.629615
30,1,599040,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,0.074997,0.872199,1.000000,-0.000001,-0.000001,0.000064
30,1,599040,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000012
30,1,599040,56,gripper,0,"","put plastic bottle on frying pan",-0.089523,0.040699,1.012259,-0.228967,-0.666127,-0.246639,0.665596
30,1,599040,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.205227,-0.073875,0.888112,0.925637,-0.027141,0.004665,0.377409
30,1,599040,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.227806,0.098244,0.897984,0.029605,-0.851737,0.521510,0.041175
30,1,599040,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235008,0.075001,0.872199,1.000000,-0.000001,-0.000000,-0.000040
30,1,599040,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000008
30,1,599040,57,gripper,0,"","put plastic bottle on frying pan",-0.229420,0.028612,1.026721,-0.105214,-0.630614,-0.084082,0.764321
30,1,599040,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.236099,-0.075241,0.888112,0.387603,-0.022494,-0.015894,0.921415
30,1,599040,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094635,0.098083,0.896179,0.576172,-0.421271,0.516823,0.472706
30,1,599040,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084114,0.075352,0.872199,0.999958,-0.000001,-0.000001,-0.009181
30,1,599040,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204998,0.044987,0.870870,1.000000,-0.000004,-0.000004,0.000021
30,1,599040,58,gripper,0,"","put plastic bottle on frying pan",-0.091156,0.096258,0.924623,0.102770,-0.759942,0.049592,0.639896
30,1,599040,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086102,0.074749,0.888112,0.388151,-0.022504,-0.015882,0.921184
30,1,599040,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.137033,-0.018154,1.000860,0.543461,-0.081777,-0.055057,0.833625
30,1,599040,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
30,1,599040,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000001
30,1,599040,59,gripper,0,"","put plastic bottle on frying pan",-0.117809,-0.003454,1.041002,-0.193180,-0.723536,-0.103252,0.654611
30,1,599040,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236110,-0.075249,0.888112,0.389256,-0.022522,-0.015856,0.920718
30,1,599040,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.137074,-0.027073,0.887026,0.273551,-0.660014,0.260899,0.649217
30,1,599040,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000000
30,1,599040,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.088094,0.070988,0.870874,0.999739,0.000217,0.000232,0.022834
30,1,599040,60,gripper,0,"","put plastic bottle on cutting board",-0.147424,-0.015083,0.945518,-0.152846,-0.736671,0.014655,0.658589
30,1,599040,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235205,-0.073864,0.888112,0.934206,-0.027027,0.005298,0.355669
30,1,599040,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.065012,0.015049,0.886831,-0.556219,-0.444560,0.533206,-0.456813
30,1,599040,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000004
30,1,599040,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.121168,-0.046242,0.870885,0.998709,-0.000013,-0.000179,-0.050793
30,1,599040,61,gripper,0,"","put plastic bottle on cutting board",-0.102582,0.022539,0.916678,0.116276,-0.796332,0.143592,0.575949
30,1,599040,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.234375,-0.044048,0.888112,0.999587,-0.023253,0.014759,-0.008244
30,1,599040,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.105927,-0.069420,0.889644,0.702867,-0.036381,0.709475,-0.036051
30,1,599040,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084057,0.038460,0.889427,0.975430,0.207464,-0.062225,-0.040289
30,1,599040,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
30,1,599040,62,gripper,0,"","put plastic bottle on cutting board",-0.105326,-0.054037,0.947177,0.043713,-0.728767,0.121366,0.672501
30,1,599040,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085926,0.075630,0.888112,0.712346,-0.026878,-0.006013,0.701288
30,1,599040,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.126549,-0.072987,0.889706,0.422563,-0.577246,0.412862,0.563712
30,1,599040,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
30,1,599040,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115009,-0.073799,0.870872,0.999980,0.000001,-0.000016,-0.006372
30,1,599040,63,gripper,0,"","put plastic bottle on cutting board",-0.179506,0.001966,1.027396,-0.052865,-0.724076,-0.046920,0.686089
30,2,604160,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.230118,0.013130,0.881667,-0.112240,0.914836,0.250399,0.296274
30,2,604160,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085724,0.074417,0.881638,0.923083,0.010868,-0.037836,0.382580
30,2,604160,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.224617,-0.091850,0.869532,0.999034,0.000001,-0.000002,-0.043948
30,2,604160,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001264,0.000170
30,2,604160,0,gripper,0,"","put ketchup bottle on cloth",-0.295742,-0.012222,0.915989,0.064368,-0.778326,0.014985,0.624373
30,2,604160,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.247837,0.058411,0.885112,0.068483,0.714272,0.692840,-0.071403
30,2,604160,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.076530,0.091820,0.881641,0.999161,-0.004125,0.039949,-0.008023
30,2,604160,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235004,0.075134,0.869532,0.999997,-0.000000,-0.000001,0.002387
30,2,604160,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001020,0.000030
30,2,604160,1,gripper,0,"","put ketchup bottle on cloth",-0.154713,0.090557,1.104037,0.102910,-0.734710,0.034164,0.669660
30,2,604160,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.048977,-0.067703,0.885373,0.602138,-0.212706,0.178427,0.748565
30,2,604160,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.233746,-0.021820,0.882413,0.506691,-0.097526,0.051198,0.855062
30,2,604160,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.034901,-0.085373,0.869532,0.995420,0.000000,-0.000001,-0.095596
30,2,604160,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235165,0.076134,0.871431,0.999962,-0.003200,-0.005562,0.005888
30,2,604160,2,gripper,0,"","put ketchup bottle on cloth",-0.233492,0.056957,0.964785,0.011301,-0.693798,-0.100771,0.712995
30,2,604160,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.106676,0.073242,0.887247,0.137911,-0.593790,0.791381,0.045926
30,2,604160,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235113,0.044029,0.881638,0.706767,0.024512,-0.030815,0.706349
30,2,604160,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.082518,-0.075462,0.869532,0.999086,0.000001,-0.000001,-0.042755
30,2,604160,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.085083,0.075089,0.871455,0.999969,-0.004126,-0.006683,-0.000540
30,2,604160,3,gripper,0,"","put ketchup bottle on cloth",-0.142777,0.074028,0.920279,0.110379,-0.715071,0.154055,0.672872
30,2,604160,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199866,-0.057617,0.885128,0.412787,0.586659,-0.503757,0.481317
30,2,604160,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.093340,0.017410,0.881638,0.627643,0.027603,-0.027998,0.777508
30,2,604160,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234109,-0.044731,0.869531,0.999938,-0.000000,-0.000001,0.011115
30,2,604160,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114991,-0.074997,0.871288,1.000000,-0.000154,-0.001019,-0.000005
30,2,604160,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.162971,0.001144,0.914468,-0.067883,-0.775748,-0.063418,0.624168
30,2,604160,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.188894,-0.073273,0.879375,0.991924,0.012926,-0.087247,0.091143
30,2,604160,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.120939,0.098274,0.881672,0.849617,0.003759,-0.014507,0.527187
30,2,604160,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.044998,0.869532,1.000000,-0.000000,-0.000001,0.000080
30,2,604160,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,-0.044998,0.871289,0.999999,-0.000154,-0.001019,-0.000015
30,2,604160,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.148950,0.110516,0.915852,0.135664,-0.762579,0.137277,0.617433
30,2,604160,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.102695,0.060577,0.886722,-0.138982,0.596802,-0.788361,-0.054755
30,2,604160,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.154385,-0.089241,0.889517,0.400703,-0.648377,0.422204,0.490701
30,2,604160,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.280148,-0.074646,0.869532,0.916476,-0.000000,-0.000001,-0.400090
30,2,604160,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.083183,0.075058,0.871282,0.999938,-0.000437,-0.001271,0.011021
30,2,604160,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.219969,-0.112228,0.917496,-0.200945,-0.702665,-0.143063,0.667395
30,2,604160,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.082527,-0.084564,0.879089,0.865902,0.097239,-0.452747,0.189150
30,2,604160,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.272930,0.056503,0.886776,0.733822,-0.032948,-0.015041,0.678375
30,2,604160,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.239738,0.086784,0.869532,0.995752,0.000001,-0.000001,-0.092070
30,2,604160,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
30,2,604160,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.249372,0.036606,0.926519,0.098885,-0.674175,0.033482,0.731156
30,2,604160,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244667,0.045017,0.879088,0.886323,-0.001372,-0.463066,0.000479
30,2,604160,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.184700,-0.084801,0.888123,0.684218,-0.041341,0.059881,0.725638
30,2,604160,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.082581,0.076263,0.869533,0.998944,-0.000001,0.000000,0.045949
30,2,604160,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.227104,-0.107826,0.871289,0.999290,-0.000114,-0.001024,0.037652
30,2,604160,8,gripper,0,"","put kitchen shovel on cloth",-0.251980,-0.097349,0.946884,-0.102178,-0.766432,0.046928,0.632407
30,2,604160,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.228279,-0.052036,0.879088,0.340479,0.426913,-0.179385,0.818315
30,2,604160,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.084309,-0.062210,0.889624,0.640451,-0.014007,-0.018480,0.767649
30,2,604160,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078087,0.072247,0.869532,0.997973,0.000000,-0.000001,0.063639
30,2,604160,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.083836,-0.072582,0.871282,0.999775,-0.000477,-0.001255,-0.021173
30,2,604160,9,gripper,0,"","put kitchen shovel on cloth",-0.139360,-0.042233,0.939190,-0.054921,-0.742985,-0.009138,0.666988
30,2,604160,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244740,0.075008,0.879088,0.886329,-0.001250,-0.463053,0.000713
30,2,604160,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",0.008572,0.055336,0.879753,0.831210,-0.020475,0.043414,0.553882
30,2,604160,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000031
30,2,604160,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.074982,0.871288,0.999999,-0.000155,-0.001020,0.000096
30,2,604160,10,gripper,0,"","put kitchen shovel on cloth",-0.038103,0.075832,0.918529,0.317123,-0.715941,0.191168,0.591876
30,2,604160,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.192348,-0.066910,0.898188,0.360477,0.525671,-0.209038,0.741639
30,2,604160,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.119085,-0.093121,0.887361,0.487233,-0.039703,0.008733,0.872325
30,2,604160,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.105930,-0.098652,0.869532,0.980624,-0.000001,0.000003,-0.195897
30,2,604160,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.216732,0.049648,0.871278,0.999987,-0.001135,-0.000826,0.004831
30,2,604160,11,gripper,0,"","put kitchen shovel on cloth",-0.231780,-0.087311,0.937043,-0.228294,-0.681296,-0.062008,0.692728
30,2,604160,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.178625,0.170483,0.879093,0.623250,0.329141,-0.328270,0.628860
30,2,604160,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.188486,-0.015667,0.881638,0.689815,0.025211,-0.030203,0.722916
30,2,604160,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235009,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000113
30,2,604160,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.082334,0.065536,0.871282,0.999462,-0.000410,-0.001280,0.032777
30,2,604160,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.217998,0.170469,0.913517,0.100105,-0.713099,0.069759,0.690364
30,2,604160,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.002275,0.090870,0.010573,0.923936,0.081542,0.266033,-0.262524
30,2,604160,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.165482,-0.047672,0.881656,0.994324,0.000995,-0.052158,0.092730
30,2,604160,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082911,-0.075645,0.871315,0.999226,-0.016141,0.026529,0.024127
30,2,604160,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.254255,0.083214,0.871288,0.999789,-0.000175,-0.001016,-0.020529
30,2,604160,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.165272,-0.087463,0.925793,-0.015222,-0.742140,0.016786,0.669861
30,2,604160,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.236328,-0.088177,0.885122,0.389347,0.609767,-0.475360,0.500626
30,2,604160,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.133003,0.002148,0.917537,0.543506,0.094746,0.019135,0.833821
30,2,604160,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235329,-0.078743,0.869532,0.999803,0.000001,-0.000001,-0.019825
30,2,604160,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.104874,-0.044903,0.871282,0.997602,-0.000538,-0.001231,-0.069192
30,2,604160,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.182947,-0.024105,0.960279,-0.106662,-0.710012,-0.183849,0.671346
30,2,604160,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.226490,0.047218,0.885083,0.719321,0.268993,-0.376105,0.518425
30,2,604160,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113850,-0.022087,0.889803,0.568291,-0.035900,0.003354,0.822037
30,2,604160,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000025
30,2,604160,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000032
30,2,604160,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.247469,0.038647,0.996701,0.050435,-0.712859,0.052449,0.697522
30,2,604160,16,obj,0,"003_bread_1","put bread on carpet",-0.180138,-0.093414,0.884951,0.919517,-0.003262,-0.063622,0.387854
30,2,604160,16,obj,1,"005_7up can_1","put bread on carpet",-0.126060,-0.053715,0.888808,0.801861,0.076971,-0.094583,0.584935
30,2,604160,16,recep,0,"004_newspaper_1","put bread on carpet",-0.084991,0.075005,0.869490,1.000000,0.000180,0.000874,0.000084
30,2,604160,16,recep,1,"003_carpet_1","put bread on carpet",-0.114761,-0.044964,0.870448,0.999999,-0.000903,-0.000828,0.000637
30,2,604160,16,gripper,0,"","put bread on carpet",-0.159710,-0.008678,1.005744,0.068631,-0.720931,0.150220,0.673040
30,2,604160,17,obj,0,"003_bread_1","put bread on carpet",-0.069878,-0.060738,0.886541,0.159036,0.016134,-0.000167,0.987141
30,2,604160,17,obj,1,"005_7up can_1","put bread on carpet",-0.195667,-0.049740,0.888143,0.771636,0.082290,-0.071182,0.626690
30,2,604160,17,recep,0,"004_newspaper_1","put bread on carpet",-0.204571,-0.075016,0.869490,0.999999,0.000180,0.000871,-0.000843
30,2,604160,17,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074986,0.870448,0.999999,-0.000923,-0.000844,-0.000027
30,2,604160,17,gripper,0,"","put bread on carpet",-0.145407,0.031412,1.007996,0.030773,-0.718550,0.020009,0.694506
30,2,604160,18,obj,0,"003_bread_1","put bread on carpet",-0.218208,-0.022659,0.886542,0.405352,0.014623,-0.002240,0.914041
30,2,604160,18,obj,1,"005_7up can_1","put bread on carpet",-0.306084,-0.054764,0.887642,-0.254918,-0.603939,-0.737745,0.161265
30,2,604160,18,recep,0,"004_newspaper_1","put bread on carpet",-0.085003,0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
30,2,604160,18,recep,1,"003_carpet_1","put bread on carpet",-0.235008,-0.045002,0.870446,0.999999,-0.000726,-0.001047,0.000026
30,2,604160,18,gripper,0,"","put bread on carpet",-0.123600,0.088720,0.957136,-0.026130,-0.681788,-0.054943,0.729015
30,2,604160,19,obj,0,"003_bread_1","put bread on carpet",-0.225330,0.051155,0.885968,0.985052,0.006884,0.007887,0.171940
30,2,604160,19,obj,1,"005_7up can_1","put bread on carpet",-0.183979,-0.119812,0.885951,-0.234237,-0.748742,0.526129,-0.328186
30,2,604160,19,recep,0,"004_newspaper_1","put bread on carpet",-0.235756,0.044960,0.869490,0.999993,0.000183,0.000874,-0.003569
30,2,604160,19,recep,1,"003_carpet_1","put bread on carpet",-0.115017,0.075005,0.870447,0.999999,-0.000923,-0.000846,-0.000032
30,2,604160,19,gripper,0,"","put bread on carpet",-0.109548,0.003014,1.006241,-0.009294,-0.720368,0.022075,0.693179
30,2,604160,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.230574,-0.063255,0.886790,-0.285940,0.014128,0.004650,0.958132
30,2,604160,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.050750,-0.134857,0.885851,0.324898,-0.607031,0.300684,0.659957
30,2,604160,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000875,0.000010
30,2,604160,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.201675,-0.076843,0.870448,0.999810,-0.000938,-0.000826,-0.019468
30,2,604160,20,gripper,0,"","put 7up can on newspaper",-0.071007,-0.144253,0.917192,-0.239855,-0.740336,-0.184258,0.600351
30,2,604160,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.253866,0.071476,0.886672,0.922816,0.004893,-0.009153,0.385100
30,2,604160,21,obj,1,"005_7up can_1","put 7up can on newspaper",-0.200426,-0.017036,0.888296,0.759979,0.111654,-0.104370,0.631721
30,2,604160,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204977,-0.044998,0.869490,0.999999,0.000181,0.000878,-0.000619
30,2,604160,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235025,0.075008,0.870447,0.999991,-0.003114,-0.002734,0.000081
30,2,604160,21,gripper,0,"","put 7up can on newspaper",-0.133770,0.093433,1.015898,0.076305,-0.696763,0.089526,0.707590
30,2,604160,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.190289,0.073742,0.886462,0.999683,0.005312,-0.007329,0.023499
30,2,604160,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.099251,-0.100899,0.885904,-0.440462,0.345601,0.808374,0.181891
30,2,604160,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.088326,-0.009815,0.869490,0.954330,-0.000090,0.000887,0.298753
30,2,604160,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205002,0.074989,0.870452,0.999998,0.001568,0.001265,0.000058
30,2,604160,22,gripper,0,"","put 7up can on newspaper",-0.132904,-0.119787,0.945988,-0.077331,-0.749918,-0.056022,0.654603
30,2,604160,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.294739,0.095818,0.885508,0.964037,-0.017340,-0.079327,0.253060
30,2,604160,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.236980,-0.084034,0.889549,-0.528458,0.445225,-0.572245,-0.441637
30,2,604160,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205208,-0.074966,0.869490,1.000000,0.000180,0.000878,-0.000026
30,2,604160,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235004,0.075031,0.870452,0.999999,-0.000929,-0.000893,-0.000019
30,2,604160,23,gripper,0,"","put 7up can on newspaper",-0.131346,0.109064,0.986692,0.141772,-0.724664,0.085773,0.668884
30,2,604160,24,obj,0,"003_bread_1","put 7up can on carpet",-0.134232,0.067572,0.886702,0.996032,-0.001747,-0.012014,-0.088161
30,2,604160,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.108566,0.109228,0.888531,0.664997,0.108795,0.106842,-0.731113
30,2,604160,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000058
30,2,604160,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.114998,0.075020,0.870447,0.999991,-0.003114,-0.002733,0.000022
30,2,604160,24,gripper,0,"","put 7up can on carpet",-0.110714,0.060848,1.012605,0.021270,-0.746561,0.070071,0.661274
30,2,604160,25,obj,0,"003_bread_1","put 7up can on carpet",-0.087898,-0.077393,0.886420,0.826150,0.019009,0.003681,0.563117
30,2,604160,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.106884,-0.020626,0.885873,0.462025,-0.536218,0.497117,0.501874
30,2,604160,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.083492,-0.085686,0.869490,0.999300,0.000147,0.000880,0.037395
30,2,604160,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.085007,0.075026,0.870448,0.999999,-0.000923,-0.000845,-0.000026
30,2,604160,25,gripper,0,"","put 7up can on carpet",-0.115313,-0.019316,0.965245,-0.048386,-0.721157,-0.029933,0.690431
30,2,604160,26,obj,0,"003_bread_1","put 7up can on carpet",-0.228325,0.088474,0.887161,0.983057,0.008234,0.002182,0.183103
30,2,604160,26,obj,1,"005_7up can_1","put 7up can on carpet",0.228943,0.264753,0.017210,0.232793,-0.118065,0.964825,0.031321
30,2,604160,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.202194,0.073236,0.869490,0.999883,0.000166,0.000876,0.015273
30,2,604160,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.085026,0.045074,0.870448,0.999999,-0.000923,-0.000846,0.000284
30,2,604160,26,gripper,0,"","put 7up can on carpet",-0.163725,0.032077,1.004345,0.010520,-0.671848,0.024895,0.740196
30,2,604160,27,obj,0,"003_bread_1","put 7up can on carpet",-0.196451,-0.059582,0.885970,0.286377,0.027971,0.002107,0.957706
30,2,604160,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.186642,-0.002623,0.888659,0.554867,0.061061,-0.048492,0.828277
30,2,604160,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205523,-0.045364,0.869489,0.999989,0.000176,0.000882,0.004692
30,2,604160,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.114889,0.045057,0.870460,1.000000,0.000016,-0.000160,0.000444
30,2,604160,27,gripper,0,"","put 7up can on carpet",-0.216952,0.009392,0.952902,0.047635,-0.708155,0.065005,0.701442
30,2,604160,28,obj,0,"003_bread_1","put bread on newspaper",-0.237138,0.059067,0.886298,0.991355,0.001281,0.002938,-0.131169
30,2,604160,28,obj,1,"005_7up can_1","put bread on newspaper",-0.130617,-0.071627,0.885951,-0.391044,0.216399,0.889161,0.098226
30,2,604160,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234998,0.075003,0.869490,1.000000,0.000180,0.000875,-0.000022
30,2,604160,28,recep,1,"003_carpet_1","put bread on newspaper",-0.115002,0.045004,0.870447,0.999999,-0.000922,-0.000845,0.000004
30,2,604160,28,gripper,0,"","put bread on newspaper",-0.113487,0.047072,1.003119,0.023297,-0.705057,-0.044529,0.707368
30,2,604160,29,obj,0,"003_bread_1","put bread on newspaper",-0.037766,-0.029255,0.886224,0.994990,-0.070782,0.010453,0.069821
30,2,604160,29,obj,1,"005_7up can_1","put bread on newspaper",-0.070292,0.014395,0.885659,-0.653910,0.260684,-0.248367,-0.665402
30,2,604160,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.083961,0.080677,0.869490,0.999966,0.000173,0.000876,0.008247
30,2,604160,29,recep,1,"003_carpet_1","put bread on newspaper",-0.073717,-0.069460,0.870448,0.996929,-0.000987,-0.000774,-0.078300
30,2,604160,29,gripper,0,"","put bread on newspaper",-0.057400,-0.028388,0.950897,0.113315,-0.765047,-0.005352,0.633904
30,2,604160,30,obj,0,"003_bread_1","put bread on newspaper",-0.136963,0.060774,0.883780,0.427159,0.002012,0.001630,0.904173
30,2,604160,30,obj,1,"005_7up can_1","put bread on newspaper",-0.118721,-0.065916,0.888705,0.695373,0.196042,-0.208230,0.659290
30,2,604160,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.077522,0.077015,0.869490,0.999988,0.000175,0.000875,0.004906
30,2,604160,30,recep,1,"003_carpet_1","put bread on newspaper",-0.115055,-0.044973,0.870460,1.000000,0.000019,-0.000158,-0.000269
30,2,604160,30,gripper,0,"","put bread on newspaper",-0.155832,0.037418,0.978721,0.015905,-0.754659,-0.038991,0.654765
30,2,604160,31,obj,0,"003_bread_1","put bread on newspaper",-0.230526,-0.056309,0.886179,0.448057,0.028036,0.003179,0.893559
30,2,604160,31,obj,1,"005_7up can_1","put bread on newspaper",-0.129238,0.000572,0.885876,0.456935,0.501473,0.635797,-0.368100
30,2,604160,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235012,-0.075020,0.869489,1.000000,0.000180,0.000875,0.000132
30,2,604160,31,recep,1,"003_carpet_1","put bread on newspaper",-0.070362,0.069916,0.870448,0.999617,-0.000800,-0.000783,0.027639
30,2,604160,31,gripper,0,"","put bread on newspaper",-0.148247,0.006924,0.933378,0.062505,-0.744346,0.069142,0.661258
30,2,604160,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.239662,-0.078560,0.887665,0.344828,-0.044371,0.020222,0.937398
30,2,604160,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074995,0.878547,0.706697,0.007937,0.010838,0.707389
30,2,604160,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001163,-0.000025
30,2,604160,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,-0.000001,0.000000
30,2,604160,32,gripper,0,"","put carrot on flat bowl",-0.215622,-0.001172,1.002541,0.065659,-0.682384,0.028461,0.727482
30,2,604160,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.220398,-0.049134,0.897195,0.993361,0.081156,-0.051670,0.063064
30,2,604160,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.084991,0.074560,0.878547,0.999910,0.013251,0.002051,0.000289
30,2,604160,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
30,2,604160,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235020,-0.074999,0.874363,1.000000,0.000001,-0.000001,-0.000112
30,2,604160,33,gripper,0,"","put carrot on flat bowl",-0.076725,0.073510,0.966000,-0.014871,-0.738255,0.022036,0.673998
30,2,604160,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.232647,0.090414,0.894620,0.995556,0.091571,-0.011669,0.018598
30,2,604160,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013280,0.002051,0.000284
30,2,604160,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,2,604160,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235004,0.075001,0.874362,1.000000,0.000000,-0.000001,-0.000004
30,2,604160,34,gripper,0,"","put carrot on flat bowl",-0.156288,0.034984,1.054956,0.000990,-0.759280,0.017058,0.650540
30,2,604160,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.080420,0.087455,0.887442,0.679897,-0.023460,0.020099,0.732656
30,2,604160,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.234680,-0.075307,0.878547,0.923646,0.011502,0.006988,0.383010
30,2,604160,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
30,2,604160,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
30,2,604160,35,gripper,0,"","put carrot on flat bowl",-0.063958,0.077190,0.957885,0.125284,-0.715507,0.147586,0.671247
30,2,604160,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088154,-0.068660,0.887539,0.997090,-0.003902,0.031032,0.069521
30,2,604160,36,obj,1,"013_banana_1","put banana on sheet metal",-0.084993,0.074561,0.878547,0.999909,0.013313,0.002051,0.000284
30,2,604160,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
30,2,604160,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000000,0.000001
30,2,604160,36,gripper,0,"","put banana on sheet metal",-0.104864,0.097315,0.983305,-0.119911,-0.700634,-0.055997,0.701140
30,2,604160,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.201923,0.045965,0.887311,0.995886,-0.008580,0.034220,0.083465
30,2,604160,37,obj,1,"013_banana_1","put banana on sheet metal",-0.229433,-0.077192,0.878546,0.971492,0.012405,0.005130,0.236691
30,2,604160,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
30,2,604160,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
30,2,604160,37,gripper,0,"","put banana on sheet metal",-0.201120,-0.045860,0.926580,-0.181377,-0.729247,0.066231,0.656441
30,2,604160,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.064301,-0.066389,0.887414,0.093051,-0.026418,0.004040,0.995303
30,2,604160,38,obj,1,"013_banana_1","put banana on sheet metal",-0.240158,-0.075990,0.885867,0.196683,-0.005711,-0.179063,0.963960
30,2,604160,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,2,604160,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
30,2,604160,38,gripper,0,"","put banana on sheet metal",-0.185255,-0.025909,0.988980,-0.012387,-0.716098,-0.107904,0.689497
30,2,604160,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087673,-0.070500,0.887379,0.997035,0.001151,0.032588,0.069695
30,2,604160,39,obj,1,"013_banana_1","put banana on sheet metal",-0.235001,0.074567,0.878547,0.999910,0.013289,0.002044,-0.000081
30,2,604160,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001164,-0.000009
30,2,604160,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
30,2,604160,39,gripper,0,"","put banana on sheet metal",-0.191746,0.078677,0.958695,0.096213,-0.717560,0.025050,0.689364
30,2,604160,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.211464,-0.069977,0.887450,0.912522,-0.012262,0.030534,0.407702
30,2,604160,40,obj,1,"013_banana_1","put banana on flat bowl",-0.084679,-0.075304,0.878547,0.924116,0.011515,0.006976,0.381875
30,2,604160,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074986,0.871345,0.999999,-0.000157,0.001164,-0.000074
30,2,604160,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000188
30,2,604160,40,gripper,0,"","put banana on flat bowl",-0.067116,-0.032623,0.991934,-0.281465,-0.758150,-0.129020,0.573882
30,2,604160,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118999,-0.050077,0.887450,0.359896,-0.018970,0.006687,0.932776
30,2,604160,41,obj,1,"013_banana_1","put banana on flat bowl",-0.204704,0.075336,0.878547,0.383307,0.003196,0.013043,0.923523
30,2,604160,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074966,0.871344,0.999999,-0.000158,0.001163,-0.000066
30,2,604160,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
30,2,604160,41,gripper,0,"","put banana on flat bowl",-0.143229,0.100678,1.014916,0.052360,-0.747589,0.139851,0.647155
30,2,604160,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.118763,-0.040812,0.887547,0.913205,-0.017689,0.039869,0.405159
30,2,604160,42,obj,1,"013_banana_1","put banana on flat bowl",-0.227169,-0.082319,0.878547,0.933183,0.011675,0.006690,0.359149
30,2,604160,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
30,2,604160,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000191
30,2,604160,42,gripper,0,"","put banana on flat bowl",-0.217319,-0.053452,0.956396,-0.138101,-0.702315,0.044758,0.696906
30,2,604160,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232477,-0.046734,0.887529,0.924802,-0.016353,0.040011,0.377986
30,2,604160,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084671,0.074692,0.878548,0.923942,0.011530,0.006991,0.382295
30,2,604160,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114990,-0.075024,0.871345,0.999999,-0.000156,0.001164,-0.000083
30,2,604160,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075001,0.874363,1.000000,-0.000001,-0.000002,0.000160
30,2,604160,43,gripper,0,"","put banana on flat bowl",-0.149351,0.069405,1.009282,-0.020184,-0.697029,-0.111049,0.708104
30,2,604160,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.093075,-0.100677,0.887278,0.893386,-0.016266,0.020162,0.448542
30,2,604160,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.234473,0.045000,0.878547,0.706517,0.007937,0.010847,0.707568
30,2,604160,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114992,0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000033
30,2,604160,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075001,0.874362,1.000000,-0.000000,0.000000,0.000002
30,2,604160,44,gripper,0,"","put carrot on sheet metal",-0.096817,-0.069265,0.995197,0.089966,-0.753338,0.233380,0.608212
30,2,604160,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237913,-0.053894,0.895543,0.991892,0.108264,0.015768,-0.064660
30,2,604160,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.084978,0.074560,0.878547,0.999909,0.013313,0.002047,-0.000023
30,2,604160,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,0.045013,0.871344,0.999999,-0.000157,0.001163,0.000018
30,2,604160,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.234833,-0.075085,0.874362,0.999998,-0.000001,-0.000000,0.002098
30,2,604160,45,gripper,0,"","put carrot on sheet metal",-0.138865,0.048904,1.014011,0.071206,-0.710999,0.162928,0.680341
30,2,604160,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.091812,0.085014,0.887293,0.837083,-0.012182,0.029630,0.546137
30,2,604160,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
30,2,604160,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
30,2,604160,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
30,2,604160,46,gripper,0,"","put carrot on sheet metal",-0.092064,0.088320,0.992898,0.270604,-0.749840,0.181381,0.575860
30,2,604160,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.272156,0.081560,0.887476,0.776625,-0.028060,0.031739,0.628537
30,2,604160,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084557,-0.074989,0.878547,0.707617,0.007956,0.010840,0.706468
30,2,604160,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044992,0.871344,0.999999,-0.000157,0.001164,-0.000055
30,2,604160,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000000,0.000190
30,2,604160,47,gripper,0,"","put carrot on sheet metal",-0.271349,0.079460,0.944799,0.061581,-0.691652,0.002545,0.719596
30,2,604160,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086555,0.075630,0.894997,0.810049,-0.062835,-0.073521,0.578331
30,2,604160,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065102,-0.053635,0.887026,0.649555,-0.289317,0.648059,0.272753
30,2,604160,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.083389,0.078621,0.872205,0.999317,-0.000091,-0.000022,0.036961
30,2,604160,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000047
30,2,604160,48,gripper,0,"","put hamburger on cutting board",-0.093906,0.064926,0.957795,-0.098778,-0.738105,-0.089505,0.661387
30,2,604160,49,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.180946,0.076698,0.890978,0.997950,-0.025450,-0.048499,-0.033120
30,2,604160,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.066513,-0.048008,0.887027,0.608418,-0.371392,0.604777,0.355163
30,2,604160,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.114925,0.044651,0.872199,0.999995,-0.000000,-0.000001,0.003157
30,2,604160,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234993,0.075001,0.870883,1.000000,0.000702,0.000717,-0.000111
30,2,604160,49,gripper,0,"","put hamburger on cutting board",-0.152367,0.078762,1.060178,-0.020688,-0.723656,-0.018041,0.689615
30,2,604160,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.208763,-0.073959,0.894091,0.991837,0.017563,-0.027451,0.123277
30,2,604160,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.057056,-0.044472,0.887180,0.740721,-0.009606,0.671720,0.005668
30,2,604160,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205742,-0.074425,0.872199,0.999995,-0.000000,-0.000001,0.003217
30,2,604160,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000026
30,2,604160,50,gripper,0,"","put hamburger on cutting board",-0.071407,-0.046640,0.946732,0.023882,-0.751283,0.062684,0.656563
30,2,604160,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082333,0.039177,0.890564,0.483829,-0.023573,-0.011165,0.874774
30,2,604160,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.256369,0.094898,0.887026,0.266335,-0.662865,0.253563,0.652212
30,2,604160,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.073902,-0.071877,0.872199,0.991102,-0.000000,-0.000001,-0.133101
30,2,604160,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115002,0.044998,0.870884,0.999999,0.000700,0.000713,-0.000021
30,2,604160,51,gripper,0,"","put hamburger on cutting board",-0.107538,0.049156,0.977417,-0.075551,-0.768179,0.002166,0.635758
30,2,604160,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.023007,0.054085,0.891559,0.955033,-0.018510,0.010659,-0.295729
30,2,604160,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.094477,0.067226,0.889636,0.729301,-0.097200,0.670628,0.094501
30,2,604160,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.110494,-0.080700,0.872199,0.995603,0.000000,-0.000000,-0.093672
30,2,604160,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.049486,0.033497,0.871527,0.999849,-0.000121,-0.007580,-0.015629
30,2,604160,52,gripper,0,"","put plastic bottle on frying pan",-0.104183,0.093502,0.943563,0.164066,-0.760555,0.212769,0.591073
30,2,604160,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.072794,-0.058186,0.890529,0.692346,-0.027795,-0.004469,0.721016
30,2,604160,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.104851,0.087467,0.895268,0.501404,-0.509235,0.489101,0.500053
30,2,604160,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085287,0.075016,0.872199,0.999996,0.000000,-0.000000,0.002997
30,2,604160,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084911,-0.075008,0.870870,1.000000,-0.000000,-0.000000,0.000379
30,2,604160,53,gripper,0,"","put plastic bottle on frying pan",-0.158985,0.060125,1.036802,0.061037,-0.680690,0.071658,0.726499
30,2,604160,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.202103,0.064865,0.890579,0.901907,-0.027327,0.006713,0.431013
30,2,604160,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.155159,-0.141445,0.890837,0.776949,-0.212932,0.387999,0.447735
30,2,604160,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.232372,-0.064114,0.872302,0.967420,0.000968,-0.000753,-0.253172
30,2,604160,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235394,0.045605,0.870891,0.999995,0.000767,0.000825,-0.002802
30,2,604160,54,gripper,0,"","put plastic bottle on frying pan",-0.178951,-0.115849,0.917971,0.085529,-0.606842,0.279518,0.739120
30,2,604160,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.164623,-0.099888,0.888112,0.819703,-0.027507,-0.001429,0.572126
30,2,604160,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.227806,0.040218,0.886179,0.292781,-0.009544,-0.006991,0.956106
30,2,604160,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.078232,-0.072784,0.872199,0.999034,-0.000001,-0.000001,-0.043951
30,2,604160,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000026
30,2,604160,55,gripper,0,"","put plastic bottle on frying pan",-0.244993,0.041813,0.948256,-0.084572,-0.731412,-0.048449,0.674935
30,2,604160,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.103439,-0.070827,0.890639,0.496739,-0.024776,-0.010540,0.867482
30,2,604160,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.030685,0.045216,0.885721,0.287257,0.637066,-0.268886,0.662820
30,2,604160,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083000,0.089851,0.874619,0.983466,-0.024921,-0.025090,0.177609
30,2,604160,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000146
30,2,604160,56,gripper,0,"","put plastic bottle on cutting board",-0.136967,0.074541,0.918924,0.154309,-0.719895,0.101312,0.669086
30,2,604160,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205227,-0.073875,0.888112,0.924996,-0.027148,0.004619,0.378977
30,2,604160,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064415,-0.069969,0.888682,0.589895,-0.020753,0.005828,0.807192
30,2,604160,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.210918,0.086552,0.872199,0.920911,0.000000,-0.000000,-0.389772
30,2,604160,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084915,-0.074928,0.870883,0.999999,0.000705,0.000716,-0.000688
30,2,604160,57,gripper,0,"","put plastic bottle on cutting board",-0.121365,0.011681,1.014477,-0.012116,-0.718066,-0.011182,0.695780
30,2,604160,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.236099,-0.075241,0.888112,0.386395,-0.022473,-0.015924,0.921922
30,2,604160,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.157932,0.033718,0.888255,0.721371,-0.060230,-0.686631,-0.067329
30,2,604160,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.080814,0.074432,0.872200,0.999858,-0.000001,-0.000001,0.016850
30,2,604160,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.191772,0.039585,0.870887,0.999041,0.000967,0.001095,0.043763
30,2,604160,58,gripper,0,"","put plastic bottle on cutting board",-0.180246,0.019840,1.008754,0.112322,-0.705387,0.059120,0.697364
30,2,604160,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.078606,0.070560,0.888112,0.424741,-0.023120,-0.014968,0.904896
30,2,604160,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.135639,-0.012260,0.888941,0.366204,-0.592890,0.376297,0.610554
30,2,604160,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084974,-0.075005,0.872199,1.000000,-0.000000,-0.000001,-0.000204
30,2,604160,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204985,-0.044975,0.870883,0.999999,0.000700,0.000714,0.000071
30,2,604160,59,gripper,0,"","put plastic bottle on cutting board",-0.095928,0.072639,0.929551,-0.063063,-0.780299,-0.037411,0.621094
30,2,604160,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.195444,0.072933,0.895734,0.789645,-0.114573,-0.115538,0.591595
30,2,604160,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.124014,-0.024498,0.887071,0.238694,-0.673260,0.224605,0.662796
30,2,604160,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000000
30,2,604160,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085637,0.077801,0.870884,0.997328,0.000653,0.000764,0.073054
30,2,604160,60,gripper,0,"","put hamburger on frying pan",-0.178789,0.058178,1.031417,0.066854,-0.723025,0.054384,0.685425
30,2,604160,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.196640,0.075016,0.895582,0.971676,-0.012499,-0.136902,0.192218
30,2,604160,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.062145,0.017147,0.886515,-0.589158,-0.391210,0.583448,-0.399295
30,2,604160,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204998,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000012
30,2,604160,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.123108,-0.048000,0.870871,0.997832,-0.000001,-0.000006,-0.065807
30,2,604160,61,gripper,0,"","put hamburger on frying pan",-0.063416,0.017029,0.915445,0.101253,-0.754067,0.155690,0.629993
30,2,604160,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.089500,0.049160,0.894044,0.869930,0.025968,0.076941,-0.486444
30,2,604160,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.105957,-0.070797,0.887027,0.704476,-0.010475,0.709631,-0.005336
30,2,604160,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.082710,0.042377,0.872199,0.999215,-0.000000,-0.000000,-0.039621
30,2,604160,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000001,-0.000001,0.000020
30,2,604160,62,gripper,0,"","put hamburger on frying pan",-0.126837,0.069803,1.016892,-0.006269,-0.704609,-0.004413,0.709554
30,2,604160,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.202442,0.078823,0.894673,0.530288,-0.040653,-0.090261,0.842018
30,2,604160,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.126514,-0.072880,0.889702,0.422921,-0.576970,0.413267,0.563430
30,2,604160,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000005
30,2,604160,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114971,-0.073753,0.870870,0.999978,-0.000000,0.000003,-0.006552
30,2,604160,63,gripper,0,"","put hamburger on frying pan",-0.122639,-0.049139,0.975573,-0.080298,-0.722188,-0.009652,0.686953
30,3,609280,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.301613,-0.069412,0.881638,-0.321041,0.578707,0.626759,0.411344
30,3,609280,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.146225,-0.057549,0.884098,0.692684,0.068416,-0.030651,0.717334
30,3,609280,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.228317,-0.114357,0.870766,0.966575,0.004506,0.020355,0.255534
30,3,609280,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.285759,-0.015450,0.871319,0.991456,0.001352,0.000039,-0.130434
30,3,609280,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.118362,-0.051434,0.915561,-0.154713,-0.718352,-0.062226,0.675398
30,3,609280,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.247841,0.058403,0.885112,0.068510,0.713921,0.693204,-0.071357
30,3,609280,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.039566,0.024445,0.881638,0.907234,0.012345,-0.037355,0.418783
30,3,609280,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235004,0.075134,0.869532,0.999997,0.000000,-0.000001,0.002376
30,3,609280,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.079388,-0.086258,0.871288,0.994944,-0.000255,-0.000998,-0.100430
30,3,609280,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.043911,0.040806,0.942272,0.062471,-0.802490,0.089235,0.586638
30,3,609280,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.004574,-0.086075,0.885473,0.649397,-0.350129,0.455548,0.498166
30,3,609280,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.089924,-0.080833,0.897296,0.644764,-0.061939,-0.072218,0.758437
30,3,609280,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.015381,-0.109329,0.869559,0.928092,-0.001073,-0.001154,-0.372346
30,3,609280,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235157,0.076111,0.871282,0.999982,-0.000443,-0.001268,0.005835
30,3,609280,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.098700,-0.081116,0.914026,-0.055828,-0.744615,-0.037131,0.664118
30,3,609280,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.106194,0.073891,0.887419,0.138667,-0.586472,0.796265,0.052762
30,3,609280,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.122637,-0.078911,0.886896,0.562784,-0.065396,0.002791,0.824008
30,3,609280,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.082514,-0.075485,0.869533,0.999093,-0.000002,-0.000000,-0.042582
30,3,609280,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.085058,0.075073,0.871288,0.999999,-0.000154,-0.001019,-0.000479
30,3,609280,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.247046,-0.097080,0.914042,-0.034625,-0.757971,-0.036652,0.650337
30,3,609280,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200956,-0.057999,0.885128,0.413743,0.585621,-0.505003,0.480455
30,3,609280,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.096900,-0.010391,0.881638,0.670425,0.026018,-0.029534,0.740933
30,3,609280,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235154,-0.044952,0.869532,0.999961,0.000000,-0.000001,0.008844
30,3,609280,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.117513,-0.081093,0.871288,0.999315,-0.000116,-0.001024,0.037000
30,3,609280,4,gripper,0,"","put kitchen shovel on cloth",-0.130853,-0.097023,0.937758,-0.104499,-0.750925,-0.083699,0.646673
30,3,609280,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.183008,-0.075386,0.879148,0.733307,-0.215395,0.582699,0.276274
30,3,609280,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.112743,-0.024063,0.892307,0.606493,-0.035241,0.061628,0.791913
30,3,609280,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.238924,0.031570,0.869532,0.992060,0.000000,-0.000000,-0.125766
30,3,609280,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,-0.044998,0.871288,0.999999,-0.000153,-0.001019,0.000006
30,3,609280,5,gripper,0,"","put kitchen shovel on cloth",-0.158381,-0.034687,0.918733,-0.133656,-0.769593,-0.088616,0.618069
30,3,609280,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.102955,0.061028,0.886730,-0.138540,0.590617,-0.793113,-0.054311
30,3,609280,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.104031,0.000259,0.881677,0.774588,-0.004482,-0.001558,0.632448
30,3,609280,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.280148,-0.074646,0.869532,0.916470,0.000001,-0.000001,-0.400102
30,3,609280,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.083187,0.075043,0.871288,0.999939,-0.000143,-0.001021,0.011035
30,3,609280,6,gripper,0,"","put kitchen shovel on cloth",-0.149244,-0.011841,0.926057,0.100948,-0.754396,0.042320,0.647229
30,3,609280,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.082527,-0.084564,0.879089,0.865901,0.097239,-0.452749,0.189150
30,3,609280,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.262444,0.028801,0.881628,0.851163,0.016698,-0.035542,0.523431
30,3,609280,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.223911,0.078064,0.876549,0.993842,0.097914,-0.045518,0.024877
30,3,609280,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
30,3,609280,7,gripper,0,"","put kitchen shovel on cloth",-0.250633,0.017414,0.926353,0.025346,-0.746762,0.034495,0.663713
30,3,609280,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.141502,0.045254,0.879088,-0.831314,-0.159074,0.434884,-0.307389
30,3,609280,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.184692,-0.086948,0.888205,0.686115,0.030651,-0.011076,0.726763
30,3,609280,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.082573,0.076233,0.869533,0.998899,-0.000001,-0.000000,0.046911
30,3,609280,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.227104,-0.107826,0.871289,0.999290,-0.000118,-0.001024,0.037672
30,3,609280,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.181019,0.050318,0.950189,-0.004643,-0.726665,0.048289,0.685277
30,3,609280,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.058361,0.083725,0.885085,0.596996,0.341166,-0.313104,0.655108
30,3,609280,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085979,-0.066990,0.889758,0.653863,0.045202,-0.087018,0.750232
30,3,609280,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.078087,0.072250,0.869532,0.997971,0.000001,-0.000001,0.063672
30,3,609280,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.083904,-0.072586,0.871282,0.999779,-0.000478,-0.001255,-0.020992
30,3,609280,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.080347,0.091583,1.111238,-0.019912,-0.716594,-0.013834,0.697069
30,3,609280,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.113819,0.076984,0.879162,-0.878862,-0.015728,0.475810,-0.030961
30,3,609280,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",0.008575,0.055340,0.879753,0.831180,-0.020496,0.043446,0.553924
30,3,609280,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.075001,0.869532,1.000000,-0.000001,-0.000001,0.000022
30,3,609280,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,-0.074963,0.871288,0.999999,-0.000155,-0.001020,0.000111
30,3,609280,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.160707,0.061644,0.925681,-0.017318,-0.780345,0.004636,0.625092
30,3,609280,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.113562,-0.102894,0.882919,0.506688,0.478210,-0.492120,0.521920
30,3,609280,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.059128,-0.120457,0.892916,0.177137,-0.148471,-0.007044,0.972897
30,3,609280,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.057377,-0.120342,0.875016,0.956868,0.017712,-0.091559,-0.275149
30,3,609280,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.216734,0.049648,0.871278,0.999987,-0.001136,-0.000827,0.004802
30,3,609280,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.115956,-0.100859,0.914844,-0.020718,-0.791363,0.020953,0.610635
30,3,609280,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.221259,0.112499,0.923743,0.790181,0.221937,-0.369571,0.435632
30,3,609280,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.094894,0.065228,0.889282,0.791381,0.022711,-0.087038,0.604669
30,3,609280,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.237363,0.088821,0.869532,0.971172,0.000000,-0.000000,0.238380
30,3,609280,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.082334,0.065536,0.871282,0.999462,-0.000409,-0.001279,0.032777
30,3,609280,12,gripper,0,"","put ketchup bottle on cloth",-0.235099,0.122871,0.961020,0.168801,-0.712993,0.216417,0.645222
30,3,609280,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.002275,0.090870,0.010573,0.923936,0.081542,0.266033,-0.262524
30,3,609280,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.126965,-0.034855,0.884406,0.989179,0.034368,-0.045300,-0.135248
30,3,609280,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.062574,-0.079121,0.870455,0.998458,0.006436,-0.014289,-0.053261
30,3,609280,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.254255,0.083214,0.871288,0.999790,-0.000175,-0.001016,-0.020454
30,3,609280,13,gripper,0,"","put ketchup bottle on cloth",-0.163398,-0.058199,0.914061,0.025665,-0.747693,0.036531,0.662542
30,3,609280,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.236290,-0.088360,0.885122,0.390765,0.608401,-0.477109,0.499517
30,3,609280,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.139359,0.009422,0.886668,0.584576,-0.220680,0.130885,0.769701
30,3,609280,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235298,-0.078819,0.869532,0.999776,-0.000001,-0.000000,-0.021181
30,3,609280,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.104870,-0.044903,0.871282,0.997605,-0.000534,-0.001228,-0.069161
30,3,609280,14,gripper,0,"","put ketchup bottle on cloth",-0.227427,-0.071041,0.990566,-0.121931,-0.733335,-0.047044,0.667187
30,3,609280,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.226482,0.047237,0.885083,0.719122,0.269140,-0.375999,0.518702
30,3,609280,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.113850,-0.022079,0.889803,0.568148,-0.035943,0.003382,0.822134
30,3,609280,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.075001,0.869532,1.000000,0.000000,-0.000001,0.000001
30,3,609280,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.044991,0.871288,0.999999,-0.000154,-0.001019,0.000046
30,3,609280,15,gripper,0,"","put ketchup bottle on cloth",-0.115320,0.033201,1.021018,0.108323,-0.779476,0.038402,0.615799
30,3,609280,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.170273,-0.061646,0.885393,0.731577,-0.034018,-0.039012,0.679791
30,3,609280,16,obj,1,"005_7up can_1","put 7up can on newspaper",0.149872,0.238056,0.017315,0.016437,-0.497246,0.867335,0.014368
30,3,609280,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084229,0.076012,0.869490,0.999999,0.000179,0.000875,0.001046
30,3,609280,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.102615,-0.029060,0.870449,0.998523,-0.000962,-0.000800,-0.054322
30,3,609280,16,gripper,0,"","put 7up can on newspaper",-0.142231,-0.058504,0.982913,-0.077326,-0.743651,0.013861,0.663937
30,3,609280,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.069878,-0.060749,0.886541,0.158955,0.016122,-0.000154,0.987154
30,3,609280,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.195339,-0.049156,0.888134,0.784400,0.080299,-0.072291,0.610772
30,3,609280,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204544,-0.075012,0.869490,0.999999,0.000180,0.000876,-0.000578
30,3,609280,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074997,0.870448,0.999999,-0.000923,-0.000845,-0.000004
30,3,609280,17,gripper,0,"","put 7up can on newspaper",-0.064270,0.076534,0.966255,0.040145,-0.738720,0.046211,0.671227
30,3,609280,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.244358,-0.073303,0.887072,0.062670,0.465145,-0.883002,0.004514
30,3,609280,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.295570,-0.065777,0.888306,-0.069168,-0.734997,-0.674519,0.004380
30,3,609280,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085007,0.075001,0.869490,1.000000,0.000180,0.000874,0.000035
30,3,609280,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.233017,-0.043716,0.870460,0.999999,0.000019,-0.000158,0.001201
30,3,609280,18,gripper,0,"","put 7up can on newspaper",-0.152874,0.024717,1.017967,0.016182,-0.641715,0.048489,0.765238
30,3,609280,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.225443,0.051140,0.885990,0.984950,0.007078,0.005334,0.172613
30,3,609280,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.184834,0.114918,0.887422,-0.706380,0.326301,-0.382396,-0.498325
30,3,609280,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235767,0.044960,0.869490,0.999994,0.000183,0.000873,-0.003532
30,3,609280,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115017,0.075005,0.870448,0.999999,-0.000924,-0.000847,-0.000056
30,3,609280,19,gripper,0,"","put 7up can on newspaper",-0.145206,0.097450,1.012299,-0.013300,-0.715469,0.053733,0.696448
30,3,609280,20,obj,0,"003_bread_1","put 7up can on carpet",-0.230574,-0.063255,0.886790,-0.285940,0.014129,0.004650,0.958132
30,3,609280,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.170731,-0.015106,0.885750,0.557607,-0.392395,0.342831,0.646195
30,3,609280,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
30,3,609280,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.201675,-0.076843,0.870448,0.999810,-0.000939,-0.000827,-0.019468
30,3,609280,20,gripper,0,"","put 7up can on carpet",-0.183215,-0.044468,0.994775,-0.013078,-0.715761,-0.033777,0.697405
30,3,609280,21,obj,0,"003_bread_1","put 7up can on carpet",-0.253866,0.071476,0.886672,0.922866,0.004890,-0.009171,0.384981
30,3,609280,21,obj,1,"005_7up can_1","put 7up can on carpet",-0.200905,-0.016911,0.888311,0.766020,0.110415,-0.105195,0.624465
30,3,609280,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205051,-0.045002,0.869490,0.999999,0.000180,0.000870,-0.000884
30,3,609280,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235025,0.075008,0.870447,0.999991,-0.003113,-0.002734,0.000171
30,3,609280,21,gripper,0,"","put 7up can on carpet",-0.094272,0.083204,0.970978,0.054463,-0.726343,-0.008344,0.685120
30,3,609280,22,obj,0,"003_bread_1","put 7up can on carpet",-0.190887,0.072910,0.886464,0.999877,0.005141,-0.007260,0.012918
30,3,609280,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.106178,0.221577,0.885712,0.419176,-0.365502,-0.191571,-0.808703
30,3,609280,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.088318,-0.009819,0.869490,0.954310,-0.000090,0.000887,0.298817
30,3,609280,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.205006,0.074986,0.870452,0.999998,0.001568,0.001265,0.000101
30,3,609280,22,gripper,0,"","put 7up can on carpet",-0.112478,0.025883,0.977009,-0.105670,-0.689605,-0.106011,0.708548
30,3,609280,23,obj,0,"003_bread_1","put 7up can on carpet",-0.294739,0.095798,0.885509,0.963624,-0.017495,-0.079233,0.254646
30,3,609280,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.236973,-0.084049,0.889549,-0.528470,0.445185,-0.572340,-0.441538
30,3,609280,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205196,-0.074970,0.869490,1.000000,0.000180,0.000877,-0.000437
30,3,609280,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.235004,0.075012,0.870452,0.999999,-0.000929,-0.000893,0.000041
30,3,609280,23,gripper,0,"","put 7up can on carpet",-0.055653,0.104118,0.931169,0.153360,-0.735410,0.177448,0.635740
30,3,609280,24,obj,0,"003_bread_1","put bread on newspaper",-0.135948,0.074007,0.886620,0.995367,0.000527,-0.011524,-0.095452
30,3,609280,24,obj,1,"005_7up can_1","put bread on newspaper",-0.106781,0.108377,0.888654,0.646740,0.162505,0.144687,-0.731016
30,3,609280,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.204994,-0.074999,0.869490,1.000000,0.000180,0.000874,0.000082
30,3,609280,24,recep,1,"003_carpet_1","put bread on newspaper",-0.114479,0.076012,0.870353,0.999974,-0.000691,-0.001985,-0.006967
30,3,609280,24,gripper,0,"","put bread on newspaper",-0.114731,0.068137,0.982062,-0.014682,-0.748435,-0.037044,0.662010
30,3,609280,25,obj,0,"003_bread_1","put bread on newspaper",-0.107380,-0.097187,0.887367,0.999463,0.001821,0.008744,0.031523
30,3,609280,25,obj,1,"005_7up can_1","put bread on newspaper",-0.068645,-0.039013,0.888535,0.396187,-0.586272,0.553673,0.439052
30,3,609280,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.073486,-0.085941,0.869490,0.999846,0.000164,0.000877,0.017524
30,3,609280,25,recep,1,"003_carpet_1","put bread on newspaper",-0.085007,0.075039,0.870448,0.999999,-0.000923,-0.000845,-0.000053
30,3,609280,25,gripper,0,"","put bread on newspaper",-0.079123,-0.003998,1.005104,0.031599,-0.713068,0.018902,0.700127
30,3,609280,26,obj,0,"003_bread_1","put bread on newspaper",-0.228325,0.088474,0.887161,0.983289,0.008203,0.002183,0.181851
30,3,609280,26,obj,1,"005_7up can_1","put bread on newspaper",0.228943,0.264753,0.017210,0.232791,-0.118094,0.964822,0.031328
30,3,609280,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.202194,0.073235,0.869490,0.999884,0.000166,0.000876,0.015223
30,3,609280,26,recep,1,"003_carpet_1","put bread on newspaper",-0.085087,0.045250,0.870448,0.999999,-0.000915,-0.000837,-0.000348
30,3,609280,26,gripper,0,"","put bread on newspaper",-0.083759,0.064551,0.967236,0.040595,-0.749189,-0.020526,0.660793
30,3,609280,27,obj,0,"003_bread_1","put bread on newspaper",-0.195766,-0.084017,0.885837,0.591977,0.026542,-0.001287,0.805517
30,3,609280,27,obj,1,"005_7up can_1","put bread on newspaper",-0.213696,-0.046177,0.888852,-0.708569,0.064590,-0.077842,-0.698354
30,3,609280,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.202641,-0.058584,0.869491,0.992656,0.000283,0.000833,-0.120965
30,3,609280,27,recep,1,"003_carpet_1","put bread on newspaper",-0.107477,0.031397,0.870665,0.995004,-0.000336,0.001846,0.099817
30,3,609280,27,gripper,0,"","put bread on newspaper",-0.136806,0.002024,1.005267,0.031083,-0.725252,-0.054469,0.685622
30,3,609280,28,obj,0,"003_bread_1","put bread on carpet",-0.237138,0.059067,0.886298,0.991355,0.001281,0.002938,-0.131169
30,3,609280,28,obj,1,"005_7up can_1","put bread on carpet",-0.116371,0.073580,0.889101,0.112023,0.665346,0.729511,-0.112157
30,3,609280,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234998,0.075003,0.869490,1.000000,0.000180,0.000874,-0.000022
30,3,609280,28,recep,1,"003_carpet_1","put bread on carpet",-0.110882,0.047876,0.870448,0.999982,-0.000921,-0.000834,-0.005917
30,3,609280,28,gripper,0,"","put bread on carpet",-0.059966,0.181502,0.922562,0.058576,-0.791951,-0.035101,0.606754
30,3,609280,29,obj,0,"003_bread_1","put bread on carpet",-0.034739,-0.046726,0.886401,0.993862,0.000231,-0.009673,-0.110205
30,3,609280,29,obj,1,"005_7up can_1","put bread on carpet",-0.091885,-0.051378,0.931343,0.498303,0.457628,-0.190917,0.711211
30,3,609280,29,recep,0,"004_newspaper_1","put bread on carpet",-0.084032,0.082272,0.869490,0.999999,0.000181,0.000874,-0.000966
30,3,609280,29,recep,1,"003_carpet_1","put bread on carpet",-0.073061,-0.070904,0.870447,0.995796,-0.000995,-0.000756,-0.091595
30,3,609280,29,gripper,0,"","put bread on carpet",-0.104168,-0.052294,0.969140,-0.209827,-0.699174,-0.120877,0.672694
30,3,609280,30,obj,0,"003_bread_1","put bread on carpet",-0.114799,0.033417,0.946818,0.384813,0.036609,0.042487,0.921289
30,3,609280,30,obj,1,"005_7up can_1","put bread on carpet",-0.118725,-0.065893,0.888705,0.695437,0.196030,-0.208261,0.659217
30,3,609280,30,recep,0,"004_newspaper_1","put bread on carpet",-0.058540,0.084049,0.869490,0.999541,0.000153,0.000879,0.030279
30,3,609280,30,recep,1,"003_carpet_1","put bread on carpet",-0.115055,-0.044950,0.870460,1.000000,0.000019,-0.000158,-0.000320
30,3,609280,30,gripper,0,"","put bread on carpet",-0.119440,0.032912,0.978446,-0.059273,-0.711143,-0.057230,0.698203
30,3,609280,31,obj,0,"003_bread_1","put bread on carpet",-0.230526,-0.056337,0.886179,0.445898,0.028049,0.003183,0.894638
30,3,609280,31,obj,1,"005_7up can_1","put bread on carpet",-0.027603,0.241461,0.885855,-0.669062,-0.193289,-0.694067,0.182391
30,3,609280,31,recep,0,"004_newspaper_1","put bread on carpet",-0.235012,-0.075045,0.869490,1.000000,0.000179,0.000874,0.000283
30,3,609280,31,recep,1,"003_carpet_1","put bread on carpet",-0.068535,0.069242,0.870460,0.999740,0.000022,-0.000158,0.022790
30,3,609280,31,gripper,0,"","put bread on carpet",-0.063005,0.187492,0.914738,0.139246,-0.786620,0.073380,0.597039
30,3,609280,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239601,-0.078788,0.887529,0.345064,-0.040566,0.014930,0.937583
30,3,609280,32,obj,1,"013_banana_1","put banana on sheet metal",-0.074089,-0.062950,0.878547,0.630283,0.006780,0.011599,0.776249
30,3,609280,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
30,3,609280,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
30,3,609280,32,gripper,0,"","put banana on sheet metal",-0.013527,-0.029557,0.956996,0.044800,-0.805220,0.201508,0.555885
30,3,609280,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.220398,-0.049133,0.897195,0.993362,0.081143,-0.051668,0.063065
30,3,609280,33,obj,1,"013_banana_1","put banana on sheet metal",-0.084991,0.074560,0.878547,0.999910,0.013256,0.002051,0.000289
30,3,609280,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
30,3,609280,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235020,-0.074999,0.874363,1.000000,-0.000001,0.000001,-0.000112
30,3,609280,33,gripper,0,"","put banana on sheet metal",-0.142567,0.072979,1.012776,-0.090898,-0.686682,-0.080097,0.716791
30,3,609280,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232647,0.090413,0.894620,0.995556,0.091576,-0.011668,0.018597
30,3,609280,34,obj,1,"013_banana_1","put banana on sheet metal",-0.204990,-0.075441,0.878547,0.999909,0.013303,0.002052,0.000284
30,3,609280,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,3,609280,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235004,0.075001,0.874363,1.000000,0.000001,-0.000001,-0.000004
30,3,609280,34,gripper,0,"","put banana on sheet metal",-0.134594,-0.051060,0.980205,-0.042168,-0.697581,0.027639,0.714730
30,3,609280,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.080101,0.087169,0.887546,0.671416,-0.028896,0.024713,0.740104
30,3,609280,35,obj,1,"013_banana_1","put banana on sheet metal",-0.234680,-0.075307,0.878547,0.923646,0.011476,0.006974,0.383010
30,3,609280,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
30,3,609280,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,0.000000,-0.000000,-0.000000
30,3,609280,35,gripper,0,"","put banana on sheet metal",-0.173010,-0.041869,1.011036,-0.222753,-0.671929,-0.122755,0.695574
30,3,609280,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088775,-0.067127,0.887525,0.997223,-0.000491,0.029512,0.068375
30,3,609280,36,obj,1,"013_banana_1","put banana on flat bowl",-0.084993,0.074561,0.878547,0.999909,0.013312,0.002052,0.000284
30,3,609280,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
30,3,609280,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,0.075000,0.874362,1.000000,-0.000000,-0.000001,0.000001
30,3,609280,36,gripper,0,"","put banana on flat bowl",-0.160828,0.095827,1.012010,0.164267,-0.799132,0.117644,0.566183
30,3,609280,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.201923,0.045965,0.887311,0.995886,-0.008580,0.034220,0.083465
30,3,609280,37,obj,1,"013_banana_1","put banana on flat bowl",-0.228664,-0.076443,0.878547,0.974839,0.012494,0.004952,0.222503
30,3,609280,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
30,3,609280,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
30,3,609280,37,gripper,0,"","put banana on flat bowl",-0.148170,0.027020,1.044621,-0.062726,-0.665040,-0.083270,0.739495
30,3,609280,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.065514,-0.070821,0.887484,0.072578,-0.025370,0.001016,0.997039
30,3,609280,38,obj,1,"013_banana_1","put banana on flat bowl",-0.240158,-0.075990,0.885867,0.196683,-0.005712,-0.179070,0.963959
30,3,609280,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.044994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,3,609280,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
30,3,609280,38,gripper,0,"","put banana on flat bowl",-0.198902,-0.045664,1.044683,0.048753,-0.741392,0.082862,0.664149
30,3,609280,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088104,-0.069923,0.887534,0.996994,-0.003817,0.030972,0.070921
30,3,609280,39,obj,1,"013_banana_1","put banana on flat bowl",-0.235001,0.074567,0.878547,0.999909,0.013311,0.002046,-0.000081
30,3,609280,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.045003,0.871344,0.999999,-0.000158,0.001163,-0.000009
30,3,609280,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
30,3,609280,39,gripper,0,"","put banana on flat bowl",-0.070526,0.084804,0.993984,0.169746,-0.698087,-0.021869,0.695257
30,3,609280,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.214485,-0.069649,0.887515,0.916947,-0.016623,0.039685,0.396683
30,3,609280,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.084671,-0.075302,0.878547,0.924336,0.011515,0.006968,0.381342
30,3,609280,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,0.074978,0.871345,0.999999,-0.000158,0.001164,-0.000086
30,3,609280,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000278
30,3,609280,40,gripper,0,"","put carrot on sheet metal",-0.217957,-0.061873,0.948054,-0.075477,-0.732013,0.009605,0.677029
30,3,609280,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.168003,-0.004160,0.887494,-0.525112,-0.018653,-0.009389,0.850777
30,3,609280,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.204704,0.075342,0.878547,0.383826,0.003204,0.013042,0.923308
30,3,609280,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.235653,-0.074430,0.871344,0.999985,-0.000164,0.001163,0.005435
30,3,609280,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084991,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000007
30,3,609280,41,gripper,0,"","put carrot on sheet metal",-0.074352,-0.051985,0.950220,0.119735,-0.765904,0.146324,0.614527
30,3,609280,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.123310,-0.038876,0.887401,0.919726,-0.008089,0.023099,0.391798
30,3,609280,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.227165,-0.082319,0.878546,0.933342,0.011661,0.006677,0.358737
30,3,609280,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
30,3,609280,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.045000,0.874362,1.000000,-0.000000,-0.000002,0.000271
30,3,609280,42,gripper,0,"","put carrot on sheet metal",-0.115469,-0.019244,0.985409,-0.122987,-0.632732,-0.095864,0.758508
30,3,609280,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.198448,0.076292,0.894241,0.998001,0.021640,-0.026430,0.053161
30,3,609280,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084667,0.074692,0.878547,0.924079,0.011518,0.006979,0.381964
30,3,609280,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114990,-0.075039,0.871345,0.999999,-0.000157,0.001164,-0.000113
30,3,609280,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.204992,0.075006,0.874363,1.000000,-0.000001,0.000000,0.000214
30,3,609280,43,gripper,0,"","put carrot on sheet metal",-0.164523,0.065226,0.998733,-0.029104,-0.712694,-0.054402,0.698756
30,3,609280,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.096207,-0.099159,0.887552,0.897997,-0.011040,0.027784,0.438984
30,3,609280,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.234473,0.045000,0.878547,0.706517,0.007947,0.010859,0.707568
30,3,609280,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114992,0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000033
30,3,609280,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000002
30,3,609280,44,gripper,0,"","put carrot on flat bowl",-0.161095,-0.020833,0.981761,-0.410422,-0.610850,-0.285760,0.613806
30,3,609280,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.237915,-0.053892,0.895545,0.991875,0.108354,0.015829,-0.064752
30,3,609280,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.084978,0.074560,0.878547,0.999909,0.013304,0.002045,-0.000159
30,3,609280,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204992,0.045019,0.871344,0.999999,-0.000157,0.001164,0.000026
30,3,609280,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.234833,-0.075085,0.874362,0.999997,-0.000001,-0.000000,0.002543
30,3,609280,45,gripper,0,"","put carrot on flat bowl",-0.163831,-0.002005,1.038544,0.079173,-0.734238,0.175978,0.650890
30,3,609280,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.095058,0.084661,0.887095,0.838426,-0.020339,0.012213,0.544499
30,3,609280,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
30,3,609280,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
30,3,609280,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
30,3,609280,46,gripper,0,"","put carrot on flat bowl",-0.083418,0.085336,1.006643,0.050179,-0.699878,0.004461,0.712484
30,3,609280,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.274918,0.081240,0.887502,0.736723,-0.027943,0.031582,0.674878
30,3,609280,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084557,-0.074986,0.878547,0.707979,0.007950,0.010822,0.706105
30,3,609280,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.044991,0.871344,0.999999,-0.000157,0.001164,-0.000051
30,3,609280,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000284
30,3,609280,47,gripper,0,"","put carrot on flat bowl",-0.237442,0.061457,1.002603,0.042418,-0.664647,0.083667,0.741246
30,3,609280,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.159378,0.101810,0.891568,-0.257513,-0.473769,-0.760398,0.361973
30,3,609280,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.099007,0.125366,0.898033,0.091138,-0.619036,0.779527,0.028741
30,3,609280,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.080933,0.080166,0.873206,0.998308,-0.017933,-0.005834,-0.055007
30,3,609280,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235001,0.075005,0.870870,1.000000,-0.000000,-0.000001,-0.000053
30,3,609280,48,gripper,0,"","put plastic bottle on frying pan",-0.099239,0.106819,0.960735,-0.067441,-0.740473,-0.020364,0.668384
30,3,609280,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.180939,0.076691,0.890979,0.997881,-0.025548,-0.048649,-0.034842
30,3,609280,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.072395,-0.019112,0.887027,0.401243,-0.592235,0.391082,0.579066
30,3,609280,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114925,0.044651,0.872199,0.999995,-0.000001,-0.000001,0.003144
30,3,609280,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234993,0.075005,0.870883,0.999999,0.000698,0.000707,-0.000269
30,3,609280,49,gripper,0,"","put plastic bottle on frying pan",-0.067947,-0.020506,0.971926,0.100823,-0.780470,-0.009069,0.616944
30,3,609280,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.208759,-0.073959,0.894091,0.991864,0.017547,-0.027470,0.123062
30,3,609280,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.095833,-0.040371,0.885695,0.724492,0.094360,-0.676702,0.091008
30,3,609280,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205742,-0.074425,0.872199,0.999994,-0.000000,-0.000001,0.003336
30,3,609280,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000041
30,3,609280,50,gripper,0,"","put plastic bottle on frying pan",-0.113522,-0.083160,0.942284,-0.004755,-0.819196,-0.059579,0.570390
30,3,609280,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.069704,0.032940,0.900461,0.526383,0.078280,0.051332,0.845079
30,3,609280,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.244017,0.075214,0.886091,0.395503,-0.022326,-0.002340,0.918190
30,3,609280,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.073618,-0.072025,0.872199,0.990473,-0.000000,-0.000000,-0.137709
30,3,609280,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.104387,0.039463,0.874240,0.998256,-0.031590,0.001678,-0.049835
30,3,609280,51,gripper,0,"","put plastic bottle on frying pan",-0.097918,0.037008,0.931637,-0.083880,-0.809692,0.041382,0.579354
30,3,609280,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.022553,0.054043,0.890486,0.954818,-0.020428,0.021029,-0.295740
30,3,609280,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.093129,0.067696,0.889696,0.701500,-0.105533,0.699254,0.088343
30,3,609280,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.110494,-0.080700,0.872200,0.995603,-0.000000,-0.000001,-0.093672
30,3,609280,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.049449,0.033493,0.870871,0.999877,0.000001,0.000001,-0.015656
30,3,609280,52,gripper,0,"","put plastic bottle on cutting board",-0.148375,0.075480,1.020892,0.254251,-0.633341,0.331404,0.651465
30,3,609280,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.070383,-0.056824,0.890522,0.672639,-0.027525,-0.005149,0.739441
30,3,609280,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.088394,0.002613,0.890175,-0.231457,-0.752282,0.543910,-0.290966
30,3,609280,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085278,0.075012,0.872199,0.999995,-0.000001,-0.000001,0.003069
30,3,609280,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083677,-0.074696,0.870870,0.999991,0.000000,-0.000001,-0.004273
30,3,609280,53,gripper,0,"","put plastic bottle on cutting board",-0.102702,0.002075,0.920869,-0.157969,-0.785534,-0.068563,0.594375
30,3,609280,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.202206,0.065063,0.890582,0.902428,-0.028423,0.006274,0.429858
30,3,609280,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.145981,-0.057575,0.889170,0.487892,-0.501730,0.546414,0.460065
30,3,609280,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.242111,-0.073158,0.873265,0.977004,-0.008364,0.010826,-0.212784
30,3,609280,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235451,0.045715,0.870870,0.999994,0.000009,0.000006,-0.003492
30,3,609280,54,gripper,0,"","put plastic bottle on cutting board",-0.136539,-0.056152,0.927369,0.033705,-0.769040,0.051367,0.636241
30,3,609280,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.164616,-0.099884,0.888112,0.822715,-0.027514,-0.001282,0.567786
30,3,609280,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.139206,-0.000687,0.888438,-0.066155,0.469704,0.022115,0.880064
30,3,609280,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.078232,-0.072784,0.872199,0.999035,-0.000001,-0.000001,-0.043914
30,3,609280,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.091106,0.073017,0.871154,0.994199,0.000352,-0.003254,0.107508
30,3,609280,55,gripper,0,"","put plastic bottle on cutting board",-0.175873,-0.000471,0.927482,0.129837,-0.679707,0.164665,0.702870
30,3,609280,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.084709,0.082176,0.894185,0.581972,-0.049171,0.008598,0.811675
30,3,609280,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.030685,0.045216,0.885720,0.286862,0.637227,-0.268507,0.662990
30,3,609280,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.082878,0.089664,0.872199,0.984224,-0.000000,-0.000001,0.176927
30,3,609280,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085602,-0.079887,0.870870,0.999847,0.000000,-0.000001,0.017498
30,3,609280,56,gripper,0,"","put hamburger on frying pan",-0.148392,-0.027443,1.023577,0.072298,-0.743422,0.123685,0.653299
30,3,609280,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.223072,0.082897,0.894153,0.807568,-0.012224,0.057356,0.586852
30,3,609280,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064369,-0.070007,0.888681,0.588989,-0.020738,0.005806,0.807854
30,3,609280,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.210861,0.086502,0.872199,0.920998,-0.000000,-0.000000,-0.389566
30,3,609280,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084915,-0.074924,0.870883,0.999999,0.000704,0.000715,-0.001292
30,3,609280,57,gripper,0,"","put hamburger on frying pan",-0.131165,0.049332,1.066134,0.029552,-0.699342,0.007497,0.714137
30,3,609280,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.110039,0.073566,0.895087,0.435923,0.039589,0.014216,0.899001
30,3,609280,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.156197,0.035847,0.888242,0.722769,-0.051338,-0.686724,-0.058141
30,3,609280,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.080822,0.074436,0.872200,0.999900,0.000000,-0.000001,0.014152
30,3,609280,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.190300,0.040810,0.870832,0.998767,0.000696,0.000330,0.049639
30,3,609280,58,gripper,0,"","put hamburger on frying pan",-0.146282,0.120266,0.979805,-0.014366,-0.704863,-0.064371,0.706271
30,3,609280,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.091127,0.069168,0.888112,0.263554,-0.020215,-0.018704,0.964251
30,3,609280,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.135721,-0.012115,0.888940,0.363913,-0.594143,0.373980,0.612128
30,3,609280,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084976,-0.075005,0.872199,1.000000,0.000000,-0.000001,-0.000204
30,3,609280,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204960,-0.044975,0.870883,0.999999,0.000699,0.000713,0.000285
30,3,609280,59,gripper,0,"","put hamburger on frying pan",-0.156159,0.014870,0.976862,-0.044051,-0.693571,0.031150,0.718365
30,3,609280,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.109037,0.095612,0.890788,0.915805,-0.027224,0.003976,0.400679
30,3,609280,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.124044,-0.024910,0.887082,0.240786,-0.672629,0.226522,0.662027
30,3,609280,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.206575,0.079456,0.872199,0.999957,0.000000,-0.000001,0.009231
30,3,609280,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084823,0.077118,0.870870,0.997668,-0.000000,0.000000,0.068253
30,3,609280,60,gripper,0,"","put hamburger on cutting board",-0.201224,0.035679,0.964716,-0.017902,-0.722934,-0.003921,0.690674
30,3,609280,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.108223,-0.063236,0.890743,0.974256,-0.025539,0.011017,0.223722
30,3,609280,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.060896,0.018425,0.885720,-0.601321,-0.388689,0.571903,-0.400326
30,3,609280,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204510,0.075317,0.872199,0.999986,-0.000001,-0.000001,-0.005242
30,3,609280,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.123070,-0.047993,0.870883,0.997825,0.000745,0.000665,-0.065906
30,3,609280,61,gripper,0,"","put hamburger on cutting board",-0.147692,-0.067549,1.049196,-0.019512,-0.752752,0.050996,0.656036
30,3,609280,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.187954,0.067039,0.890754,0.886770,-0.016479,0.024407,-0.461271
30,3,609280,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.105957,-0.070797,0.887027,0.704475,-0.010462,0.709632,-0.005349
30,3,609280,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.082729,0.042290,0.872199,0.999218,-0.000001,-0.000000,-0.039536
30,3,609280,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.075031,0.870883,0.999999,0.000701,0.000716,-0.000008
30,3,609280,62,gripper,0,"","put hamburger on cutting board",-0.131889,0.015003,1.085487,-0.009435,-0.770017,0.075763,0.633439
30,3,609280,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.156807,-0.024002,0.890792,0.472474,-0.023881,-0.013470,0.880918
30,3,609280,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.126503,-0.073162,0.889705,0.425396,-0.575165,0.415803,0.561544
30,3,609280,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.202606,0.076916,0.872199,0.999738,0.000000,-0.000001,-0.022882
30,3,609280,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114941,-0.073673,0.870872,0.999979,-0.000000,-0.000014,-0.006469
30,3,609280,63,gripper,0,"","put hamburger on cutting board",-0.163282,0.021227,1.029736,0.005059,-0.693330,0.034664,0.719768
30,4,614400,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.301247,-0.069992,0.881363,-0.339385,0.578910,0.607756,0.424633
30,4,614400,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.151566,-0.048500,0.881638,0.682576,0.025532,-0.029964,0.729753
30,4,614400,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.228119,-0.115807,0.870040,0.967474,0.008050,-0.000465,0.252841
30,4,614400,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.285767,-0.015434,0.871278,0.991467,-0.000584,-0.001220,-0.130351
30,4,614400,0,gripper,0,"","put kitchen shovel on cloth",-0.262775,-0.044380,0.963237,-0.045537,-0.716645,-0.148359,0.679953
30,4,614400,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.247849,0.058380,0.885112,0.068542,0.713531,0.693606,-0.071311
30,4,614400,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.075546,-0.070755,0.889778,0.700268,-0.042329,0.012894,0.712507
30,4,614400,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235004,0.075134,0.869532,0.999997,0.000000,-0.000001,0.002391
30,4,614400,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.079388,-0.086258,0.871288,0.994942,-0.000255,-0.000999,-0.100440
30,4,614400,1,gripper,0,"","put kitchen shovel on cloth",-0.150766,0.014427,0.986486,0.007638,-0.719090,-0.003489,0.694866
30,4,614400,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",0.001053,-0.100922,0.884978,0.561059,-0.432851,0.486400,0.511144
30,4,614400,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.094772,-0.050819,0.873371,-0.073718,-0.772950,0.626429,0.068557
30,4,614400,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.012138,-0.122398,0.869532,0.936227,0.000000,-0.000001,-0.351396
30,4,614400,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235157,0.076111,0.871282,0.999982,-0.000443,-0.001268,0.005905
30,4,614400,2,gripper,0,"","put kitchen shovel on cloth",-0.101797,-0.056293,0.919217,0.283471,-0.663880,0.237841,0.649877
30,4,614400,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.106211,0.073875,0.887417,0.138747,-0.585617,0.796881,0.052748
30,4,614400,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.180996,0.016068,0.881641,0.958650,-0.015520,0.037040,0.281739
30,4,614400,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.081835,-0.079224,0.869532,0.999832,0.000000,-0.000001,0.018338
30,4,614400,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.085064,0.075073,0.871288,0.999999,-0.000154,-0.001019,-0.000411
30,4,614400,3,gripper,0,"","put kitchen shovel on cloth",-0.208193,0.047497,0.920937,0.309242,-0.704767,0.376547,0.515641
30,4,614400,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.192592,-0.064308,0.885211,0.166117,0.768268,-0.576613,0.222905
30,4,614400,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.096778,-0.010078,0.881638,0.672440,0.025932,-0.029602,0.739104
30,4,614400,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.230719,-0.047401,0.869532,0.997777,0.000001,-0.000001,0.066635
30,4,614400,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.117513,-0.081093,0.871288,0.999315,-0.000116,-0.001024,0.037000
30,4,614400,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.124257,0.031689,0.992715,0.080499,-0.800043,-0.067051,0.590724
30,4,614400,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.245024,0.022057,0.884978,0.622930,-0.365726,0.538674,0.433627
30,4,614400,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.115040,-0.023209,0.889022,0.637502,0.011754,-0.071192,0.767062
30,4,614400,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.238762,0.031410,0.869532,0.992080,0.000001,-0.000001,-0.125607
30,4,614400,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,-0.044998,0.871289,0.999999,-0.000155,-0.001019,0.000042
30,4,614400,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.187755,-0.062141,1.028839,0.152743,-0.750889,0.139276,0.627246
30,4,614400,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.266514,-0.097328,0.885773,-0.362176,0.007889,-0.003950,-0.932068
30,4,614400,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.103889,0.001015,0.881641,0.774365,-0.028673,0.028125,0.631463
30,4,614400,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.306068,-0.102600,0.869532,0.992244,0.000001,-0.000001,-0.124303
30,4,614400,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.083321,0.074936,0.871288,0.999924,-0.000142,-0.001021,0.012279
30,4,614400,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.250189,-0.073788,0.925416,-0.187289,-0.775565,-0.221063,0.560850
30,4,614400,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.221912,0.079628,0.885084,0.725562,0.264504,-0.379650,0.509375
30,4,614400,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.263584,0.027016,0.883649,0.840976,0.068602,-0.133478,0.519843
30,4,614400,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.223473,0.078781,0.869532,0.999734,-0.000000,0.000000,0.023043
30,4,614400,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000063
30,4,614400,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.213945,-0.002476,1.036701,0.027185,-0.745917,0.102201,0.657589
30,4,614400,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.197739,-0.100849,0.890366,-0.285481,-0.583498,0.712093,-0.266372
30,4,614400,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.187157,-0.011566,0.884827,0.400039,-0.014655,0.057862,0.914553
30,4,614400,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.082573,0.076233,0.869532,0.998899,-0.000000,-0.000000,0.046910
30,4,614400,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.210297,-0.093868,0.871293,0.995357,-0.000493,-0.001089,-0.096247
30,4,614400,8,gripper,0,"","put ketchup bottle on cloth",-0.234802,-0.087067,0.923359,-0.016883,-0.761084,0.137164,0.633760
30,4,614400,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.058361,0.083725,0.885085,0.596924,0.341209,-0.313079,0.655163
30,4,614400,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.089195,-0.067207,0.889838,0.667947,-0.035426,-0.026344,0.742898
30,4,614400,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078087,0.072254,0.869532,0.997968,0.000001,-0.000001,0.063714
30,4,614400,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.083939,-0.072590,0.871289,0.999781,-0.000175,-0.001016,-0.020876
30,4,614400,9,gripper,0,"","put ketchup bottle on cloth",-0.188992,-0.092916,0.935093,-0.074337,-0.783419,-0.087857,0.610745
30,4,614400,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.355301,0.366302,0.010574,0.380552,-0.079513,-0.038160,-0.920544
30,4,614400,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",0.005207,0.066372,0.879766,0.647797,-0.023335,0.028157,0.760935
30,4,614400,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000041
30,4,614400,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,-0.074947,0.871288,0.999999,-0.000155,-0.001020,0.000140
30,4,614400,10,gripper,0,"","put ketchup bottle on cloth",-0.110065,0.077263,0.983316,-0.041204,-0.730038,0.027161,0.681623
30,4,614400,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.211664,0.044212,0.888126,0.220239,0.554404,-0.786535,0.159671
30,4,614400,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.054857,-0.119770,0.887445,0.189491,-0.040165,-0.001958,0.981059
30,4,614400,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.056679,-0.119026,0.869532,0.959255,0.000001,-0.000000,-0.282543
30,4,614400,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.216734,0.049648,0.871278,0.999988,-0.001136,-0.000827,0.004764
30,4,614400,11,gripper,0,"","put ketchup bottle on cloth",-0.159195,0.038269,1.091720,0.083622,-0.766173,0.129023,0.623971
30,4,614400,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.231817,0.094990,0.885214,0.243256,0.464259,-0.840794,0.135479
30,4,614400,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.094894,0.065228,0.889282,0.791381,0.022711,-0.087038,0.604669
30,4,614400,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.237353,0.088814,0.869532,0.971200,0.000001,-0.000001,0.238267
30,4,614400,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.082334,0.065536,0.871282,0.999462,-0.000409,-0.001280,0.032777
30,4,614400,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.183672,0.016542,1.067681,0.016480,-0.781415,0.044307,0.622218
30,4,614400,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",0.002275,0.090870,0.010573,0.923937,0.081542,0.266032,-0.262523
30,4,614400,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.058500,-0.107769,0.885763,0.841982,0.024703,0.026981,-0.538264
30,4,614400,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.012741,-0.134182,0.869533,0.994109,-0.000023,0.000018,-0.108382
30,4,614400,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.254255,0.083214,0.871288,0.999792,-0.000175,-0.001016,-0.020384
30,4,614400,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.235146,-0.198870,0.917803,-0.204236,-0.650864,-0.141898,0.717306
30,4,614400,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235485,-0.097610,0.885397,0.144831,0.762643,-0.602065,0.186860
30,4,614400,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.139515,0.012531,0.884484,0.569416,-0.152506,0.088269,0.802942
30,4,614400,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.236359,-0.079441,0.869559,0.999705,0.000482,0.000293,-0.024288
30,4,614400,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.105431,-0.045315,0.871288,0.997912,-0.000224,-0.001007,-0.064573
30,4,614400,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.257601,-0.077810,0.934743,-0.002046,-0.740167,-0.015604,0.672239
30,4,614400,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.226471,0.047245,0.885083,0.718948,0.269267,-0.375906,0.518946
30,4,614400,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.113922,-0.029839,0.892400,0.493731,-0.576453,0.391929,0.519926
30,4,614400,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000008
30,4,614400,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.117325,-0.048428,0.871289,0.999812,-0.000134,-0.001022,0.019336
30,4,614400,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.130983,-0.035316,0.975123,0.053927,-0.786421,0.010411,0.615245
30,4,614400,16,obj,0,"003_bread_1","put 7up can on carpet",-0.157310,-0.051582,0.886326,0.792911,-0.052186,-0.057601,0.604360
30,4,614400,16,obj,1,"005_7up can_1","put 7up can on carpet",0.149803,0.237938,0.017307,0.019995,-0.497128,0.867292,0.016405
30,4,614400,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084229,0.076012,0.869490,0.999999,0.000179,0.000874,0.001071
30,4,614400,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.102615,-0.029133,0.870424,0.998599,-0.000700,-0.001159,-0.052905
30,4,614400,16,gripper,0,"","put 7up can on carpet",-0.208599,-0.063942,0.961422,0.018726,-0.697785,0.021209,0.715748
30,4,614400,17,obj,0,"003_bread_1","put 7up can on carpet",-0.069878,-0.060749,0.886541,0.158880,0.016135,-0.000165,0.987166
30,4,614400,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.194843,-0.048630,0.888125,0.803801,0.077167,-0.074123,0.585197
30,4,614400,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204422,-0.075008,0.869490,1.000000,0.000180,0.000870,-0.000520
30,4,614400,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.075001,0.870448,0.999999,-0.000922,-0.000844,0.000007
30,4,614400,17,gripper,0,"","put 7up can on carpet",-0.130236,0.083916,1.002798,0.142671,-0.733206,0.112480,0.655287
30,4,614400,18,obj,0,"003_bread_1","put 7up can on carpet",-0.244392,-0.073238,0.886928,0.052230,0.479853,-0.875688,0.013562
30,4,614400,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.295612,-0.065933,0.888303,-0.069020,-0.737979,-0.671269,0.004611
30,4,614400,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085800,0.075787,0.869490,0.999980,0.000186,0.000874,-0.006315
30,4,614400,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.233017,-0.043716,0.870460,0.999999,0.000019,-0.000158,0.001102
30,4,614400,18,gripper,0,"","put 7up can on carpet",-0.106260,0.082352,0.960206,0.007105,-0.713243,0.091481,0.694885
30,4,614400,19,obj,0,"003_bread_1","put 7up can on carpet",-0.186863,0.066612,0.884995,0.636527,0.023895,0.015001,0.770738
30,4,614400,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.184772,0.115139,0.887421,-0.701651,0.331709,-0.387720,-0.497321
30,4,614400,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.217480,0.038273,0.869490,0.996835,0.000110,0.000886,0.079489
30,4,614400,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.115009,0.075005,0.870447,0.999999,-0.000923,-0.000844,-0.000332
30,4,614400,19,gripper,0,"","put 7up can on carpet",-0.190808,0.006895,0.916920,0.186199,-0.657037,0.206473,0.700715
30,4,614400,20,obj,0,"003_bread_1","put bread on newspaper",-0.230574,-0.063255,0.886790,-0.285940,0.014128,0.004650,0.958132
30,4,614400,20,obj,1,"005_7up can_1","put bread on newspaper",-0.212419,0.005611,0.936089,0.535387,-0.378058,0.370619,0.658084
30,4,614400,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
30,4,614400,20,recep,1,"003_carpet_1","put bread on newspaper",-0.201675,-0.076843,0.870448,0.999810,-0.000938,-0.000826,-0.019468
30,4,614400,20,gripper,0,"","put bread on newspaper",-0.190117,0.006327,0.976341,0.028746,-0.717675,-0.000086,0.695785
30,4,614400,21,obj,0,"003_bread_1","put bread on newspaper",-0.253870,0.071476,0.886672,0.922922,0.004887,-0.009169,0.384847
30,4,614400,21,obj,1,"005_7up can_1","put bread on newspaper",-0.201466,-0.016788,0.888326,0.776042,0.108383,-0.106611,0.612083
30,4,614400,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.205135,-0.045002,0.869490,0.999999,0.000180,0.000878,-0.000866
30,4,614400,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235029,0.075008,0.870447,0.999991,-0.003114,-0.002735,0.000234
30,4,614400,21,gripper,0,"","put bread on newspaper",-0.203753,0.066721,1.020965,0.105663,-0.678587,0.003745,0.726871
30,4,614400,22,obj,0,"003_bread_1","put bread on newspaper",-0.190887,0.072910,0.886464,0.999875,0.005141,-0.007261,0.013033
30,4,614400,22,obj,1,"005_7up can_1","put bread on newspaper",-0.083141,-0.022472,0.888376,0.693683,-0.122083,-0.104253,-0.702162
30,4,614400,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.088318,-0.009872,0.869490,0.954291,-0.000091,0.000892,0.298879
30,4,614400,22,recep,1,"003_carpet_1","put bread on newspaper",-0.205006,0.074986,0.870452,0.999998,0.001568,0.001265,0.000213
30,4,614400,22,gripper,0,"","put bread on newspaper",-0.141716,-0.029510,0.999386,0.131367,-0.700727,0.118515,0.691142
30,4,614400,23,obj,0,"003_bread_1","put bread on newspaper",-0.294739,0.095787,0.885509,0.963173,-0.017672,-0.079119,0.256370
30,4,614400,23,obj,1,"005_7up can_1","put bread on newspaper",-0.237007,-0.084030,0.889549,-0.528520,0.445168,-0.572226,-0.441644
30,4,614400,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.205223,-0.074978,0.869490,0.999999,0.000180,0.000874,-0.000856
30,4,614400,23,recep,1,"003_carpet_1","put bread on newspaper",-0.235004,0.075001,0.870452,0.999999,-0.000928,-0.000893,0.000102
30,4,614400,23,gripper,0,"","put bread on newspaper",-0.147095,0.045151,1.022174,0.105320,-0.734724,0.108330,0.661327
30,4,614400,24,obj,0,"003_bread_1","put bread on carpet",-0.144600,0.119589,0.886592,0.858382,-0.093127,-0.062365,-0.500618
30,4,614400,24,obj,1,"005_7up can_1","put bread on carpet",-0.089005,0.109356,0.888548,0.640522,0.076447,0.073497,-0.760582
30,4,614400,24,recep,0,"004_newspaper_1","put bread on carpet",-0.204994,-0.074999,0.869490,1.000000,0.000179,0.000874,0.000110
30,4,614400,24,recep,1,"003_carpet_1","put bread on carpet",-0.111244,0.073414,0.870341,0.999818,-0.000375,-0.001785,-0.018999
30,4,614400,24,gripper,0,"","put bread on carpet",-0.196377,0.112224,0.971680,-0.084100,-0.759816,-0.040231,0.643419
30,4,614400,25,obj,0,"003_bread_1","put bread on carpet",-0.107410,-0.097174,0.887438,0.999580,0.003740,0.007634,0.027690
30,4,614400,25,obj,1,"005_7up can_1","put bread on carpet",-0.068253,-0.039030,0.888528,0.397494,-0.584643,0.555299,0.437989
30,4,614400,25,recep,0,"004_newspaper_1","put bread on carpet",-0.073494,-0.085903,0.869490,0.999880,0.000166,0.000877,0.015439
30,4,614400,25,recep,1,"003_carpet_1","put bread on carpet",-0.085007,0.075054,0.870448,0.999999,-0.000923,-0.000845,-0.000089
30,4,614400,25,gripper,0,"","put bread on carpet",-0.116165,-0.101295,0.948550,0.075637,-0.735682,0.053730,0.670942
30,4,614400,26,obj,0,"003_bread_1","put bread on carpet",-0.228325,0.088474,0.887161,0.983367,0.008193,0.002171,0.181429
30,4,614400,26,obj,1,"005_7up can_1","put bread on carpet",0.228943,0.264753,0.017210,0.232791,-0.118120,0.964818,0.031334
30,4,614400,26,recep,0,"004_newspaper_1","put bread on carpet",-0.202198,0.073233,0.869490,0.999886,0.000166,0.000876,0.015086
30,4,614400,26,recep,1,"003_carpet_1","put bread on carpet",-0.085087,0.045263,0.870448,0.999999,-0.000923,-0.000845,-0.000374
30,4,614400,26,gripper,0,"","put bread on carpet",-0.063707,0.142257,0.923446,-0.027051,-0.740047,-0.008204,0.671961
30,4,614400,27,obj,0,"003_bread_1","put bread on carpet",-0.196476,-0.084044,0.885808,0.596232,0.027536,-0.000446,0.802339
30,4,614400,27,obj,1,"005_7up can_1","put bread on carpet",-0.213764,-0.046175,0.888853,-0.708511,0.064601,-0.077870,-0.698409
30,4,614400,27,recep,0,"004_newspaper_1","put bread on carpet",-0.202644,-0.058590,0.869490,0.992637,0.000284,0.000844,-0.121126
30,4,614400,27,recep,1,"003_carpet_1","put bread on carpet",-0.107452,0.031370,0.870746,0.995933,-0.000454,0.002633,0.090052
30,4,614400,27,gripper,0,"","put bread on carpet",-0.085727,0.048073,1.020367,-0.012335,-0.678624,-0.015002,0.734229
30,4,614400,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.237240,0.059101,0.886299,0.991442,0.001272,0.002958,-0.130504
30,4,614400,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.188118,0.228720,0.885856,0.462793,0.520331,0.410359,-0.588798
30,4,614400,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235110,0.075045,0.869490,0.999999,0.000179,0.000876,0.000720
30,4,614400,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.113555,0.049210,0.870418,0.999482,-0.000717,-0.001397,0.032128
30,4,614400,28,gripper,0,"","put 7up can on newspaper",-0.198926,0.162529,0.964158,0.132733,-0.641985,0.046015,0.753737
30,4,614400,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.034805,-0.046423,0.886411,0.993782,-0.002368,-0.012680,-0.110588
30,4,614400,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.092979,-0.053186,0.888719,0.536961,0.328370,-0.231854,0.741681
30,4,614400,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084044,0.082272,0.869490,0.999999,0.000181,0.000874,-0.000949
30,4,614400,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.073071,-0.070883,0.870447,0.995816,-0.003350,-0.002437,-0.091290
30,4,614400,29,gripper,0,"","put 7up can on newspaper",-0.147640,-0.052095,0.987989,-0.009282,-0.751024,0.073489,0.656106
30,4,614400,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.111526,0.026302,0.883544,0.344681,0.012388,-0.002609,0.938635
30,4,614400,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.118725,-0.065901,0.888706,0.695392,0.196091,-0.208304,0.659233
30,4,614400,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.056343,0.085960,0.869490,0.998865,0.000138,0.000882,0.047631
30,4,614400,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115055,-0.044954,0.870462,1.000000,0.000036,-0.000159,-0.000276
30,4,614400,30,gripper,0,"","put 7up can on newspaper",-0.208933,0.023899,0.973127,0.157458,-0.645979,0.085857,0.741988
30,4,614400,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.230526,-0.056341,0.886179,0.445239,0.028038,0.003228,0.894967
30,4,614400,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.027447,0.241365,0.885849,-0.665281,-0.194313,-0.697671,0.181379
30,4,614400,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235012,-0.075045,0.869489,1.000000,0.000189,0.000886,0.000396
30,4,614400,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.092205,0.104202,0.870461,0.997103,0.000030,-0.000156,0.076061
30,4,614400,31,gripper,0,"","put 7up can on newspaper",-0.091778,0.102207,1.004633,0.141272,-0.744427,0.105893,0.643938
30,4,614400,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.239601,-0.078788,0.887529,0.345064,-0.040565,0.014929,0.937583
30,4,614400,32,obj,1,"013_banana_1","put banana on flat bowl",-0.074089,-0.062950,0.878547,0.630283,0.006775,0.011592,0.776249
30,4,614400,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,0.074994,0.871344,0.999999,-0.000157,0.001164,-0.000025
30,4,614400,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,-0.000000,0.000000,0.000000
30,4,614400,32,gripper,0,"","put banana on flat bowl",-0.055275,-0.021887,0.958437,0.029154,-0.735204,0.062341,0.674344
30,4,614400,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.220398,-0.049133,0.897195,0.993362,0.081143,-0.051668,0.063065
30,4,614400,33,obj,1,"013_banana_1","put banana on flat bowl",-0.084991,0.074559,0.878547,0.999910,0.013279,0.002053,0.000289
30,4,614400,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001164,0.000000
30,4,614400,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235020,-0.074999,0.874363,1.000000,-0.000001,0.000000,-0.000112
30,4,614400,33,gripper,0,"","put banana on flat bowl",-0.055353,0.056912,0.955920,0.177145,-0.816660,0.227390,0.499979
30,4,614400,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232647,0.090413,0.894620,0.995556,0.091577,-0.011669,0.018597
30,4,614400,34,obj,1,"013_banana_1","put banana on flat bowl",-0.204990,-0.075440,0.878547,0.999910,0.013271,0.002049,0.000284
30,4,614400,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
30,4,614400,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235004,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000004
30,4,614400,34,gripper,0,"","put banana on flat bowl",-0.182192,-0.068516,0.988588,-0.135710,-0.705683,-0.153009,0.678368
30,4,614400,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.079195,0.086784,0.887445,0.664811,-0.023367,0.022640,0.746302
30,4,614400,35,obj,1,"013_banana_1","put banana on flat bowl",-0.236345,-0.075320,0.878547,0.998166,0.013176,0.002831,0.059016
30,4,614400,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
30,4,614400,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,-0.000000
30,4,614400,35,gripper,0,"","put banana on flat bowl",-0.178041,-0.030516,1.014224,-0.142349,-0.675238,-0.120629,0.713610
30,4,614400,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088778,-0.066837,0.887455,0.996725,-0.000827,0.040335,0.070090
30,4,614400,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.084993,0.074561,0.878547,0.999909,0.013303,0.002051,0.000283
30,4,614400,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204992,-0.075005,0.871344,0.999999,-0.000158,0.001164,-0.000001
30,4,614400,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.075000,0.874362,1.000000,0.000000,-0.000001,0.000001
30,4,614400,36,gripper,0,"","put carrot on sheet metal",-0.138500,0.006498,1.046212,-0.019027,-0.739674,0.162393,0.652801
30,4,614400,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.201281,0.044554,0.887401,0.999053,0.002763,0.038252,0.020550
30,4,614400,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.228664,-0.076443,0.878547,0.974839,0.012507,0.004957,0.222503
30,4,614400,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
30,4,614400,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
30,4,614400,37,gripper,0,"","put carrot on sheet metal",-0.210110,0.053658,0.947579,-0.085184,-0.757025,0.000361,0.647810
30,4,614400,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.038403,-0.041498,0.887382,-0.044612,-0.028045,0.001474,0.998609
30,4,614400,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.240158,-0.075990,0.885867,0.196683,-0.005711,-0.179063,0.963960
30,4,614400,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.044994,0.871344,0.999999,-0.000157,0.001164,-0.000024
30,4,614400,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000000,-0.000000
30,4,614400,38,gripper,0,"","put carrot on sheet metal",-0.018635,-0.029372,0.963047,0.027829,-0.768080,0.026794,0.639188
30,4,614400,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088516,-0.068391,0.887321,0.997003,-0.007653,0.033601,0.069259
30,4,614400,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.235001,0.074567,0.878547,0.999909,0.013309,0.002046,-0.000081
30,4,614400,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.045003,0.871344,0.999999,-0.000157,0.001163,-0.000009
30,4,614400,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000000
30,4,614400,39,gripper,0,"","put carrot on sheet metal",-0.020767,0.072965,0.919963,0.205095,-0.817202,0.263841,0.469579
30,4,614400,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.211670,-0.071829,0.887538,0.907057,-0.018205,0.039430,0.418761
30,4,614400,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.084663,-0.075302,0.878547,0.924546,0.011515,0.006959,0.380834
30,4,614400,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,0.074970,0.871345,0.999999,-0.000158,0.001164,-0.000106
30,4,614400,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000368
30,4,614400,40,gripper,0,"","put carrot on flat bowl",-0.205688,-0.071334,0.960429,-0.247014,-0.717426,-0.089707,0.645164
30,4,614400,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.166737,-0.003538,0.887501,-0.522798,-0.014102,-0.005148,0.852324
30,4,614400,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.204704,0.075348,0.878547,0.384346,0.003211,0.013040,0.923091
30,4,614400,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.235653,-0.074413,0.871344,0.999985,-0.000164,0.001163,0.005399
30,4,614400,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084991,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000232
30,4,614400,41,gripper,0,"","put carrot on flat bowl",-0.045359,0.096805,0.995248,0.041133,-0.738430,0.053663,0.670932
30,4,614400,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.126011,-0.036644,0.887425,0.924178,-0.012306,0.037282,0.379939
30,4,614400,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.227726,-0.082058,0.878547,0.917925,0.011399,0.007159,0.396525
30,4,614400,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
30,4,614400,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.045000,0.874362,1.000000,0.000001,-0.000001,0.000352
30,4,614400,42,gripper,0,"","put carrot on flat bowl",-0.173223,-0.041739,1.004848,0.044014,-0.725717,0.018372,0.686339
30,4,614400,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.198446,0.076233,0.894257,0.997770,0.021915,-0.025758,0.057538
30,4,614400,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084665,0.074692,0.878547,0.924213,0.011528,0.006979,0.381640
30,4,614400,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114990,-0.075050,0.871344,0.999999,-0.000158,0.001164,-0.000138
30,4,614400,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.204992,0.075006,0.874363,1.000000,-0.000001,-0.000001,0.000303
30,4,614400,43,gripper,0,"","put carrot on flat bowl",-0.068175,0.025695,1.076394,-0.068147,-0.714262,-0.092410,0.690395
30,4,614400,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.100177,-0.097248,0.887513,0.904648,-0.009995,0.024836,0.425318
30,4,614400,44,obj,1,"013_banana_1","put banana on sheet metal",-0.234473,0.045000,0.878547,0.706517,0.007945,0.010857,0.707568
30,4,614400,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114992,0.074999,0.871344,0.999999,-0.000157,0.001164,-0.000033
30,4,614400,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000002
30,4,614400,44,gripper,0,"","put banana on sheet metal",-0.258316,0.033946,0.971121,0.066523,-0.742847,0.026698,0.665612
30,4,614400,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.237913,-0.053886,0.895549,0.991828,0.108510,0.015927,-0.065191
30,4,614400,45,obj,1,"013_banana_1","put banana on sheet metal",-0.084976,0.074558,0.878547,0.999909,0.013314,0.002044,-0.000314
30,4,614400,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204992,0.045025,0.871344,0.999999,-0.000157,0.001164,0.000035
30,4,614400,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.234833,-0.075085,0.874362,0.999996,-0.000000,-0.000000,0.002987
30,4,614400,45,gripper,0,"","put banana on sheet metal",-0.120720,0.055697,1.053179,0.072598,-0.718582,0.174464,0.669277
30,4,614400,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.097397,0.084221,0.887442,0.842071,-0.009065,0.012043,0.539155
30,4,614400,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
30,4,614400,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
30,4,614400,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
30,4,614400,46,gripper,0,"","put banana on sheet metal",-0.199575,-0.051753,0.972772,-0.017490,-0.695239,0.028865,0.717986
30,4,614400,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.279236,0.080133,0.887552,0.748069,-0.018884,0.024304,0.662907
30,4,614400,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,-0.074982,0.878547,0.708351,0.007955,0.010818,0.705732
30,4,614400,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.044989,0.871344,0.999999,-0.000157,0.001164,-0.000058
30,4,614400,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,-0.075001,0.874363,1.000000,0.000001,-0.000001,0.000378
30,4,614400,47,gripper,0,"","put banana on sheet metal",-0.053226,-0.032315,0.996666,0.045059,-0.754995,0.022356,0.653798
30,4,614400,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.158768,0.103035,0.891183,-0.260100,-0.456260,-0.753092,0.396267
30,4,614400,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.244919,0.071365,0.888401,-0.483909,-0.517844,0.458239,-0.536364
30,4,614400,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.080902,0.077511,0.872199,0.997516,0.000000,-0.000001,-0.070436
30,4,614400,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234894,0.075024,0.870871,1.000000,-0.000014,-0.000004,-0.000095
30,4,614400,48,gripper,0,"","put plastic bottle on cutting board",-0.210873,0.032452,1.032072,-0.090260,-0.694437,-0.103640,0.706306
30,4,614400,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.181656,0.076363,0.891667,0.995836,-0.018641,-0.088730,-0.009460
30,4,614400,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.072422,-0.019058,0.887026,0.401969,-0.591743,0.391827,0.578561
30,4,614400,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114281,0.050449,0.872199,0.999318,-0.000000,-0.000001,-0.036938
30,4,614400,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234993,0.075005,0.870870,1.000000,0.000033,0.000031,-0.000404
30,4,614400,49,gripper,0,"","put plastic bottle on cutting board",-0.180365,0.058035,1.000134,0.044938,-0.688412,0.220303,0.689591
30,4,614400,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.208759,-0.073963,0.894091,0.991931,0.017477,-0.027463,0.122529
30,4,614400,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.107796,-0.044273,0.888384,0.524719,0.153385,-0.832989,0.085281
30,4,614400,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205742,-0.074425,0.872199,0.999994,-0.000001,-0.000001,0.003472
30,4,614400,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000000,-0.000055
30,4,614400,50,gripper,0,"","put plastic bottle on cutting board",-0.124962,-0.045156,0.950641,-0.032324,-0.753807,-0.012620,0.656179
30,4,614400,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.071428,0.015156,0.896559,0.357766,-0.051196,-0.012113,0.932328
30,4,614400,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.125227,0.033554,0.891080,0.475695,-0.053019,-0.003449,0.878004
30,4,614400,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.075005,-0.077164,0.872199,0.985747,0.000000,-0.000001,-0.168236
30,4,614400,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.102356,0.033375,0.874453,0.998698,-0.010661,-0.028848,-0.040709
30,4,614400,51,gripper,0,"","put plastic bottle on cutting board",-0.179193,0.023865,0.985453,-0.164378,-0.665823,-0.084494,0.722855
30,4,614400,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.008182,0.016914,0.890557,0.991291,-0.026823,0.009085,0.128610
30,4,614400,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.032370,-0.025299,0.892839,0.037859,-0.631203,0.773774,0.037722
30,4,614400,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.104827,-0.090778,0.872199,0.999999,-0.000001,-0.000001,-0.001483
30,4,614400,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.006921,-0.020374,0.870921,0.909822,0.000251,-0.000544,0.414998
30,4,614400,52,gripper,0,"","put hamburger on frying pan",-0.078634,-0.020723,0.914579,-0.005920,-0.783278,-0.022397,0.621239
30,4,614400,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.083435,0.073307,0.894493,0.697687,-0.059950,-0.056996,0.711611
30,4,614400,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.090237,0.008266,0.888402,-0.320058,-0.684432,0.511086,-0.409765
30,4,614400,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085278,0.075016,0.872199,0.999995,-0.000001,-0.000001,0.003118
30,4,614400,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.082535,-0.088093,0.870870,0.998249,-0.000000,-0.000001,-0.059148
30,4,614400,53,gripper,0,"","put hamburger on frying pan",-0.106596,0.074881,1.013999,-0.037257,-0.707946,-0.008359,0.705234
30,4,614400,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.206123,0.027607,0.901662,0.915602,-0.016089,-0.025731,0.400938
30,4,614400,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.145859,-0.052334,0.889265,0.408207,-0.568498,0.603248,0.382451
30,4,614400,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.242420,-0.073009,0.872199,0.978454,0.000000,-0.000001,-0.206465
30,4,614400,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236023,0.041477,0.870870,0.999990,-0.000000,-0.000001,0.004442
30,4,614400,54,gripper,0,"","put hamburger on frying pan",-0.213379,0.026703,0.946815,0.034462,-0.777787,0.029406,0.626894
30,4,614400,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.107700,-0.113277,0.893173,-0.269899,-0.509936,-0.340781,0.742286
30,4,614400,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.130875,0.001099,0.887699,-0.061884,0.665344,0.046941,0.742485
30,4,614400,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.059845,-0.061550,0.872200,0.999705,0.000000,-0.000001,-0.024273
30,4,614400,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.091038,0.073223,0.870871,0.994350,0.000002,-0.000013,0.106155
30,4,614400,55,gripper,0,"","put hamburger on frying pan",-0.153648,-0.143127,0.913076,-0.020235,-0.721130,-0.023452,0.692107
30,4,614400,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.080276,-0.065117,0.890736,0.512351,-0.023768,-0.009333,0.858396
30,4,614400,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.030685,0.045216,0.885721,0.286452,0.637394,-0.268113,0.663166
30,4,614400,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.082970,0.089375,0.872199,0.984262,-0.000001,-0.000000,0.176717
30,4,614400,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085602,-0.079895,0.870870,0.999847,0.000000,-0.000001,0.017480
30,4,614400,56,gripper,0,"","put hamburger on cutting board",-0.124470,-0.007481,1.060474,0.005423,-0.774147,0.051867,0.630853
30,4,614400,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.166897,1.778538,0.027694,0.671473,-0.482411,-0.520871,0.212362
30,4,614400,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064388,-0.070122,0.888682,0.589773,-0.020740,0.005829,0.807282
30,4,614400,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.192032,0.076778,0.872199,0.905196,-0.000000,-0.000000,-0.424994
30,4,614400,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.084915,-0.075035,0.870884,0.999998,0.000703,0.000714,-0.001982
30,4,614400,57,gripper,0,"","put hamburger on cutting board",-0.199432,0.068907,0.933049,-0.084889,-0.691185,-0.013179,0.717553
30,4,614400,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.108295,0.073765,0.895017,0.413814,0.038342,0.013012,0.909460
30,4,614400,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.152470,0.035667,0.888242,0.723384,-0.029980,-0.688886,-0.035396
30,4,614400,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.080822,0.074436,0.872200,0.999901,-0.000001,-0.000001,0.014069
30,4,614400,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.190639,0.040272,0.870883,0.998834,0.000731,0.000839,0.048262
30,4,614400,58,gripper,0,"","put hamburger on cutting board",-0.128462,-0.020895,1.107421,0.004807,-0.770388,0.006068,0.637528
30,4,614400,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.076057,0.050900,0.934462,0.056358,0.320798,0.003398,0.945463
30,4,614400,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.135389,-0.015347,0.888942,0.389475,-0.579087,0.400392,0.593846
30,4,614400,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084976,-0.075005,0.872199,1.000000,0.000000,-0.000001,-0.000205
30,4,614400,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205143,-0.045120,0.870883,0.999999,0.000699,0.000714,0.000158
30,4,614400,59,gripper,0,"","put hamburger on cutting board",-0.097600,0.047218,0.965192,-0.017187,-0.725769,-0.058735,0.685211
30,4,614400,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.108706,0.095741,0.890788,0.914060,-0.027271,0.003852,0.404644
30,4,614400,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.192094,0.082325,0.894198,0.729845,-0.027883,-0.003953,0.683032
30,4,614400,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.206650,0.079498,0.872199,0.999959,0.000000,-0.000001,0.009087
30,4,614400,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.084565,0.077255,0.870870,0.997741,-0.000000,-0.000001,0.067185
30,4,614400,60,gripper,0,"","put plastic bottle on frying pan",-0.179776,0.047909,1.000987,0.145751,-0.690403,0.057699,0.706237
30,4,614400,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.115007,-0.075562,0.890751,0.980449,-0.024840,0.010143,0.194938
30,4,614400,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.070490,-0.045326,0.889735,0.563773,-0.414572,0.553929,0.451058
30,4,614400,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204510,0.075317,0.872199,0.999986,-0.000000,-0.000001,-0.005273
30,4,614400,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.127172,-0.053417,0.870884,0.995292,0.000766,0.000642,-0.096916
30,4,614400,61,gripper,0,"","put plastic bottle on frying pan",-0.048187,-0.046366,0.942742,0.022390,-0.771953,0.069172,0.631508
30,4,614400,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.042500,0.063339,0.896733,0.880107,-0.021336,0.028344,-0.473449
30,4,614400,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.105957,-0.070797,0.887027,0.704475,-0.010438,0.709632,-0.005373
30,4,614400,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.068970,0.044449,0.873500,0.992349,-0.005109,0.014479,-0.122506
30,4,614400,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.175213,0.076427,0.870820,0.997760,0.000690,0.000257,0.066886
30,4,614400,62,gripper,0,"","put plastic bottle on frying pan",-0.140293,0.033110,1.005302,0.179330,-0.730649,0.122864,0.647223
30,4,614400,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.160007,0.033165,0.888112,0.133123,-0.017553,-0.021220,0.990717
30,4,614400,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.144524,-0.028790,0.888399,0.553656,0.449307,-0.525405,0.464261
30,4,614400,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.211109,0.090282,0.872199,0.999725,0.000000,-0.000001,0.023444
30,4,614400,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.113022,-0.061340,0.870870,0.998312,-0.000000,0.000000,0.058076
30,4,614400,63,gripper,0,"","put plastic bottle on frying pan",-0.139389,-0.028240,0.942447,0.106324,-0.758729,0.082522,0.637350
31,1,619520,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.195381,0.065163,0.879088,0.885902,-0.016889,-0.462642,-0.029239
31,1,619520,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085991,0.075111,0.881638,0.999226,-0.004463,-0.039089,-0.000486
31,1,619520,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,-0.044998,0.869532,1.000000,0.000000,-0.000001,0.000031
31,1,619520,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234985,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000084
31,1,619520,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.182156,0.078304,0.980952,-0.077126,-0.752862,-0.077656,0.649015
31,1,619520,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.078175,-0.073563,0.885085,0.563041,0.356591,-0.295408,0.684515
31,1,619520,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235115,0.074020,0.881638,0.706836,0.024487,-0.030793,0.706282
31,1,619520,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000019
31,1,619520,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000042
31,1,619520,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.128010,-0.014400,1.036433,-0.158264,-0.782586,-0.064422,0.598633
31,1,619520,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.118797,0.041466,0.885085,0.579294,0.349364,-0.303835,0.670856
31,1,619520,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.198986,-0.078987,0.881638,0.340556,0.035254,-0.017505,0.939400
31,1,619520,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114998,0.044991,0.869532,1.000000,-0.000000,-0.000001,-0.000014
31,1,619520,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074997,0.871289,0.999999,-0.000153,-0.001020,0.000030
31,1,619520,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.230032,-0.040783,0.916276,-0.169616,-0.796090,-0.092539,0.573505
31,1,619520,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.106461,0.072784,0.879213,0.250566,0.415134,-0.866144,0.121141
31,1,619520,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.237282,0.043068,0.881638,0.933609,0.009786,-0.038128,0.356124
31,1,619520,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084362,-0.045853,0.869532,0.999878,0.000000,-0.000001,-0.015601
31,1,619520,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000010
31,1,619520,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.073695,0.036938,0.984512,-0.124973,-0.760282,-0.112893,0.627382
31,1,619520,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.197714,-0.051559,0.930553,-0.275077,0.448753,-0.352815,-0.773612
31,1,619520,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085953,0.075111,0.881638,0.999225,-0.004451,-0.039111,-0.000196
31,1,619520,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235000,0.044998,0.869532,1.000000,-0.000001,-0.000001,-0.000000
31,1,619520,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205012,-0.074982,0.871282,0.999999,-0.000451,-0.001266,-0.000102
31,1,619520,4,gripper,0,"","put ketchup bottle on cloth",-0.226060,-0.079197,0.978467,-0.169470,-0.703925,-0.262960,0.637669
31,1,619520,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.190472,0.048790,0.888498,0.670057,-0.195170,0.189997,0.690531
31,1,619520,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084406,0.074249,0.881638,0.382434,0.034428,-0.019071,0.923144
31,1,619520,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,-0.000000,-0.000000,0.000026
31,1,619520,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205294,0.045135,0.871288,0.999997,-0.000155,-0.001019,-0.002165
31,1,619520,5,gripper,0,"","put ketchup bottle on cloth",-0.125381,0.048805,1.042965,0.060471,-0.747360,0.044544,0.660161
31,1,619520,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.212589,-0.059937,0.888162,0.188196,0.686671,-0.672952,0.200500
31,1,619520,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084499,-0.068970,0.881638,0.870297,0.015332,-0.036227,0.490953
31,1,619520,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,0.044998,0.869532,1.000000,0.000000,-0.000000,0.000008
31,1,619520,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235008,-0.044960,0.871288,0.999999,-0.000155,-0.001020,-0.000134
31,1,619520,6,gripper,0,"","put ketchup bottle on cloth",-0.157696,-0.025967,1.098945,0.097509,-0.758611,0.041714,0.642854
31,1,619520,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.180115,0.075890,0.886091,0.688112,-0.128443,0.272479,0.660121
31,1,619520,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084389,-0.075737,0.881638,0.382525,0.034409,-0.019073,0.923107
31,1,619520,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000000,-0.000026
31,1,619520,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235004,0.075012,0.871288,1.000000,-0.000155,-0.001019,0.000173
31,1,619520,7,gripper,0,"","put ketchup bottle on cloth",-0.155769,0.111034,1.037228,0.057192,-0.690111,0.027639,0.720910
31,1,619520,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.205376,-0.101273,0.879675,-0.123890,0.871789,-0.276405,-0.385014
31,1,619520,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.127663,-0.064781,0.886696,0.447599,-0.009831,-0.032321,0.893596
31,1,619520,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084991,-0.075001,0.869532,1.000000,0.000002,-0.000002,0.000048
31,1,619520,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.108185,0.043705,0.871288,0.999427,-0.000120,-0.001025,0.033841
31,1,619520,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.106174,-0.117594,0.948637,-0.147871,-0.714367,-0.175707,0.661016
31,1,619520,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.201359,-0.011623,0.880168,-0.181448,-0.712256,0.640780,-0.221740
31,1,619520,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.156734,-0.053688,0.885776,0.591086,0.020708,-0.007345,0.806309
31,1,619520,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.204865,-0.075245,0.869532,0.999997,-0.000000,-0.000002,-0.002552
31,1,619520,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235016,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000086
31,1,619520,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.160900,-0.000725,0.973474,-0.154428,-0.675877,-0.110243,0.712171
31,1,619520,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.094727,0.075008,0.879089,0.886324,-0.001327,-0.463063,0.000566
31,1,619520,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.147896,-0.044655,0.884914,0.971027,-0.027366,-0.014756,-0.236940
31,1,619520,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
31,1,619520,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001019,0.000013
31,1,619520,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.207588,-0.086641,0.920469,-0.104072,-0.742020,-0.070292,0.658510
31,1,619520,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.121763,-0.077679,0.885083,0.607329,0.335762,-0.317973,0.645994
31,1,619520,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.205114,0.074055,0.881637,0.706690,0.024507,-0.030803,0.706428
31,1,619520,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.115002,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000010
31,1,619520,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001018,0.000050
31,1,619520,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.146079,-0.041121,0.977795,-0.095677,-0.735516,-0.074788,0.666535
31,1,619520,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094720,0.045010,0.879088,0.886324,-0.001289,-0.463063,0.000638
31,1,619520,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.196560,-0.021912,0.883468,0.980197,0.037270,0.049133,-0.188178
31,1,619520,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204998,0.074718,0.869532,0.999991,0.000000,-0.000001,0.004241
31,1,619520,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,-0.074993,0.871289,0.999999,-0.000154,-0.001020,-0.000015
31,1,619520,12,gripper,0,"","put kitchen shovel on cloth",-0.260315,-0.082399,0.915386,-0.112095,-0.736007,-0.032003,0.666862
31,1,619520,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.117006,-0.092888,0.879089,0.783121,0.215427,-0.409910,0.415075
31,1,619520,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.069311,-0.012245,0.881638,0.514565,0.031215,-0.023940,0.856549
31,1,619520,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.220863,0.064266,0.869546,0.984412,-0.000312,-0.000587,-0.175876
31,1,619520,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235018,-0.044956,0.871288,0.999999,-0.000153,-0.001019,0.000163
31,1,619520,13,gripper,0,"","put kitchen shovel on cloth",-0.201664,-0.030188,0.973289,-0.013950,-0.723440,-0.027106,0.689714
31,1,619520,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.201817,-0.049076,0.879089,0.295403,0.436046,-0.155864,0.835648
31,1,619520,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.071281,-0.053547,0.894383,0.694606,0.228805,-0.366838,0.574979
31,1,619520,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
31,1,619520,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.079052,-0.069183,0.871288,0.998422,-0.000211,-0.001009,-0.056142
31,1,619520,14,gripper,0,"","put kitchen shovel on cloth",-0.156691,-0.070303,0.914227,-0.271746,-0.830203,-0.169942,0.456111
31,1,619520,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.108105,0.068192,0.879089,0.338590,0.427332,-0.178403,0.819095
31,1,619520,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.082603,-0.076122,0.881638,0.375889,0.034569,-0.018832,0.925828
31,1,619520,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205002,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000002
31,1,619520,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045021,0.871288,1.000000,-0.000154,-0.001019,0.000047
31,1,619520,15,gripper,0,"","put kitchen shovel on cloth",-0.147060,0.064754,0.994012,0.066102,-0.738254,0.037187,0.670245
31,1,619520,16,obj,0,"003_bread_1","put bread on newspaper",-0.208557,-0.074787,0.886592,0.338811,0.012752,-0.000759,0.940768
31,1,619520,16,obj,1,"005_7up can_1","put bread on newspaper",-0.085167,0.063217,0.885954,0.358208,0.438932,-0.196488,0.800262
31,1,619520,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,0.044998,0.869490,1.000000,0.000180,0.000875,-0.000144
31,1,619520,16,recep,1,"003_carpet_1","put bread on newspaper",-0.204979,-0.074951,0.870448,0.999999,-0.000907,-0.000833,0.000985
31,1,619520,16,gripper,0,"","put bread on newspaper",-0.104618,0.053640,0.926527,-0.022085,-0.812788,-0.062182,0.578810
31,1,619520,17,obj,0,"003_bread_1","put bread on newspaper",-0.221531,0.013447,0.977692,0.382157,0.150785,0.033703,0.911090
31,1,619520,17,obj,1,"005_7up can_1","put bread on newspaper",-0.282505,0.221848,0.886001,-0.152393,0.802581,-0.525343,-0.238020
31,1,619520,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
31,1,619520,17,recep,1,"003_carpet_1","put bread on newspaper",-0.235008,0.075008,0.870429,0.999992,-0.003120,-0.002560,-0.000023
31,1,619520,17,gripper,0,"","put bread on newspaper",-0.211555,0.014757,1.007326,-0.083909,-0.655548,-0.124988,0.739996
31,1,619520,18,obj,0,"003_bread_1","put bread on newspaper",-0.233006,0.074860,0.887167,0.997590,0.005618,0.002088,0.069122
31,1,619520,18,obj,1,"005_7up can_1","put bread on newspaper",-0.094273,-0.074829,0.885636,0.959006,-0.005172,-0.283339,0.000780
31,1,619520,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.205025,0.075005,0.869490,1.000000,0.000180,0.000874,0.000029
31,1,619520,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
31,1,619520,18,gripper,0,"","put bread on newspaper",-0.114332,-0.094126,0.938744,-0.083678,-0.740815,-0.101266,0.658738
31,1,619520,19,obj,0,"003_bread_1","put bread on newspaper",-0.180462,-0.025867,0.883792,-0.050701,-0.197137,0.979056,-0.003990
31,1,619520,19,obj,1,"005_7up can_1","put bread on newspaper",-0.165485,-0.081543,0.886701,0.288813,-0.679176,0.612725,0.282621
31,1,619520,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.102995,-0.041840,0.869490,0.997550,0.000118,0.000887,0.069955
31,1,619520,19,recep,1,"003_carpet_1","put bread on newspaper",-0.084986,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000032
31,1,619520,19,gripper,0,"","put bread on newspaper",-0.197000,-0.090446,0.969757,-0.122166,-0.711784,-0.104899,0.683693
31,1,619520,20,obj,0,"003_bread_1","put bread on carpet",-0.070817,0.071236,0.924217,0.944016,-0.042644,-0.068938,0.319786
31,1,619520,20,obj,1,"005_7up can_1","put bread on carpet",-0.250106,0.033909,0.888867,0.736699,0.052595,-0.053293,0.672063
31,1,619520,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204997,-0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
31,1,619520,20,recep,1,"003_carpet_1","put bread on carpet",-0.235000,0.044998,0.870461,1.000000,0.000018,-0.000159,0.000005
31,1,619520,20,gripper,0,"","put bread on carpet",-0.091082,0.071299,0.953370,0.026018,-0.781471,0.010606,0.623308
31,1,619520,21,obj,0,"003_bread_1","put bread on carpet",-0.201719,0.047699,0.886269,0.274228,0.017149,-0.002202,0.961509
31,1,619520,21,obj,1,"005_7up can_1","put bread on carpet",-0.079758,0.069496,0.885626,0.371115,0.213271,-0.093832,0.898880
31,1,619520,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000006
31,1,619520,21,recep,1,"003_carpet_1","put bread on carpet",-0.235027,0.075012,0.870462,1.000000,0.000037,-0.000159,-0.000204
31,1,619520,21,gripper,0,"","put bread on carpet",-0.089709,0.057093,0.992151,-0.208705,-0.664465,-0.239318,0.676502
31,1,619520,22,obj,0,"003_bread_1","put bread on carpet",-0.115547,-0.015511,0.886386,0.656970,0.024734,0.004282,0.753499
31,1,619520,22,obj,1,"005_7up can_1","put bread on carpet",-0.107071,-0.078121,0.888556,-0.010958,0.749036,-0.660985,-0.043869
31,1,619520,22,recep,0,"004_newspaper_1","put bread on carpet",-0.115017,-0.045010,0.869490,0.999999,0.000510,0.001368,-0.000140
31,1,619520,22,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075012,0.870447,0.999999,-0.000923,-0.000845,-0.000035
31,1,619520,22,gripper,0,"","put bread on carpet",-0.124680,-0.047777,0.964907,-0.020991,-0.755799,-0.043359,0.653029
31,1,619520,23,obj,0,"003_bread_1","put bread on carpet",-0.154186,-0.015930,0.886741,0.471820,0.011458,0.000021,0.881620
31,1,619520,23,obj,1,"005_7up can_1","put bread on carpet",-0.084209,0.075062,0.885799,0.409238,0.014443,-0.007656,0.912281
31,1,619520,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
31,1,619520,23,recep,1,"003_carpet_1","put bread on carpet",-0.113655,-0.044685,0.870357,0.999961,-0.000556,-0.001816,-0.008680
31,1,619520,23,gripper,0,"","put bread on carpet",-0.096312,0.069618,0.933632,0.086721,-0.726709,0.017185,0.681232
31,1,619520,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.205788,0.075279,0.883544,0.999899,0.001746,-0.012535,-0.006428
31,1,619520,24,obj,1,"005_7up can_1","put 7up can on newspaper",0.070732,-0.250652,0.016826,0.729271,-0.158104,-0.171149,-0.643331
31,1,619520,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,-0.045000,0.869490,1.000000,0.000180,0.000874,0.000031
31,1,619520,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075020,0.870447,0.999999,-0.000923,-0.000845,-0.000029
31,1,619520,24,gripper,0,"","put 7up can on newspaper",-0.142605,0.064733,0.951750,0.064051,-0.728187,0.001826,0.682376
31,1,619520,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.194202,0.046312,0.937233,0.696872,0.017587,0.016192,0.716797
31,1,619520,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.124889,-0.026117,0.888774,0.669144,0.116156,-0.099406,0.727237
31,1,619520,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
31,1,619520,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.044992,0.870447,0.999999,-0.000923,-0.000845,0.000202
31,1,619520,25,gripper,0,"","put 7up can on newspaper",-0.191454,0.039931,0.970517,0.181453,-0.709740,0.092750,0.674345
31,1,619520,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.205879,0.075361,0.883544,0.999903,0.001756,-0.012539,-0.005787
31,1,619520,26,obj,1,"005_7up can_1","put 7up can on newspaper",0.131943,-0.041819,0.017198,-0.112091,0.298662,0.947283,0.029862
31,1,619520,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000040
31,1,619520,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000020
31,1,619520,26,gripper,0,"","put 7up can on newspaper",-0.209866,0.077189,0.914550,0.052040,-0.709750,0.054687,0.700397
31,1,619520,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.205515,-0.074892,0.883544,0.999916,0.001786,-0.012535,-0.002723
31,1,619520,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.158621,0.109627,0.887009,0.166728,0.594667,0.770398,-0.158307
31,1,619520,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205027,0.074989,0.869490,1.000000,0.000192,0.000888,-0.000037
31,1,619520,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
31,1,619520,27,gripper,0,"","put 7up can on newspaper",-0.182470,0.041116,1.018837,0.109919,-0.718119,0.057306,0.684791
31,1,619520,28,obj,0,"003_bread_1","put 7up can on carpet",-0.085189,-0.052515,0.886626,0.881043,0.008662,-0.007697,0.472893
31,1,619520,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.090502,0.069742,0.885627,0.898092,0.084415,-0.217168,0.373019
31,1,619520,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.045002,0.869489,1.000000,0.000180,0.000874,-0.000004
31,1,619520,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000016
31,1,619520,28,gripper,0,"","put 7up can on carpet",-0.097767,-0.002911,1.003021,-0.032070,-0.708439,-0.070828,0.701476
31,1,619520,29,obj,0,"003_bread_1","put 7up can on carpet",-0.085485,-0.075512,0.883544,0.924252,0.006464,-0.010889,0.381572
31,1,619520,29,obj,1,"005_7up can_1","put 7up can on carpet",-0.158318,0.121466,0.963457,-0.582690,-0.441785,0.497121,-0.467086
31,1,619520,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234989,-0.075001,0.869489,1.000000,0.000180,0.000875,0.000016
31,1,619520,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.204998,0.074997,0.870453,0.999998,0.001569,0.001265,0.000016
31,1,619520,29,gripper,0,"","put 7up can on carpet",-0.171373,0.120933,0.993758,0.087636,-0.703435,0.029831,0.704705
31,1,619520,30,obj,0,"003_bread_1","put 7up can on carpet",-0.180611,-0.055693,0.886325,0.695412,0.008482,-0.002198,0.718558
31,1,619520,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.278793,-0.073282,0.886485,-0.627443,-0.373741,-0.394693,0.557540
31,1,619520,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,0.075003,0.869490,1.000000,0.000179,0.000874,-0.000019
31,1,619520,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.203712,-0.071325,0.870373,0.999978,0.000100,-0.001024,0.006468
31,1,619520,30,gripper,0,"","put 7up can on carpet",-0.194956,-0.042927,0.945731,-0.019064,-0.739907,-0.116967,0.662188
31,1,619520,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085133,0.073652,0.883545,0.708793,0.010137,-0.007614,0.705302
31,1,619520,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.105492,-0.033655,0.888677,0.595444,0.282786,-0.227478,0.716751
31,1,619520,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000019
31,1,619520,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.114990,-0.044973,0.870447,0.999999,-0.000923,-0.000844,0.000125
31,1,619520,31,gripper,0,"","put 7up can on carpet",-0.096457,0.064350,0.924269,0.057666,-0.739125,0.000443,0.671095
31,1,619520,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.220985,-0.092616,0.887505,0.573694,-0.016533,0.014069,0.818782
31,1,619520,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234673,0.075331,0.878547,0.382194,0.003198,0.013105,0.923984
31,1,619520,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
31,1,619520,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
31,1,619520,32,gripper,0,"","put carrot on sheet metal",-0.189190,-0.071765,1.005874,-0.056344,-0.678674,0.003063,0.732269
31,1,619520,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.251644,0.072020,0.887551,0.253013,-0.022428,0.009068,0.967160
31,1,619520,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.234692,-0.074684,0.878547,0.382186,0.003191,0.013081,0.923987
31,1,619520,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
31,1,619520,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
31,1,619520,33,gripper,0,"","put carrot on sheet metal",-0.243467,0.072537,0.969316,-0.105239,-0.668606,-0.153661,0.719916
31,1,619520,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.134052,0.047906,0.887505,0.355916,-0.025489,0.010926,0.934106
31,1,619520,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.204720,-0.044687,0.878547,0.382290,0.003185,0.013055,0.923945
31,1,619520,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
31,1,619520,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
31,1,619520,34,gripper,0,"","put carrot on sheet metal",-0.105074,0.046530,0.966236,0.100406,-0.750051,0.080113,0.648787
31,1,619520,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.203548,0.050250,0.957898,0.993722,-0.067369,0.087936,0.015677
31,1,619520,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084990,-0.075438,0.878547,0.999909,0.013298,0.002058,0.000352
31,1,619520,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,0.074995,0.871344,0.999999,-0.000158,0.001164,-0.000011
31,1,619520,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
31,1,619520,35,gripper,0,"","put carrot on sheet metal",-0.197152,0.056518,0.994951,-0.087281,-0.720252,0.037457,0.687180
31,1,619520,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.117736,-0.042398,0.887260,0.914173,-0.003983,0.023346,0.404632
31,1,619520,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.204682,0.044693,0.878547,0.923623,0.011494,0.006984,0.383067
31,1,619520,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000158,0.001164,-0.000016
31,1,619520,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235000,-0.075000,0.874362,1.000000,-0.000000,-0.000000,-0.000000
31,1,619520,36,gripper,0,"","put carrot on flat bowl",-0.141953,-0.056707,0.996485,-0.001049,-0.731352,0.029585,0.681357
31,1,619520,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.098679,0.080353,0.887125,0.325357,-0.024104,-0.001926,0.945282
31,1,619520,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.234692,-0.074684,0.878547,0.382227,0.003179,0.013033,0.923971
31,1,619520,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
31,1,619520,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
31,1,619520,37,gripper,0,"","put carrot on flat bowl",-0.072469,0.072097,0.963418,0.008424,-0.780450,0.189961,0.595602
31,1,619520,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.080139,-0.095270,0.887474,0.782417,-0.010625,0.009671,0.622589
31,1,619520,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.114677,0.044692,0.878547,0.923628,0.011513,0.006995,0.383054
31,1,619520,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
31,1,619520,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
31,1,619520,38,gripper,0,"","put carrot on flat bowl",-0.077812,-0.065556,0.978680,-0.068377,-0.771095,0.000921,0.633037
31,1,619520,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.084347,0.102484,0.885867,0.457873,0.447269,0.547674,0.538846
31,1,619520,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.084694,-0.074685,0.878547,0.382196,0.003182,0.013053,0.923984
31,1,619520,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
31,1,619520,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075000,0.874362,1.000000,-0.000000,-0.000001,-0.000000
31,1,619520,39,gripper,0,"","put carrot on flat bowl",-0.073980,0.097762,0.953029,0.154903,-0.753476,0.101780,0.630809
31,1,619520,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.205414,0.076811,0.887528,0.701734,-0.030767,0.030359,0.711127
31,1,619520,40,obj,1,"013_banana_1","put banana on sheet metal",-0.234566,-0.074989,0.878546,0.707119,0.007941,0.010833,0.706967
31,1,619520,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075012,0.871344,0.999999,-0.000158,0.001164,-0.000064
31,1,619520,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000062
31,1,619520,40,gripper,0,"","put banana on sheet metal",-0.225655,-0.067622,0.953361,-0.032830,-0.694661,0.053627,0.716584
31,1,619520,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
31,1,619520,41,obj,1,"013_banana_1","put banana on sheet metal",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
31,1,619520,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
31,1,619520,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
31,1,619520,41,gripper,0,"","put banana on sheet metal",-0.195536,-0.032194,0.986272,-0.027756,-0.701997,0.025270,0.711190
31,1,619520,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087132,-0.075493,0.887478,0.743578,-0.022608,0.024504,0.667818
31,1,619520,42,obj,1,"013_banana_1","put banana on sheet metal",-0.084553,0.075010,0.878547,0.707135,0.007949,0.010846,0.706951
31,1,619520,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044996,0.871344,0.999999,-0.000158,0.001164,0.000009
31,1,619520,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000064
31,1,619520,42,gripper,0,"","put banana on sheet metal",-0.118050,0.097285,0.985522,0.035601,-0.706190,0.054745,0.705004
31,1,619520,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209829,-0.065947,0.887495,0.993374,-0.003047,0.030820,0.110671
31,1,619520,43,obj,1,"013_banana_1","put banana on sheet metal",-0.084988,-0.075438,0.878547,0.999909,0.013301,0.002043,-0.000194
31,1,619520,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114990,0.074991,0.871344,0.999999,-0.000158,0.001164,-0.000050
31,1,619520,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000001,0.000021
31,1,619520,43,gripper,0,"","put banana on sheet metal",-0.084017,-0.044147,0.958112,0.245887,-0.764618,0.207725,0.558345
31,1,619520,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087659,-0.070925,0.887482,0.996777,-0.000823,0.023800,0.076603
31,1,619520,44,obj,1,"013_banana_1","put banana on flat bowl",-0.204992,-0.045437,0.878547,0.999910,0.013284,0.002049,0.000189
31,1,619520,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
31,1,619520,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
31,1,619520,44,gripper,0,"","put banana on flat bowl",-0.069449,0.070338,1.000929,0.102003,-0.770799,-0.022373,0.628461
31,1,619520,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.087074,0.078972,0.887567,0.996709,-0.000102,0.033237,0.073935
31,1,619520,45,obj,1,"013_banana_1","put banana on flat bowl",-0.234995,0.074566,0.878547,0.999910,0.013278,0.002044,-0.000292
31,1,619520,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
31,1,619520,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000139
31,1,619520,45,gripper,0,"","put banana on flat bowl",-0.193701,0.081611,1.003882,-0.003965,-0.702260,-0.058014,0.709542
31,1,619520,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205143,0.076717,0.887529,0.706102,-0.030581,0.030548,0.706789
31,1,619520,46,obj,1,"013_banana_1","put banana on flat bowl",-0.234562,-0.074989,0.878547,0.707101,0.007995,0.010908,0.706983
31,1,619520,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
31,1,619520,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000091
31,1,619520,46,gripper,0,"","put banana on flat bowl",-0.215557,-0.054257,0.935500,0.192236,-0.668620,0.236079,0.678424
31,1,619520,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.207439,-0.040222,0.887484,0.995569,-0.001190,0.024055,0.090893
31,1,619520,47,obj,1,"013_banana_1","put banana on flat bowl",-0.234989,0.074558,0.878547,0.999909,0.013295,0.002043,-0.000400
31,1,619520,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
31,1,619520,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,0.045000,0.874363,1.000000,0.000000,-0.000000,0.000140
31,1,619520,47,gripper,0,"","put banana on flat bowl",-0.213423,0.073483,0.943200,-0.090291,-0.752886,-0.056460,0.649478
31,1,619520,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.071251,0.070759,0.888891,0.816006,0.039786,-0.009113,0.576600
31,1,619520,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215408,-0.053753,0.887026,0.650948,-0.285987,0.649533,0.269418
31,1,619520,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114998,-0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000008
31,1,619520,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204948,0.074940,0.870870,1.000000,0.000000,-0.000000,-0.000632
31,1,619520,48,gripper,0,"","put hamburger on frying pan",-0.089214,0.073547,0.914731,0.053134,-0.754413,0.063365,0.651170
31,1,619520,49,obj,0,"014_hamburger_1","put hamburger on frying pan",0.027260,3.758224,0.022398,0.313793,0.646926,0.495207,-0.487637
31,1,619520,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.251350,0.119591,0.889793,-0.047922,-0.926625,0.366096,-0.071022
31,1,619520,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
31,1,619520,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234989,-0.075012,0.870870,1.000000,0.000000,-0.000000,0.000016
31,1,619520,49,gripper,0,"","put hamburger on frying pan",-0.038296,0.016928,0.973121,-0.084924,-0.764826,-0.047173,0.636870
31,1,619520,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.074745,0.018253,0.896588,0.994280,-0.058722,-0.033365,-0.082743
31,1,619520,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.085667,-0.074215,0.887027,0.704499,-0.017149,0.709497,0.001290
31,1,619520,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000005
31,1,619520,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
31,1,619520,50,gripper,0,"","put hamburger on frying pan",-0.161156,-0.012873,0.974486,-0.064694,-0.732007,-0.019796,0.677929
31,1,619520,51,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.061520,0.038937,0.890273,0.850331,-0.060100,-0.120190,0.508802
31,1,619520,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215183,0.096291,0.887026,0.649674,-0.289034,0.648185,0.272469
31,1,619520,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
31,1,619520,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,-0.044998,0.870870,1.000000,0.000000,-0.000000,0.000001
31,1,619520,51,gripper,0,"","put hamburger on frying pan",-0.074111,0.040913,0.914661,0.027555,-0.781843,0.046512,0.621127
31,1,619520,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.081502,-0.053047,0.890713,0.582002,-0.024881,-0.007221,0.812774
31,1,619520,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.205927,0.104210,0.887026,0.496537,-0.514509,0.488839,0.499768
31,1,619520,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
31,1,619520,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085006,-0.075001,0.870870,1.000000,0.000000,-0.000001,0.000003
31,1,619520,52,gripper,0,"","put hamburger on cutting board",-0.095783,-0.026417,0.963851,-0.114998,-0.736420,-0.050382,0.664772
31,1,619520,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.106974,0.037128,0.894945,0.275584,0.666988,0.506807,0.471516
31,1,619520,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.114765,-0.035561,0.887026,0.239634,-0.672614,0.226440,0.662488
31,1,619520,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235010,-0.075005,0.872199,1.000000,0.000000,-0.000001,0.000018
31,1,619520,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.075769,0.086754,0.870870,0.998922,-0.000000,0.000002,0.046423
31,1,619520,53,gripper,0,"","put hamburger on cutting board",-0.179862,-0.060131,0.938046,-0.015945,-0.681713,-0.035299,0.730593
31,1,619520,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.181999,-0.072987,0.911314,0.114390,-0.002184,0.027049,0.993065
31,1,619520,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.085789,0.104359,0.887026,0.497316,-0.513747,0.489643,0.498989
31,1,619520,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.099632,-0.046139,0.872199,0.999958,0.000000,-0.000001,0.009139
31,1,619520,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
31,1,619520,54,gripper,0,"","put hamburger on cutting board",-0.186811,-0.065403,0.946811,-0.192629,-0.847952,-0.102309,0.483120
31,1,619520,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.057941,-0.011059,0.971211,0.996766,-0.001724,0.071552,-0.036541
31,1,619520,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.055653,0.075813,0.887027,0.704494,-0.017074,0.709503,0.001215
31,1,619520,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000404
31,1,619520,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
31,1,619520,55,gripper,0,"","put hamburger on cutting board",-0.066074,-0.010101,0.999024,-0.149916,-0.743268,-0.097001,0.644724
31,1,619520,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.217262,0.460285,0.022371,0.500502,-0.367762,0.729806,0.285713
31,1,619520,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.065811,-0.054420,0.887026,0.646936,-0.295464,0.645274,0.278921
31,1,619520,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.044998,0.872199,1.000000,0.000001,-0.000001,0.000008
31,1,619520,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.453171,-0.029205,0.055715,0.486438,0.504050,-0.513526,-0.495583
31,1,619520,56,gripper,0,"","put plastic bottle on frying pan",-0.059784,-0.050018,0.957471,0.037878,-0.767904,0.093814,0.632525
31,1,619520,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.239262,-0.037827,0.888112,0.086272,-0.016541,-0.022024,0.995891
31,1,619520,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.088490,0.021629,0.895373,0.485837,-0.525779,0.481018,0.506103
31,1,619520,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084991,0.045036,0.872199,1.000000,0.000002,-0.000009,-0.000600
31,1,619520,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.074993,0.870870,1.000000,0.000000,-0.000001,0.000016
31,1,619520,57,gripper,0,"","put plastic bottle on frying pan",-0.145184,0.066290,0.996492,0.065774,-0.737643,-0.029612,0.671327
31,1,619520,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
31,1,619520,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.141243,-0.045418,0.887026,0.246391,-0.670266,0.233302,0.660004
31,1,619520,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205002,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000005
31,1,619520,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.239010,-0.042625,0.870870,0.999926,0.000000,-0.000001,0.012193
31,1,619520,58,gripper,0,"","put plastic bottle on frying pan",-0.116812,-0.037777,0.969092,-0.223883,-0.616602,-0.294184,0.695078
31,1,619520,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.234365,-0.074074,0.888111,0.999503,-0.023145,0.014925,-0.015316
31,1,619520,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",0.207764,0.097366,0.018226,0.172774,0.683976,0.189376,-0.682981
31,1,619520,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
31,1,619520,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085001,-0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000008
31,1,619520,59,gripper,0,"","put plastic bottle on frying pan",-0.199448,0.033636,0.991672,0.136330,-0.683669,0.048832,0.715280
31,1,619520,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235952,-0.074402,0.888112,0.711870,-0.026873,-0.006030,0.701772
31,1,619520,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.090452,-0.070843,0.889706,0.419884,-0.579169,0.410212,0.565674
31,1,619520,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205000,0.044998,0.872199,1.000000,0.000000,0.000000,-0.000000
31,1,619520,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083877,-0.076202,0.870871,0.999957,-0.000000,-0.000014,-0.009235
31,1,619520,60,gripper,0,"","put plastic bottle on cutting board",-0.168872,-0.131062,0.977854,-0.147846,-0.685873,-0.269532,0.659600
31,1,619520,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085966,0.075611,0.888112,0.712718,-0.026882,-0.006001,0.700910
31,1,619520,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.189964,0.070217,0.889561,0.480023,-0.527858,0.476634,0.513580
31,1,619520,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
31,1,619520,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204510,0.045723,0.870870,1.000000,0.000006,0.000004,0.000795
31,1,619520,61,gripper,0,"","put plastic bottle on cutting board",-0.192410,0.054016,1.053343,0.009827,-0.703451,0.015096,0.710515
31,1,619520,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086105,-0.075253,0.888112,0.387303,-0.022486,-0.015901,0.921541
31,1,619520,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.167660,-0.198956,0.887026,-0.559523,0.443724,-0.553891,-0.428075
31,1,619520,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
31,1,619520,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000034
31,1,619520,62,gripper,0,"","put plastic bottle on cutting board",-0.137526,-0.042801,1.001684,0.069090,-0.699926,0.051678,0.708985
31,1,619520,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.084385,0.075966,0.888112,0.999592,-0.023256,0.014748,-0.007521
31,1,619520,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.104805,-0.080097,0.888144,0.809464,-0.047045,0.581234,0.068715
31,1,619520,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.039848,-0.039185,0.872199,0.974895,0.000000,-0.000000,0.222664
31,1,619520,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.205265,0.045250,0.870858,1.000000,0.000110,-0.000001,0.000125
31,1,619520,63,gripper,0,"","put plastic bottle on cutting board",-0.146688,-0.074959,0.917665,0.005392,-0.795630,-0.119771,0.593800
31,2,624640,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.154716,0.061043,0.878981,0.758746,-0.009355,0.651019,0.019751
31,2,624640,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.085999,0.075111,0.881638,0.999225,-0.004468,-0.039108,-0.000644
31,2,624640,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114998,-0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000060
31,2,624640,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234985,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000107
31,2,624640,0,gripper,0,"","put ketchup bottle on cloth",-0.228443,-0.089443,0.945578,-0.166297,-0.755102,-0.144960,0.617375
31,2,624640,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.078175,-0.073563,0.885085,0.563075,0.356579,-0.295428,0.684485
31,2,624640,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235115,0.074013,0.881638,0.706986,0.024482,-0.030800,0.706132
31,2,624640,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000000,0.000026
31,2,624640,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000053
31,2,624640,1,gripper,0,"","put ketchup bottle on cloth",-0.095299,-0.063576,0.986255,0.008975,-0.750537,0.014923,0.660599
31,2,624640,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.112988,0.084938,0.884978,0.614195,-0.376389,0.531151,0.446066
31,2,624640,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.197327,-0.080673,0.881638,0.401931,0.034005,-0.019798,0.914824
31,2,624640,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.118008,0.063370,0.869532,0.968635,0.000001,-0.000001,-0.248489
31,2,624640,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074997,0.871289,0.999999,-0.000154,-0.001019,0.000030
31,2,624640,2,gripper,0,"","put ketchup bottle on cloth",-0.125542,0.083897,1.039310,0.062164,-0.746751,0.077171,0.657680
31,2,624640,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.146969,-0.004951,0.879659,0.607601,-0.267054,0.226735,0.712807
31,2,624640,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.236652,0.049339,0.881641,0.940541,-0.017660,0.036077,0.337297
31,2,624640,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084362,-0.045860,0.869532,0.999879,-0.000001,-0.000000,-0.015565
31,2,624640,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205036,-0.074989,0.871282,0.999999,-0.000451,-0.001265,0.000033
31,2,624640,3,gripper,0,"","put ketchup bottle on cloth",-0.237495,-0.064831,0.953969,-0.002630,-0.722318,0.053881,0.689454
31,2,624640,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.204135,-0.056747,0.888231,-0.363540,0.547092,-0.280384,-0.699939
31,2,624640,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.085600,0.075340,0.881638,0.999221,-0.004341,-0.039128,0.002666
31,2,624640,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235000,0.044998,0.869532,1.000000,-0.000001,-0.000001,-0.000000
31,2,624640,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205012,-0.074982,0.871282,0.999999,-0.000450,-0.001265,-0.000102
31,2,624640,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.212325,0.038548,0.950696,0.083241,-0.712647,-0.047560,0.694941
31,2,624640,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191317,0.062851,0.888646,0.488537,-0.497562,0.395279,0.597928
31,2,624640,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.083969,0.072327,0.881638,0.380838,0.034442,-0.019008,0.923804
31,2,624640,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
31,2,624640,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205296,0.045151,0.871210,0.999981,-0.003918,-0.004119,-0.002250
31,2,624640,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.229074,0.056282,0.922509,-0.089629,-0.765021,-0.067671,0.634137
31,2,624640,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.199585,-0.078308,0.905141,0.230208,0.740273,-0.607294,0.173766
31,2,624640,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.109043,0.030800,0.887129,0.753001,-0.035034,0.012680,0.656964
31,2,624640,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084980,0.045105,0.869532,1.000000,-0.000001,-0.000001,0.000810
31,2,624640,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235115,-0.045029,0.871288,0.999998,-0.000152,-0.001019,0.001367
31,2,624640,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.250345,-0.082657,0.944198,-0.098120,-0.763247,-0.026675,0.638055
31,2,624640,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.180103,0.075874,0.886085,0.688123,-0.128235,0.272391,0.660186
31,2,624640,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.082321,-0.072433,0.881637,0.518367,0.031112,-0.024076,0.854253
31,2,624640,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.205002,-0.044998,0.869532,1.000000,0.000001,-0.000001,0.000001
31,2,624640,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235004,0.075012,0.871288,1.000000,-0.000154,-0.001019,0.000201
31,2,624640,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.156363,-0.090771,0.933210,-0.107962,-0.730054,-0.021237,0.674473
31,2,624640,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.064461,0.020626,0.888029,-0.080129,0.438587,-0.894202,-0.040287
31,2,624640,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.144562,-0.064629,0.884478,-0.009884,-0.175049,-0.017938,0.984347
31,2,624640,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084946,-0.075031,0.869532,1.000000,-0.000001,-0.000001,0.000805
31,2,624640,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.108185,0.043705,0.871288,0.999426,-0.000120,-0.001025,0.033864
31,2,624640,8,gripper,0,"","put kitchen shovel on cloth",-0.192345,-0.138147,0.913958,0.102794,-0.747920,0.118032,0.645072
31,2,624640,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.200890,-0.013550,0.879724,-0.153661,0.697096,-0.682452,-0.157177
31,2,624640,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.157524,-0.052647,0.885758,0.574954,0.033121,-0.015510,0.817368
31,2,624640,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.207153,-0.077423,0.869533,0.999738,0.000002,0.000000,-0.022887
31,2,624640,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000119
31,2,624640,9,gripper,0,"","put kitchen shovel on cloth",-0.217293,0.040085,0.967079,0.056031,-0.729889,0.028804,0.680656
31,2,624640,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094727,0.075008,0.879089,0.886322,-0.001327,-0.463066,0.000565
31,2,624640,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.069817,-0.086380,0.881604,0.947211,-0.018110,-0.041609,-0.317383
31,2,624640,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
31,2,624640,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.020283,-0.123947,0.871275,0.990651,-0.001025,-0.001443,-0.136413
31,2,624640,10,gripper,0,"","put kitchen shovel on cloth",-0.056074,-0.053741,0.931656,-0.103821,-0.765352,-0.055666,0.632740
31,2,624640,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.121763,-0.077694,0.885083,0.607394,0.335725,-0.317997,0.645941
31,2,624640,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.204454,0.061096,0.881638,0.667917,0.026120,-0.029455,0.743194
31,2,624640,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115002,-0.075001,0.869532,1.000000,0.000001,-0.000001,-0.000020
31,2,624640,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235012,-0.044956,0.871288,1.000000,-0.000153,-0.001018,0.000051
31,2,624640,11,gripper,0,"","put kitchen shovel on cloth",-0.104923,-0.066851,0.987471,-0.136509,-0.696619,-0.157556,0.686487
31,2,624640,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.105602,0.063580,0.941092,0.683825,0.234065,0.588169,-0.362842
31,2,624640,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.196577,-0.021965,0.883466,0.980158,0.037253,0.049158,-0.188378
31,2,624640,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.204998,0.074718,0.869532,0.999991,0.000000,-0.000001,0.004243
31,2,624640,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,-0.074993,0.871289,0.999999,-0.000154,-0.001019,-0.000015
31,2,624640,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.137773,0.048641,0.982683,-0.105062,-0.718660,-0.082124,0.682455
31,2,624640,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.222233,0.076870,0.885375,0.801063,0.056044,-0.067626,0.592101
31,2,624640,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.069309,-0.012249,0.881638,0.514718,0.031214,-0.023947,0.856457
31,2,624640,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.220858,0.064278,0.869540,0.984397,-0.000171,-0.000002,-0.175961
31,2,624640,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,-0.044956,0.871288,0.999999,-0.000154,-0.001019,0.000203
31,2,624640,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.114372,0.101557,1.111825,-0.053199,-0.645087,-0.075279,0.758529
31,2,624640,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.131969,0.023098,0.879629,-0.285927,0.630236,0.267896,0.670283
31,2,624640,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.044159,-0.042519,0.890225,0.932925,-0.086433,0.126842,0.325718
31,2,624640,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
31,2,624640,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.078991,-0.069126,0.871288,0.998392,-0.000215,-0.001009,-0.056672
31,2,624640,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.103344,-0.006086,0.934707,-0.143865,-0.781004,-0.049663,0.605697
31,2,624640,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.177803,-0.060207,0.885083,0.503201,0.379778,-0.263813,0.730041
31,2,624640,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.082603,-0.076118,0.881638,0.375816,0.034557,-0.018825,0.925858
31,2,624640,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205009,-0.074982,0.869532,1.000000,0.000000,-0.000000,0.000134
31,2,624640,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235012,0.045021,0.871288,1.000000,-0.000154,-0.001019,0.000019
31,2,624640,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.073952,0.020149,1.002619,0.109676,-0.728543,0.001274,0.676161
31,2,624640,16,obj,0,"003_bread_1","put bread on carpet",-0.208084,-0.074512,0.886653,0.340360,0.015025,-0.001576,0.940174
31,2,624640,16,obj,1,"005_7up can_1","put bread on carpet",-0.185913,0.014664,0.886964,-0.094235,-0.690161,0.714033,-0.070387
31,2,624640,16,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,0.045002,0.869490,0.999999,0.000549,0.001425,0.000076
31,2,624640,16,recep,1,"003_carpet_1","put bread on carpet",-0.204552,-0.074741,0.870448,0.999999,-0.000905,-0.000830,0.000524
31,2,624640,16,gripper,0,"","put bread on carpet",-0.101795,0.063705,0.996256,0.131862,-0.664955,0.097625,0.728640
31,2,624640,17,obj,0,"003_bread_1","put bread on carpet",-0.228775,0.017200,0.884886,0.504690,0.033965,-0.051253,0.861108
31,2,624640,17,obj,1,"005_7up can_1","put bread on carpet",-0.282505,0.221840,0.886001,-0.152367,0.802643,-0.525248,-0.238040
31,2,624640,17,recep,0,"004_newspaper_1","put bread on carpet",-0.083504,0.075054,0.869490,0.999979,0.000174,0.000875,0.006408
31,2,624640,17,recep,1,"003_carpet_1","put bread on carpet",-0.235058,0.075024,0.870461,1.000000,-0.000069,-0.000239,-0.000502
31,2,624640,17,gripper,0,"","put bread on carpet",-0.044180,0.105104,0.967980,0.036323,-0.709355,-0.065958,0.700818
31,2,624640,18,obj,0,"003_bread_1","put bread on carpet",-0.233028,0.074860,0.887167,0.997712,0.005568,0.002077,0.067345
31,2,624640,18,obj,1,"005_7up can_1","put bread on carpet",0.089497,-0.031784,0.016859,0.826791,0.161846,0.321691,-0.432131
31,2,624640,18,recep,0,"004_newspaper_1","put bread on carpet",-0.205048,0.075005,0.869490,1.000000,0.000180,0.000874,-0.000007
31,2,624640,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
31,2,624640,18,gripper,0,"","put bread on carpet",-0.087564,0.007759,0.996577,-0.110991,-0.713286,-0.228214,0.653317
31,2,624640,19,obj,0,"003_bread_1","put bread on carpet",-0.128437,-0.029205,0.887128,0.027038,-0.200693,0.975920,0.081066
31,2,624640,19,obj,1,"005_7up can_1","put bread on carpet",-0.165342,-0.083363,0.886668,0.251387,-0.721273,0.584898,0.272881
31,2,624640,19,recep,0,"004_newspaper_1","put bread on carpet",-0.102989,-0.041840,0.869490,0.997547,0.000118,0.000886,0.069991
31,2,624640,19,recep,1,"003_carpet_1","put bread on carpet",-0.084974,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000071
31,2,624640,19,gripper,0,"","put bread on carpet",-0.138526,-0.019222,1.034938,0.104444,-0.745944,0.055311,0.655438
31,2,624640,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.216482,-0.036880,0.886755,0.939132,0.012024,0.005426,0.343302
31,2,624640,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.250611,0.028961,0.888846,0.713112,0.149895,-0.159387,0.666032
31,2,624640,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204972,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000204
31,2,624640,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235000,0.044998,0.870461,1.000000,0.000019,-0.000158,0.000005
31,2,624640,20,gripper,0,"","put 7up can on newspaper",-0.007312,0.119873,0.914094,0.048776,-0.748417,0.044291,0.659947
31,2,624640,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.201725,0.047684,0.886295,0.270808,0.016779,-0.002799,0.962483
31,2,624640,21,obj,1,"005_7up can_1","put 7up can on newspaper",365.947327,-138.549576,-118.427040,0.321532,-0.498723,-0.434431,-0.677615
31,2,624640,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234985,-0.075001,0.869490,1.000000,0.000180,0.000875,-0.000019
31,2,624640,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235020,0.075012,0.870462,1.000000,0.000037,-0.000158,-0.000189
31,2,624640,21,gripper,0,"","put 7up can on newspaper",-0.203949,0.051258,0.938590,0.044453,-0.724345,0.052266,0.686015
31,2,624640,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.115509,-0.015503,0.886392,0.656140,0.024855,0.004248,0.754218
31,2,624640,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.107193,-0.077797,0.888470,-0.004803,0.749484,-0.661168,-0.033289
31,2,624640,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114971,-0.045010,0.869491,0.999999,0.000558,0.001428,-0.000324
31,2,624640,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075027,0.870447,0.999999,-0.000923,-0.000845,-0.000066
31,2,624640,22,gripper,0,"","put 7up can on newspaper",-0.211370,0.030846,0.913258,-0.038897,-0.724649,-0.041190,0.686785
31,2,624640,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.150993,-0.013367,0.886808,0.543100,0.011667,-0.002212,0.839584
31,2,624640,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.287788,0.041405,0.885966,0.127499,0.875008,-0.322472,0.337812
31,2,624640,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235008,-0.075024,0.869490,1.000000,0.000180,0.000875,0.000091
31,2,624640,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.113422,-0.044647,0.870448,0.999900,-0.000935,-0.000832,-0.014113
31,2,624640,23,gripper,0,"","put 7up can on newspaper",-0.260256,0.031639,0.973671,-0.000632,-0.690872,0.055367,0.720853
31,2,624640,24,obj,0,"003_bread_1","put 7up can on carpet",-0.138855,0.072901,0.886189,0.923443,-0.027249,-0.093169,0.371254
31,2,624640,24,obj,1,"005_7up can_1","put 7up can on carpet",0.070732,-0.250652,0.016826,0.729274,-0.158103,-0.171150,-0.643328
31,2,624640,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,-0.045000,0.869490,1.000000,0.000179,0.000874,0.000066
31,2,624640,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.085068,0.073978,0.870426,0.999997,-0.000843,-0.001375,0.001597
31,2,624640,24,gripper,0,"","put 7up can on carpet",-0.175255,0.086987,0.983776,0.071211,-0.688023,0.004169,0.722174
31,2,624640,25,obj,0,"003_bread_1","put 7up can on carpet",-0.112526,0.033949,0.883544,0.603027,0.011089,-0.006100,0.797620
31,2,624640,25,obj,1,"005_7up can_1","put 7up can on carpet",0.114006,0.012175,0.017066,0.005281,-0.807900,-0.001584,0.589294
31,2,624640,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234997,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000027
31,2,624640,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.048985,-0.079313,0.870419,0.819390,-0.001084,-0.000634,-0.573236
31,2,624640,25,gripper,0,"","put 7up can on carpet",-0.107166,0.007102,0.965181,0.084341,-0.711725,-0.017735,0.697151
31,2,624640,26,obj,0,"003_bread_1","put 7up can on carpet",-0.227085,-0.041620,0.886556,0.997341,0.002173,-0.007619,0.072441
31,2,624640,26,obj,1,"005_7up can_1","put 7up can on carpet",0.131943,-0.041821,0.017198,-0.112108,0.298081,0.947466,0.029793
31,2,624640,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.084991,0.075003,0.869490,1.000000,0.000180,0.000874,0.000058
31,2,624640,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.235016,-0.075001,0.870456,0.999999,-0.000843,-0.001046,-0.000079
31,2,624640,26,gripper,0,"","put 7up can on carpet",-0.205763,0.094054,0.917037,0.007955,-0.694128,0.037088,0.718852
31,2,624640,27,obj,0,"003_bread_1","put 7up can on carpet",-0.205515,-0.074892,0.883544,0.999916,0.001788,-0.012531,-0.002629
31,2,624640,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.083172,-0.087362,0.889019,0.094805,0.491755,0.863285,-0.062679
31,2,624640,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205553,0.074503,0.869490,0.999999,0.000181,0.000874,-0.001063
31,2,624640,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.085014,-0.074986,0.870461,1.000000,0.000018,-0.000158,-0.000046
31,2,624640,27,gripper,0,"","put 7up can on carpet",-0.188378,-0.050498,0.985136,-0.132547,-0.681557,-0.000760,0.719660
31,2,624640,28,obj,0,"003_bread_1","put bread on newspaper",-0.085189,-0.052515,0.886626,0.881043,0.008660,-0.007698,0.472894
31,2,624640,28,obj,1,"005_7up can_1","put bread on newspaper",-0.201371,0.057741,0.888356,0.648069,0.164107,-0.124256,0.733237
31,2,624640,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.205176,0.044939,0.869490,1.000000,0.000180,0.000874,0.000510
31,2,624640,28,recep,1,"003_carpet_1","put bread on newspaper",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000846,0.000016
31,2,624640,28,gripper,0,"","put bread on newspaper",-0.117505,-0.023729,0.972520,0.038292,-0.719461,-0.022031,0.693126
31,2,624640,29,obj,0,"003_bread_1","put bread on newspaper",-0.205996,-0.050779,0.885329,0.931669,0.012607,0.005384,0.363048
31,2,624640,29,obj,1,"005_7up can_1","put bread on newspaper",-0.116884,0.155949,0.941127,-0.217836,0.747477,-0.565830,-0.271410
31,2,624640,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.234932,-0.075031,0.869489,1.000000,0.000181,0.000875,-0.000186
31,2,624640,29,recep,1,"003_carpet_1","put bread on newspaper",-0.205097,0.074995,0.870461,1.000000,0.000019,-0.000159,0.000276
31,2,624640,29,gripper,0,"","put bread on newspaper",-0.143825,0.150126,0.971593,0.064456,-0.695967,-0.002618,0.715171
31,2,624640,30,obj,0,"003_bread_1","put bread on newspaper",-0.179604,-0.052362,0.886469,0.694438,0.011697,-0.003537,0.719449
31,2,624640,30,obj,1,"005_7up can_1","put bread on newspaper",-0.278576,-0.070509,0.886301,-0.659452,-0.325277,-0.343782,0.584065
31,2,624640,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000035
31,2,624640,30,recep,1,"003_carpet_1","put bread on newspaper",-0.203205,-0.069780,0.870447,0.999952,-0.000898,-0.000839,0.009682
31,2,624640,30,gripper,0,"","put bread on newspaper",-0.141031,0.098952,0.982285,0.124438,-0.703575,0.089344,0.693912
31,2,624640,31,obj,0,"003_bread_1","put bread on newspaper",-0.237755,-0.064196,0.886399,0.512576,0.026710,0.002373,0.858223
31,2,624640,31,obj,1,"005_7up can_1","put bread on newspaper",-0.105492,-0.033655,0.888677,0.595477,0.282698,-0.227423,0.716776
31,2,624640,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.235046,-0.074995,0.869489,1.000000,0.000196,0.000895,-0.000086
31,2,624640,31,recep,1,"003_carpet_1","put bread on newspaper",-0.114990,-0.044975,0.870447,0.999999,-0.000923,-0.000846,0.000200
31,2,624640,31,gripper,0,"","put bread on newspaper",-0.146645,0.078979,0.965250,0.018142,-0.721699,-0.027878,0.691408
31,2,624640,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.204605,-0.070893,0.972443,0.058392,0.105188,0.097124,0.987974
31,2,624640,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234673,0.075331,0.878547,0.382194,0.003198,0.013104,0.923984
31,2,624640,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
31,2,624640,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,0.045000,0.874363,1.000000,0.000001,-0.000000,-0.000000
31,2,624640,32,gripper,0,"","put carrot on flat bowl",-0.187614,-0.066162,0.996779,-0.066115,-0.693359,0.071705,0.713961
31,2,624640,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.219376,0.102653,0.913543,0.004193,0.000381,0.709855,0.704335
31,2,624640,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.234692,-0.074685,0.878547,0.382187,0.003182,0.013046,0.923988
31,2,624640,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
31,2,624640,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115002,-0.045000,0.874363,1.000000,0.000001,-0.000000,0.000000
31,2,624640,33,gripper,0,"","put carrot on flat bowl",-0.204674,0.099837,0.959466,0.025510,-0.758511,0.028709,0.650527
31,2,624640,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.145817,0.043830,0.887431,0.460616,-0.005216,0.005202,0.887569
31,2,624640,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.204720,-0.044687,0.878547,0.382290,0.003185,0.013055,0.923945
31,2,624640,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
31,2,624640,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874362,1.000000,0.000000,-0.000000,0.000077
31,2,624640,34,gripper,0,"","put carrot on flat bowl",-0.178232,0.040176,1.037623,0.045066,-0.776681,0.113005,0.618034
31,2,624640,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.210508,0.054678,0.887529,0.991459,-0.005323,0.042891,0.123049
31,2,624640,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084990,-0.075437,0.878547,0.999910,0.013277,0.002056,0.000352
31,2,624640,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000011
31,2,624640,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
31,2,624640,35,gripper,0,"","put carrot on flat bowl",-0.212764,0.051441,0.976707,-0.235416,-0.698545,-0.215529,0.640438
31,2,624640,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.120519,-0.039852,0.887572,0.917808,-0.017363,0.040540,0.394567
31,2,624640,36,obj,1,"013_banana_1","put banana on sheet metal",-0.204683,0.044693,0.878547,0.923623,0.011471,0.006972,0.383068
31,2,624640,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
31,2,624640,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235000,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
31,2,624640,36,gripper,0,"","put banana on sheet metal",-0.198815,0.066252,0.964740,0.050385,-0.759178,0.072271,0.644893
31,2,624640,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.100554,0.078074,0.887577,0.335934,-0.041692,0.014886,0.940844
31,2,624640,37,obj,1,"013_banana_1","put banana on sheet metal",-0.270489,0.071724,0.888086,0.138930,0.074412,-0.007373,0.987475
31,2,624640,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
31,2,624640,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000000,0.000000,-0.000000
31,2,624640,37,gripper,0,"","put banana on sheet metal",-0.252942,0.070415,0.951770,-0.038825,-0.707800,0.018287,0.705108
31,2,624640,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.081341,-0.096605,0.887560,0.787091,-0.018102,0.026243,0.616012
31,2,624640,38,obj,1,"013_banana_1","put banana on sheet metal",-0.114677,0.044692,0.878547,0.923628,0.011483,0.006979,0.383054
31,2,624640,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
31,2,624640,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
31,2,624640,38,gripper,0,"","put banana on sheet metal",-0.092501,0.036691,0.998400,0.000103,-0.718880,-0.043815,0.693752
31,2,624640,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.084419,0.102872,0.885932,0.464306,0.440680,0.552991,0.533312
31,2,624640,39,obj,1,"013_banana_1","put banana on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003190,0.013076,0.923984
31,2,624640,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000157,0.001163,0.000000
31,2,624640,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
31,2,624640,39,gripper,0,"","put banana on sheet metal",-0.068676,-0.024491,1.009504,0.048574,-0.744929,0.035213,0.664440
31,2,624640,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.205414,0.076843,0.887528,0.701636,-0.030771,0.030356,0.711223
31,2,624640,40,obj,1,"013_banana_1","put banana on flat bowl",-0.234573,-0.074965,0.878547,0.707445,0.007968,0.010855,0.706640
31,2,624640,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075026,0.871344,0.999999,-0.000158,0.001164,-0.000088
31,2,624640,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000141
31,2,624640,40,gripper,0,"","put banana on flat bowl",-0.215843,-0.051480,0.962621,0.072314,-0.747720,0.254229,0.609141
31,2,624640,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
31,2,624640,41,obj,1,"013_banana_1","put banana on flat bowl",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
31,2,624640,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
31,2,624640,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
31,2,624640,41,gripper,0,"","put banana on flat bowl",-0.225214,-0.064800,0.970218,0.153697,-0.719447,0.214588,0.642437
31,2,624640,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.090294,-0.076096,0.887388,0.750698,-0.027694,0.025866,0.659557
31,2,624640,42,obj,1,"013_banana_1","put banana on flat bowl",-0.084553,0.075014,0.878547,0.707391,0.007946,0.010833,0.706695
31,2,624640,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044992,0.871344,0.999999,-0.000158,0.001164,0.000008
31,2,624640,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000191
31,2,624640,42,gripper,0,"","put banana on flat bowl",-0.024109,0.091868,0.985815,0.185163,-0.755893,0.195283,0.596830
31,2,624640,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210682,-0.062819,0.887439,0.993998,-0.005390,0.034351,0.103724
31,2,624640,43,obj,1,"013_banana_1","put banana on flat bowl",-0.084986,-0.075441,0.878548,0.999909,0.013328,0.002040,-0.000609
31,2,624640,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114990,0.074984,0.871344,0.999999,-0.000158,0.001164,-0.000068
31,2,624640,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.045000,0.874362,1.000000,0.000000,0.000001,0.000109
31,2,624640,43,gripper,0,"","put banana on flat bowl",-0.207765,0.037604,0.960819,0.027595,-0.744418,-0.018498,0.666887
31,2,624640,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088271,-0.068090,0.887424,0.997174,-0.004087,0.031665,0.068000
31,2,624640,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.204991,-0.045437,0.878547,0.999909,0.013303,0.002049,0.000131
31,2,624640,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
31,2,624640,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
31,2,624640,44,gripper,0,"","put carrot on sheet metal",-0.042683,0.089380,0.986070,0.193160,-0.695268,0.177176,0.669253
31,2,624640,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.088974,0.079210,0.887100,0.998084,-0.006906,0.000653,0.061486
31,2,624640,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.234993,0.074564,0.878547,0.999910,0.013278,0.002039,-0.000609
31,2,624640,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
31,2,624640,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000313
31,2,624640,45,gripper,0,"","put carrot on sheet metal",-0.077135,0.084222,0.954802,-0.011495,-0.712151,-0.000450,0.701932
31,2,624640,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.190857,0.071280,0.885932,0.637602,0.623711,0.333145,0.305716
31,2,624640,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.234558,-0.074986,0.878547,0.707381,0.007999,0.010905,0.706703
31,2,624640,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001163,-0.000087
31,2,624640,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000000,-0.000000,0.000185
31,2,624640,46,gripper,0,"","put carrot on sheet metal",-0.176975,0.100006,0.944178,-0.009159,-0.697327,0.083778,0.711781
31,2,624640,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.102859,0.059145,0.895031,0.992221,0.089996,-0.031001,-0.080230
31,2,624640,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.234985,0.074554,0.878547,0.999909,0.013277,0.002035,-0.000889
31,2,624640,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
31,2,624640,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114990,0.045012,0.874363,1.000000,-0.000000,-0.000000,0.000292
31,2,624640,47,gripper,0,"","put carrot on sheet metal",-0.145090,0.013358,1.079823,0.120384,-0.708562,0.159634,0.676731
31,2,624640,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.072357,0.073124,0.888112,0.817898,-0.027501,-0.001516,0.574704
31,2,624640,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.182503,-0.037701,0.887026,0.702777,-0.065346,0.706693,0.049183
31,2,624640,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.104866,-0.040844,0.872200,0.999865,-0.000000,-0.000000,-0.016414
31,2,624640,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204948,0.074940,0.870870,1.000000,0.000000,-0.000000,-0.000633
31,2,624640,48,gripper,0,"","put hamburger on cutting board",-0.189075,-0.046272,0.963212,0.118408,-0.752092,0.068296,0.644727
31,2,624640,49,obj,0,"014_hamburger_1","put hamburger on cutting board",0.027260,3.758224,0.022398,0.313039,0.647691,0.494206,-0.488122
31,2,624640,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.228012,-0.049240,0.892345,0.018091,-0.798212,0.601247,0.032126
31,2,624640,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
31,2,624640,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.234344,-0.075214,0.870870,0.999998,0.000001,-0.000003,-0.001944
31,2,624640,49,gripper,0,"","put hamburger on cutting board",-0.075155,-0.023973,0.967146,-0.119868,-0.743989,-0.079270,0.652555
31,2,624640,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.167606,0.090694,0.890476,0.978201,-0.021863,0.020188,-0.205517
31,2,624640,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.086102,-0.071247,0.892070,0.698993,-0.073648,0.709260,-0.054178
31,2,624640,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084877,0.045204,0.872199,0.999997,-0.000001,-0.000001,0.002199
31,2,624640,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,0.075016,0.870883,1.000000,0.000684,0.000696,-0.000059
31,2,624640,50,gripper,0,"","put hamburger on cutting board",-0.089411,-0.051992,0.948229,0.078117,-0.749755,0.200917,0.625618
31,2,624640,51,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.178572,-0.020603,0.894060,-0.450507,-0.799064,-0.267983,0.294491
31,2,624640,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215183,0.096291,0.887026,0.649655,-0.289078,0.648167,0.272513
31,2,624640,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
31,2,624640,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204990,-0.044998,0.870870,1.000000,-0.000000,-0.000001,0.000013
31,2,624640,51,gripper,0,"","put hamburger on cutting board",-0.125975,-0.142996,0.989978,0.019023,-0.792799,-0.042438,0.607707
31,2,624640,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.081502,-0.053047,0.890713,0.582002,-0.024881,-0.007220,0.812774
31,2,624640,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.246428,-0.065868,0.895286,0.524090,-0.486598,0.511574,0.476281
31,2,624640,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.234994,-0.075005,0.872199,1.000000,-0.000001,-0.000001,-0.000047
31,2,624640,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085006,-0.075001,0.870870,1.000000,-0.000000,-0.000001,0.000003
31,2,624640,52,gripper,0,"","put plastic bottle on frying pan",-0.198268,-0.092815,0.994694,0.002976,-0.719060,0.003062,0.694935
31,2,624640,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.105053,0.059212,0.894543,0.526368,0.554719,0.618260,0.181601
31,2,624640,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.228395,-0.067604,0.895334,0.393840,-0.603571,0.375722,0.582602
31,2,624640,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.251949,-0.079494,0.872199,0.987681,-0.000000,-0.000001,0.156481
31,2,624640,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.076544,0.089428,0.870870,0.999638,0.000000,0.000000,0.026900
31,2,624640,53,gripper,0,"","put plastic bottle on frying pan",-0.157187,-0.041859,1.036689,-0.100840,-0.691416,-0.146862,0.700147
31,2,624640,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.182430,-0.072147,0.888112,0.160955,-0.018142,-0.020721,0.986577
31,2,624640,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.086372,-0.057716,0.894316,0.647926,-0.025354,0.003179,0.761274
31,2,624640,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.099644,-0.046150,0.872199,0.999960,0.000000,-0.000001,0.008941
31,2,624640,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
31,2,624640,54,gripper,0,"","put plastic bottle on frying pan",-0.155277,0.001314,1.035722,0.063866,-0.704608,0.068809,0.703359
31,2,624640,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.027855,-0.009266,0.888214,0.963682,0.029237,0.034624,-0.263181
31,2,624640,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.029842,0.102531,0.886092,0.949849,-0.004324,0.022028,-0.311902
31,2,624640,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235001,-0.075001,0.872199,1.000000,0.000000,-0.000000,0.000831
31,2,624640,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
31,2,624640,55,gripper,0,"","put plastic bottle on frying pan",-0.091305,0.066959,0.914505,0.083206,-0.792514,-0.022697,0.603724
31,2,624640,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.217255,0.460285,0.022371,0.500842,-0.366896,0.730241,0.285119
31,2,624640,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.213379,-0.040951,0.894293,0.668517,-0.025662,-0.001704,0.743252
31,2,624640,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234955,-0.044994,0.872199,1.000000,-0.000000,-0.000001,-0.000397
31,2,624640,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.453171,-0.029205,0.055715,0.486439,0.504050,-0.513525,-0.495584
31,2,624640,56,gripper,0,"","put plastic bottle on cutting board",-0.177464,0.001766,1.008544,-0.031676,-0.755232,-0.009665,0.654620
31,2,624640,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.239262,-0.037823,0.888112,0.087276,-0.016557,-0.022005,0.995804
31,2,624640,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.177299,0.065746,0.891816,0.498129,-0.543669,0.458317,0.496223
31,2,624640,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084953,0.045517,0.872199,0.999997,-0.000000,-0.000001,-0.002281
31,2,624640,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204182,0.074852,0.870871,0.999999,-0.000009,-0.000005,-0.001531
31,2,624640,57,gripper,0,"","put plastic bottle on cutting board",-0.106909,0.019991,1.056770,0.091640,-0.723680,0.143016,0.668906
31,2,624640,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.092007,0.056778,0.888112,0.587177,-0.025522,-0.010359,0.808990
31,2,624640,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.175903,-0.037205,0.887038,0.064579,-0.704294,0.050076,0.705190
31,2,624640,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.205002,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000011
31,2,624640,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.255074,-0.038692,0.870883,0.998720,0.000735,0.000676,-0.050565
31,2,624640,58,gripper,0,"","put plastic bottle on cutting board",-0.117287,0.040989,0.955691,0.064831,-0.779831,0.041166,0.621261
31,2,624640,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.082718,-0.046741,0.890490,0.988544,-0.027546,0.012113,0.147904
31,2,624640,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",0.207764,0.097366,0.018226,0.172781,0.683974,0.189383,-0.682979
31,2,624640,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,0.075001,0.872199,1.000000,-0.000001,-0.000001,0.000002
31,2,624640,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.084984,-0.074913,0.870870,1.000000,0.000000,-0.000000,-0.000350
31,2,624640,59,gripper,0,"","put plastic bottle on cutting board",-0.159307,-0.064707,0.967774,0.021055,-0.740673,0.031405,0.670801
31,2,624640,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.212939,0.049194,0.893854,0.772756,0.061688,0.031675,0.630904
31,2,624640,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.090445,-0.070847,0.889705,0.419966,-0.579132,0.410265,0.565612
31,2,624640,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,0.044998,0.872199,1.000000,-0.000001,-0.000000,-0.000000
31,2,624640,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083877,-0.076202,0.870871,0.999957,-0.000000,-0.000012,-0.009235
31,2,624640,60,gripper,0,"","put hamburger on frying pan",-0.103483,-0.008110,1.027569,0.025399,-0.727404,0.027541,0.685186
31,2,624640,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.199524,-0.058006,0.896476,0.553749,-0.025169,-0.013714,0.832190
31,2,624640,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.189705,0.070202,0.889563,0.479846,-0.528028,0.476426,0.513764
31,2,624640,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235006,-0.075001,0.872199,1.000000,-0.000012,-0.000001,0.000277
31,2,624640,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204155,0.045723,0.870870,0.999999,-0.000001,-0.000002,0.001646
31,2,624640,61,gripper,0,"","put hamburger on frying pan",-0.128932,0.062855,0.980279,-0.051990,-0.711840,-0.105235,0.692464
31,2,624640,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.082489,0.086044,0.960779,0.668961,0.057235,0.069999,0.737778
31,2,624640,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.167660,-0.198956,0.887026,-0.559523,0.443724,-0.553891,-0.428075
31,2,624640,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000001
31,2,624640,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000060
31,2,624640,62,gripper,0,"","put hamburger on frying pan",-0.090042,0.088812,1.006710,0.027322,-0.731089,0.061570,0.678949
31,2,624640,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.039829,0.055859,0.890359,0.971206,0.029870,0.018443,0.235641
31,2,624640,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.102448,-0.079201,0.887662,0.774837,-0.051567,0.627089,0.061063
31,2,624640,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.033966,-0.052864,0.872199,0.974755,-0.000001,-0.000001,0.223277
31,2,624640,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.205265,0.045250,0.870858,1.000000,0.000110,-0.000001,0.000107
31,2,624640,63,gripper,0,"","put hamburger on frying pan",-0.058884,0.048847,0.915763,-0.055519,-0.764113,-0.119329,0.631514
31,3,629760,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.154716,0.061043,0.878981,0.758729,-0.009353,0.651039,0.019750
31,3,629760,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",0.003708,-0.030350,0.880081,0.794316,-0.004927,0.015768,0.607280
31,3,629760,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.114937,-0.054993,0.869532,0.985834,0.000001,-0.000002,-0.167726
31,3,629760,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234985,-0.074974,0.871288,0.999999,-0.000154,-0.001019,0.000128
31,3,629760,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.028641,-0.022747,0.918141,0.055709,-0.763030,0.052164,0.641842
31,3,629760,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.069397,-0.109741,0.885784,-0.248441,0.697847,-0.609619,-0.282227
31,3,629760,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.127304,-0.051613,0.886896,0.620288,-0.065486,0.008898,0.781585
31,3,629760,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.079857,-0.078209,0.869532,0.999860,0.000000,-0.000001,-0.016729
31,3,629760,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000063
31,3,629760,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.200546,-0.066525,0.913718,-0.109824,-0.715591,-0.058768,0.687324
31,3,629760,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.113892,0.084808,0.884978,0.612648,-0.378189,0.530013,0.448019
31,3,629760,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.110477,0.034302,0.879175,0.060430,0.715559,-0.690316,-0.088242
31,3,629760,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.118141,0.063393,0.869532,0.968384,0.000001,-0.000002,-0.249464
31,3,629760,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.082516,-0.072380,0.871289,0.999693,-0.000179,-0.001015,-0.024759
31,3,629760,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.258743,0.014431,0.970564,-0.087020,-0.728565,-0.082381,0.674414
31,3,629760,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.047466,-0.048088,0.879389,0.625541,-0.205615,0.183555,0.729882
31,3,629760,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.020962,-0.018555,0.887280,0.676994,-0.176668,0.124640,0.703514
31,3,629760,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.021294,-0.108353,0.869590,0.983149,-0.000267,0.000946,-0.182800
31,3,629760,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.141520,-0.095634,0.871288,0.938713,-0.000500,-0.000903,-0.344699
31,3,629760,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.078255,-0.009785,0.906312,-0.207095,-0.915748,0.089255,0.332491
31,3,629760,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.205346,-0.055199,0.888122,-0.344642,0.585532,-0.313989,-0.663163
31,3,629760,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.172260,-0.019203,0.885971,0.779014,-0.062630,0.093161,0.616876
31,3,629760,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.224426,0.044518,0.869532,0.982200,0.000000,-0.000001,0.187839
31,3,629760,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205012,-0.074982,0.871282,0.999999,-0.000449,-0.001264,-0.000102
31,3,629760,4,gripper,0,"","put kitchen shovel on cloth",-0.165341,-0.023575,0.987954,0.070245,-0.630415,0.119646,0.763759
31,3,629760,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.191267,0.063507,0.887691,0.467716,-0.505929,0.419307,0.591151
31,3,629760,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.073702,0.061127,0.881639,0.276321,0.036352,-0.015087,0.960259
31,3,629760,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000001,-0.000000,0.000036
31,3,629760,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205273,0.045158,0.871210,0.999981,-0.003918,-0.004119,-0.002300
31,3,629760,5,gripper,0,"","put kitchen shovel on cloth",-0.089581,0.043060,0.938309,0.004592,-0.747404,-0.021566,0.664004
31,3,629760,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.193527,-0.132767,0.879125,-0.423993,-0.574425,0.517866,-0.471254
31,3,629760,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.109180,0.031090,0.887132,0.769850,-0.033764,0.012523,0.637208
31,3,629760,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084980,0.045105,0.869532,1.000000,0.000002,-0.000001,0.000784
31,3,629760,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235115,-0.045029,0.871288,0.999998,-0.000152,-0.001019,0.001391
31,3,629760,6,gripper,0,"","put kitchen shovel on cloth",-0.126726,0.062042,0.995553,0.104521,-0.696564,0.094513,0.703520
31,3,629760,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.180103,0.075882,0.886085,0.687880,-0.128295,0.272319,0.660457
31,3,629760,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.093861,-0.014793,0.881638,0.363000,0.034824,-0.018348,0.930957
31,3,629760,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.204975,-0.044952,0.869532,0.999999,0.000001,-0.000000,0.001190
31,3,629760,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.235004,0.075012,0.871288,0.999999,-0.000153,-0.001019,0.000234
31,3,629760,7,gripper,0,"","put kitchen shovel on cloth",-0.196251,-0.005501,0.969905,-0.049146,-0.733491,-0.063344,0.674954
31,3,629760,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.062233,-0.008785,0.881884,-0.797726,-0.257347,0.464431,-0.285849
31,3,629760,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.150070,-0.066376,0.881643,-0.097916,0.036540,-0.000870,0.994523
31,3,629760,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084648,-0.075413,0.869532,0.999995,0.000000,-0.000000,-0.003173
31,3,629760,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.092247,0.046944,0.871288,0.997711,-0.000085,-0.001027,0.067619
31,3,629760,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.112858,-0.084072,0.982008,-0.130293,-0.701201,-0.093644,0.694673
31,3,629760,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.201683,-0.014053,0.879269,-0.048981,0.779993,-0.620973,-0.060038
31,3,629760,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.138981,-0.028500,0.883884,0.574204,0.021449,0.024565,0.818063
31,3,629760,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.209248,-0.080822,0.869532,0.999892,-0.000000,-0.000000,0.014722
31,3,629760,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235016,0.045013,0.871288,0.999999,-0.000154,-0.001019,0.000130
31,3,629760,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.155075,-0.035381,0.917438,-0.183825,-0.765170,-0.088350,0.610670
31,3,629760,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",0.299667,-0.249855,0.010288,-0.572526,-0.352444,0.300358,-0.676596
31,3,629760,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.069695,-0.086483,0.881638,0.947467,-0.016641,-0.035684,-0.317421
31,3,629760,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000036
31,3,629760,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.020283,-0.123947,0.871274,0.990655,-0.001024,-0.001442,-0.136382
31,3,629760,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.103064,0.019352,0.978995,0.110430,-0.759066,-0.007467,0.641536
31,3,629760,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.121748,-0.077869,0.885085,0.606396,0.336442,-0.317717,0.646642
31,3,629760,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.178095,-0.067532,0.893960,0.505834,-0.385789,0.172947,0.751923
31,3,629760,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.114988,-0.075008,0.869532,1.000000,-0.000000,0.000001,0.000035
31,3,629760,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234987,-0.044960,0.871288,1.000000,-0.000154,-0.001019,0.000039
31,3,629760,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.152425,-0.095549,1.000214,-0.114918,-0.755126,-0.105762,0.636704
31,3,629760,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",1.146024,0.807579,0.010182,-0.679461,-0.296940,-0.579430,0.338261
31,3,629760,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.189738,-0.025860,0.881638,0.954252,-0.015841,-0.036006,-0.296404
31,3,629760,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204289,0.069908,0.869532,0.996504,0.000000,-0.000001,0.083546
31,3,629760,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,-0.074993,0.871289,0.999999,-0.000154,-0.001020,-0.000015
31,3,629760,12,gripper,0,"","put ketchup bottle on cloth",-0.188457,-0.049334,0.983669,-0.020967,-0.747771,-0.067515,0.660183
31,3,629760,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.222242,0.076828,0.885375,0.801200,0.055971,-0.067540,0.591933
31,3,629760,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.097107,-0.021336,0.904934,0.676536,0.015968,-0.037815,0.735264
31,3,629760,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.220858,0.064278,0.869540,0.984393,-0.000171,-0.000003,-0.175983
31,3,629760,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,-0.044956,0.871288,1.000000,-0.000154,-0.001019,0.000204
31,3,629760,13,gripper,0,"","put ketchup bottle on cloth",-0.136177,-0.027145,0.937637,0.009797,-0.824785,-0.054033,0.562773
31,3,629760,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.148815,0.028049,0.920684,-0.089612,-0.484505,-0.869343,0.038313
31,3,629760,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.028904,-0.051849,0.889437,0.950347,-0.042555,0.059731,0.302428
31,3,629760,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235207,0.075146,0.869532,0.999996,0.000000,-0.000001,0.002833
31,3,629760,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.060463,-0.078930,0.871288,0.999528,-0.000186,-0.001014,-0.030706
31,3,629760,14,gripper,0,"","put ketchup bottle on cloth",-0.159813,0.026239,0.956172,-0.227465,-0.734952,-0.166278,0.616812
31,3,629760,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.177052,-0.061768,0.885085,0.474687,0.390189,-0.249376,0.748490
31,3,629760,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.086716,-0.070343,0.881638,0.339752,0.035251,-0.017472,0.939692
31,3,629760,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.204994,-0.074997,0.869532,1.000000,-0.000000,-0.000001,-0.000462
31,3,629760,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235012,0.045021,0.871288,0.999999,-0.000154,-0.001019,-0.000004
31,3,629760,15,gripper,0,"","put ketchup bottle on cloth",-0.186085,-0.067888,0.952650,-0.135122,-0.740931,-0.097244,0.650620
31,3,629760,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.208084,-0.074528,0.886653,0.341709,0.015024,-0.001597,0.939684
31,3,629760,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.185921,0.014591,0.886964,-0.092586,-0.700300,0.704242,-0.071068
31,3,629760,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234993,0.045017,0.869490,0.999999,0.000551,0.001433,0.000657
31,3,629760,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.204552,-0.074757,0.870448,0.999999,-0.000908,-0.000833,0.000596
31,3,629760,16,gripper,0,"","put 7up can on newspaper",-0.141922,0.036812,1.001338,-0.038195,-0.690468,-0.028864,0.721777
31,3,629760,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.219044,0.065948,0.886569,0.566983,0.015185,-0.003769,0.823581
31,3,629760,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.282505,0.221832,0.886001,-0.152329,0.802712,-0.525149,-0.238048
31,3,629760,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.083508,0.075054,0.869490,0.999979,0.000174,0.000876,0.006414
31,3,629760,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.224998,0.076359,0.870461,0.998699,-0.000064,-0.000248,0.050992
31,3,629760,17,gripper,0,"","put 7up can on newspaper",-0.137346,0.024944,0.981158,0.094525,-0.733924,0.119337,0.661951
31,3,629760,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.232933,0.074825,0.887186,0.997670,0.006994,0.005400,0.067650
31,3,629760,18,obj,1,"005_7up can_1","put 7up can on newspaper",0.089493,-0.031776,0.016859,0.826991,0.161697,0.321767,-0.431748
31,3,629760,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205048,0.075005,0.869490,1.000000,0.000180,0.000874,-0.000003
31,3,629760,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
31,3,629760,18,gripper,0,"","put 7up can on newspaper",-0.087055,-0.039158,1.035567,-0.151653,-0.715383,-0.072939,0.678166
31,3,629760,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.127768,-0.029217,0.887107,0.029357,-0.169713,0.981872,0.079140
31,3,629760,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.165342,-0.083359,0.886663,0.251019,-0.721608,0.584651,0.272864
31,3,629760,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.102982,-0.041840,0.869490,0.997542,0.000118,0.000887,0.070060
31,3,629760,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084963,0.075005,0.870448,0.999999,-0.000923,-0.000845,-0.000109
31,3,629760,19,gripper,0,"","put 7up can on newspaper",-0.161153,-0.045044,0.990955,-0.076719,-0.708284,-0.044856,0.700311
31,3,629760,20,obj,0,"003_bread_1","put 7up can on carpet",-0.216482,-0.036880,0.886755,0.939132,0.012024,0.005426,0.343302
31,3,629760,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.250807,0.026756,0.888814,0.700882,0.194513,-0.209840,0.653373
31,3,629760,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204972,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000204
31,3,629760,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.235000,0.044998,0.870461,1.000000,0.000019,-0.000158,0.000005
31,3,629760,20,gripper,0,"","put 7up can on carpet",-0.182646,0.109299,1.014782,-0.016259,-0.663164,0.029589,0.747712
31,3,629760,21,obj,0,"003_bread_1","put 7up can on carpet",-0.201725,0.047695,0.886269,0.267595,0.017156,-0.002146,0.963376
31,3,629760,21,obj,1,"005_7up can_1","put 7up can on carpet",365.947327,-138.549576,-1390.065063,0.321532,-0.498723,-0.434431,-0.677615
31,3,629760,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234983,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000001
31,3,629760,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.235012,0.075012,0.870462,1.000000,0.000037,-0.000158,-0.000160
31,3,629760,21,gripper,0,"","put 7up can on carpet",-0.216605,-0.072376,0.996534,-0.046145,-0.633630,0.079627,0.768143
31,3,629760,22,obj,0,"003_bread_1","put 7up can on carpet",-0.115498,-0.015476,0.886390,0.655859,0.024402,0.005079,0.754472
31,3,629760,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.107132,-0.078011,0.888514,-0.008199,0.748494,-0.661995,-0.038100
31,3,629760,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114964,-0.045013,0.869489,0.999999,0.000540,0.001418,-0.000362
31,3,629760,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075043,0.870447,0.999999,-0.000923,-0.000845,-0.000102
31,3,629760,22,gripper,0,"","put 7up can on carpet",-0.164240,0.012089,0.979523,0.033006,-0.714082,0.028070,0.698720
31,3,629760,23,obj,0,"003_bread_1","put 7up can on carpet",-0.146530,-0.010693,0.886808,0.651061,0.012189,-0.004096,0.758917
31,3,629760,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.291779,0.039745,0.885903,0.206917,0.787164,-0.391515,0.429272
31,3,629760,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235008,-0.075024,0.869490,1.000000,0.000180,0.000875,0.000104
31,3,629760,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.113346,-0.044678,0.870448,0.999850,-0.000938,-0.000834,-0.017277
31,3,629760,23,gripper,0,"","put 7up can on carpet",-0.269148,0.041758,0.983896,-0.038591,-0.630363,0.001542,0.775339
31,3,629760,24,obj,0,"003_bread_1","put bread on newspaper",-0.217819,-0.025583,0.885747,0.793489,0.019876,0.004979,0.608240
31,3,629760,24,obj,1,"005_7up can_1","put bread on newspaper",0.070732,-0.250652,0.016826,0.729263,-0.158110,-0.171152,-0.643338
31,3,629760,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.234993,-0.045000,0.869490,1.000000,0.000179,0.000874,0.000047
31,3,629760,24,recep,1,"003_carpet_1","put bread on newspaper",-0.083481,0.071127,0.870461,0.999862,0.000021,-0.000158,0.016607
31,3,629760,24,gripper,0,"","put bread on newspaper",-0.067322,0.037753,0.957858,0.040644,-0.771890,-0.091278,0.627855
31,3,629760,25,obj,0,"003_bread_1","put bread on newspaper",-0.190197,-0.062916,0.884504,0.606647,0.029379,0.014781,0.794291
31,3,629760,25,obj,1,"005_7up can_1","put bread on newspaper",0.114006,0.012175,0.017066,0.005256,-0.807900,-0.001618,0.589294
31,3,629760,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.235008,-0.074982,0.869490,1.000000,0.000180,0.000875,0.000254
31,3,629760,25,recep,1,"003_carpet_1","put bread on newspaper",-0.048985,-0.081001,0.870352,0.818953,-0.000617,-0.001078,-0.573859
31,3,629760,25,gripper,0,"","put bread on newspaper",-0.196522,0.083290,0.982177,-0.033788,-0.723852,0.014193,0.688981
31,3,629760,26,obj,0,"003_bread_1","put bread on newspaper",-0.227085,-0.041622,0.886556,0.997339,0.002175,-0.007620,0.072465
31,3,629760,26,obj,1,"005_7up can_1","put bread on newspaper",0.131943,-0.041819,0.017198,-0.112126,0.297500,0.947649,0.029724
31,3,629760,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.084991,0.075003,0.869490,1.000000,0.000179,0.000874,0.000076
31,3,629760,26,recep,1,"003_carpet_1","put bread on newspaper",-0.235016,-0.075001,0.870456,0.999999,-0.000844,-0.001046,-0.000200
31,3,629760,26,gripper,0,"","put bread on newspaper",-0.093992,0.073947,0.978479,0.067308,-0.747878,0.015552,0.660232
31,3,629760,27,obj,0,"003_bread_1","put bread on newspaper",-0.218454,0.074022,0.886723,0.997535,0.006290,0.004731,0.069723
31,3,629760,27,obj,1,"005_7up can_1","put bread on newspaper",-0.083160,-0.087542,0.889019,0.094797,0.489507,0.864588,-0.062315
31,3,629760,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.205551,0.074501,0.869490,0.999999,0.000181,0.000875,-0.001114
31,3,629760,27,recep,1,"003_carpet_1","put bread on newspaper",-0.085014,-0.074989,0.870461,1.000000,0.000019,-0.000158,-0.000022
31,3,629760,27,gripper,0,"","put bread on newspaper",-0.159873,0.032752,1.011867,0.127236,-0.672485,0.104685,0.721537
31,3,629760,28,obj,0,"003_bread_1","put bread on carpet",-0.085189,-0.052515,0.886626,0.881043,0.008662,-0.007710,0.472894
31,3,629760,28,obj,1,"005_7up can_1","put bread on carpet",-0.200339,0.051825,0.888318,0.615958,0.290598,-0.227842,0.695871
31,3,629760,28,recep,0,"004_newspaper_1","put bread on carpet",-0.205177,0.044937,0.869490,0.999999,0.000182,0.000879,0.000518
31,3,629760,28,recep,1,"003_carpet_1","put bread on carpet",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000016
31,3,629760,28,gripper,0,"","put bread on carpet",-0.144086,0.077056,1.052655,0.062191,-0.690463,0.058428,0.718317
31,3,629760,29,obj,0,"003_bread_1","put bread on carpet",-0.206142,-0.050785,0.885478,0.932306,0.010979,-0.000225,0.361503
31,3,629760,29,obj,1,"005_7up can_1","put bread on carpet",-0.121395,0.145315,0.885930,-0.322167,0.667594,-0.531725,-0.409629
31,3,629760,29,recep,0,"004_newspaper_1","put bread on carpet",-0.234867,-0.075031,0.869489,1.000000,0.000180,0.000875,-0.000216
31,3,629760,29,recep,1,"003_carpet_1","put bread on carpet",-0.205097,0.074999,0.870461,1.000000,0.000019,-0.000158,0.000293
31,3,629760,29,gripper,0,"","put bread on carpet",-0.126937,0.146667,0.916288,-0.004401,-0.777861,-0.067471,0.624789
31,3,629760,30,obj,0,"003_bread_1","put bread on carpet",-0.179604,-0.052362,0.886469,0.694805,0.011690,-0.003542,0.719094
31,3,629760,30,obj,1,"005_7up can_1","put bread on carpet",-0.278576,-0.070507,0.886301,-0.659552,-0.325221,-0.343836,0.583951
31,3,629760,30,recep,0,"004_newspaper_1","put bread on carpet",-0.235001,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000059
31,3,629760,30,recep,1,"003_carpet_1","put bread on carpet",-0.203205,-0.069780,0.870447,0.999951,-0.000898,-0.000840,0.009802
31,3,629760,30,gripper,0,"","put bread on carpet",-0.117702,0.094971,1.007101,0.144797,-0.675290,0.120002,0.713174
31,3,629760,31,obj,0,"003_bread_1","put bread on carpet",-0.237755,-0.064198,0.886400,0.514230,0.026707,0.002330,0.857233
31,3,629760,31,obj,1,"005_7up can_1","put bread on carpet",-0.105488,-0.033657,0.888677,0.595393,0.282809,-0.227447,0.716794
31,3,629760,31,recep,0,"004_newspaper_1","put bread on carpet",-0.235046,-0.074999,0.869489,1.000000,0.000189,0.000885,-0.000421
31,3,629760,31,recep,1,"003_carpet_1","put bread on carpet",-0.114990,-0.044975,0.870447,0.999999,-0.000910,-0.000833,0.000280
31,3,629760,31,gripper,0,"","put bread on carpet",-0.149351,0.036710,1.013778,0.053936,-0.711635,0.062143,0.697714
31,3,629760,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.213257,-0.073250,0.887471,0.095917,-0.032464,0.003699,0.994853
31,3,629760,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234673,0.075331,0.878547,0.382194,0.003201,0.013111,0.923984
31,3,629760,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084999,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000025
31,3,629760,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,0.045000,0.874363,1.000000,0.000001,0.000000,-0.000000
31,3,629760,32,gripper,0,"","put banana on sheet metal",-0.119598,0.096061,1.031681,0.093660,-0.740328,0.041891,0.664370
31,3,629760,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.217903,0.101295,0.885931,0.009884,-0.020864,0.706797,0.707040
31,3,629760,33,obj,1,"013_banana_1","put banana on sheet metal",-0.127487,-0.048313,0.885472,0.085845,0.053387,-0.891321,0.441959
31,3,629760,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
31,3,629760,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115002,-0.045000,0.874363,1.000000,0.000000,0.000000,0.000000
31,3,629760,33,gripper,0,"","put banana on sheet metal",-0.074528,-0.040468,1.025837,0.049226,-0.742333,0.000834,0.668220
31,3,629760,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.155495,0.041178,0.887205,0.584647,-0.029681,0.011019,0.810670
31,3,629760,34,obj,1,"013_banana_1","put banana on sheet metal",-0.205162,-0.044001,0.878547,0.376344,0.003114,0.013100,0.926382
31,3,629760,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
31,3,629760,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075003,0.874362,1.000000,0.000001,-0.000000,0.000208
31,3,629760,34,gripper,0,"","put banana on sheet metal",-0.162939,-0.043739,0.932455,0.021255,-0.746525,0.039236,0.663859
31,3,629760,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.210508,0.054678,0.887529,0.991459,-0.005323,0.042891,0.123048
31,3,629760,35,obj,1,"013_banana_1","put banana on sheet metal",-0.084990,-0.075437,0.878546,0.999910,0.013257,0.002054,0.000352
31,3,629760,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.114994,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000011
31,3,629760,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205000,-0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000001
31,3,629760,35,gripper,0,"","put banana on sheet metal",-0.078525,-0.057385,1.006611,-0.030461,-0.737460,-0.071228,0.670934
31,3,629760,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.122984,-0.039239,0.887272,0.922370,-0.015514,0.022096,0.385362
31,3,629760,36,obj,1,"013_banana_1","put banana on flat bowl",-0.205821,0.042908,0.879292,0.936413,-0.052184,0.000157,0.346999
31,3,629760,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
31,3,629760,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235000,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
31,3,629760,36,gripper,0,"","put banana on flat bowl",-0.191338,0.056663,0.929332,-0.059855,-0.793789,-0.016217,0.605023
31,3,629760,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.102240,0.073990,0.887358,0.351155,-0.032615,0.017140,0.935592
31,3,629760,37,obj,1,"013_banana_1","put banana on flat bowl",-0.270573,0.072078,0.887939,0.137752,0.068008,0.013534,0.988037
31,3,629760,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,-0.045005,0.871344,0.999999,-0.000157,0.001164,-0.000011
31,3,629760,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
31,3,629760,37,gripper,0,"","put banana on flat bowl",-0.073067,-0.002574,0.945212,0.077088,-0.749233,-0.023440,0.657388
31,3,629760,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.082722,-0.096915,0.887458,0.792188,-0.019177,0.026590,0.609396
31,3,629760,38,obj,1,"013_banana_1","put banana on flat bowl",-0.114677,0.044692,0.878547,0.923628,0.011480,0.006977,0.383054
31,3,629760,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.074999,0.871344,0.999999,-0.000157,0.001164,0.000000
31,3,629760,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
31,3,629760,38,gripper,0,"","put banana on flat bowl",-0.097265,0.075767,0.990127,-0.118873,-0.691637,-0.123215,0.701659
31,3,629760,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.084423,0.102872,0.885932,0.464307,0.440685,0.552986,0.533312
31,3,629760,39,obj,1,"013_banana_1","put banana on flat bowl",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013082,0.923984
31,3,629760,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001163,0.000000
31,3,629760,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
31,3,629760,39,gripper,0,"","put banana on flat bowl",-0.058796,-0.053045,0.954085,-0.149892,-0.709584,-0.061810,0.685713
31,3,629760,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208351,0.075670,0.887529,0.679373,-0.031693,0.029394,0.732518
31,3,629760,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.234573,-0.074961,0.878547,0.707845,0.007975,0.010851,0.706240
31,3,629760,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084999,-0.075041,0.871344,0.999999,-0.000157,0.001164,-0.000123
31,3,629760,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000220
31,3,629760,40,gripper,0,"","put carrot on sheet metal",-0.166916,0.032953,0.994907,0.076443,-0.644610,0.012757,0.760574
31,3,629760,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.094536,-0.076870,0.887542,0.763740,-0.021741,0.022976,0.644748
31,3,629760,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
31,3,629760,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
31,3,629760,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
31,3,629760,41,gripper,0,"","put carrot on sheet metal",-0.080288,-0.047407,0.957639,-0.036460,-0.802106,0.166298,0.572399
31,3,629760,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.103333,-0.077827,0.887366,0.643687,-0.021466,0.022861,0.764646
31,3,629760,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.084549,0.075016,0.878547,0.707649,0.007947,0.010828,0.706436
31,3,629760,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044991,0.871344,0.999999,-0.000158,0.001164,0.000013
31,3,629760,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000319
31,3,629760,42,gripper,0,"","put carrot on sheet metal",-0.082470,-0.041173,0.970514,-0.019463,-0.745620,0.088147,0.660229
31,3,629760,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.232260,0.048380,0.893951,0.997670,0.038340,-0.013774,0.054731
31,3,629760,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.084984,-0.075443,0.878547,0.999909,0.013312,0.002035,-0.000897
31,3,629760,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114990,0.074976,0.871344,0.999999,-0.000158,0.001164,-0.000083
31,3,629760,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235006,0.044996,0.874362,1.000000,0.000103,0.000102,0.000651
31,3,629760,43,gripper,0,"","put carrot on sheet metal",-0.170468,0.050564,1.018891,0.053985,-0.709017,0.038582,0.702063
31,3,629760,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087521,-0.064501,0.887530,0.997512,-0.004009,0.024412,0.066011
31,3,629760,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.204990,-0.045437,0.878547,0.999909,0.013308,0.002049,0.000051
31,3,629760,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234992,0.074917,0.871344,0.999999,-0.000158,0.001164,-0.000031
31,3,629760,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000000,0.000000
31,3,629760,44,gripper,0,"","put carrot on flat bowl",-0.061505,0.082000,1.013292,0.108572,-0.757919,0.200987,0.611044
31,3,629760,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.088455,0.079912,0.887494,0.997448,-0.003063,0.022886,0.067552
31,3,629760,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.234991,0.074562,0.878547,0.999909,0.013285,0.002036,-0.000891
31,3,629760,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
31,3,629760,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000486
31,3,629760,45,gripper,0,"","put carrot on flat bowl",-0.065065,0.094890,0.977654,0.178410,-0.743356,0.147319,0.627607
31,3,629760,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.191299,0.072733,0.885968,0.643189,0.624822,0.331054,0.293782
31,3,629760,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074984,0.878547,0.707669,0.008000,0.010898,0.706415
31,3,629760,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084454,0.074841,0.871344,0.999999,-0.000156,0.001164,-0.001217
31,3,629760,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000279
31,3,629760,46,gripper,0,"","put carrot on flat bowl",-0.198084,0.070806,0.958050,-0.048937,-0.715283,0.037352,0.696118
31,3,629760,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.102844,0.059217,0.895066,0.991778,0.089871,-0.030790,-0.085742
31,3,629760,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.234982,0.074553,0.878547,0.999909,0.013281,0.002029,-0.001387
31,3,629760,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
31,3,629760,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114990,0.045012,0.874363,1.000000,0.000000,-0.000001,0.000404
31,3,629760,47,gripper,0,"","put carrot on flat bowl",-0.076046,-0.053949,0.999262,-0.067087,-0.712867,-0.018714,0.697833
31,3,629760,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.072357,0.073124,0.888112,0.819620,-0.027505,-0.001433,0.572246
31,3,629760,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.209877,-0.032013,0.885720,0.713159,-0.103659,-0.683670,-0.115123
31,3,629760,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.102631,-0.042641,0.872199,0.999876,-0.000000,-0.000001,0.015732
31,3,629760,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.196732,0.067135,0.870870,0.997595,0.000000,-0.000001,0.069318
31,3,629760,48,gripper,0,"","put plastic bottle on frying pan",-0.158253,-0.064175,1.021444,0.094992,-0.721949,0.070493,0.681760
31,3,629760,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.027256,3.758224,0.022398,0.312443,0.648293,0.493412,-0.488508
31,3,629760,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.109745,-0.079723,0.897998,-0.066848,-0.780645,0.619009,-0.054339
31,3,629760,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084927,-0.075016,0.872199,1.000000,-0.000000,-0.000001,-0.000028
31,3,629760,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.233906,-0.074703,0.870870,0.999968,0.000001,-0.000000,-0.007995
31,3,629760,49,gripper,0,"","put plastic bottle on frying pan",-0.102436,0.026411,1.017450,-0.096370,-0.735816,-0.078637,0.665661
31,3,629760,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.167564,0.090797,0.890475,0.978378,-0.021888,0.020191,-0.204671
31,3,629760,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.054695,-0.016335,0.887027,0.332770,-0.632876,0.321178,0.620948
31,3,629760,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085484,0.047047,0.872199,0.999850,-0.000000,-0.000001,0.017343
31,3,629760,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204990,0.075069,0.870882,0.999999,0.000687,0.000698,-0.000229
31,3,629760,50,gripper,0,"","put plastic bottle on frying pan",-0.082205,0.025103,1.024311,0.012834,-0.722756,0.002199,0.690980
31,3,629760,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.178837,-0.020821,0.893959,-0.445869,-0.804391,-0.259846,0.294339
31,3,629760,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.079258,-0.028225,0.975459,0.100722,-0.550058,0.682005,0.471339
31,3,629760,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
31,3,629760,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204992,-0.044998,0.870870,1.000000,-0.000000,-0.000001,-0.000102
31,3,629760,51,gripper,0,"","put plastic bottle on frying pan",-0.122753,-0.028875,1.020151,-0.166052,-0.702997,-0.050644,0.689679
31,3,629760,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.079348,-0.049973,0.890509,0.586599,-0.026244,-0.007944,0.809414
31,3,629760,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.128467,-0.095268,0.888762,0.704249,-0.024171,0.003494,0.709533
31,3,629760,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.234011,-0.075108,0.872199,0.999862,-0.000000,-0.000000,0.016632
31,3,629760,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.083689,-0.073669,0.870871,0.999961,0.000001,-0.000006,-0.008792
31,3,629760,52,gripper,0,"","put plastic bottle on cutting board",-0.212013,-0.067390,1.012616,-0.098256,-0.712888,-0.061007,0.691675
31,3,629760,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.103296,0.139282,0.893622,0.250717,-0.460256,0.716914,-0.459717
31,3,629760,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.031279,0.182007,0.888424,-0.825522,-0.155483,0.413227,-0.351544
31,3,629760,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.250967,-0.079712,0.872199,0.990843,0.000001,-0.000000,0.135018
31,3,629760,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.086060,0.097820,0.870870,0.999761,0.000000,-0.000000,-0.021849
31,3,629760,53,gripper,0,"","put plastic bottle on cutting board",-0.101529,0.077919,1.006280,0.135184,-0.682860,0.101743,0.710687
31,3,629760,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.182446,-0.072144,0.888112,0.165708,-0.018242,-0.020633,0.985790
31,3,629760,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.223747,0.096035,0.888657,0.708007,-0.021580,0.009455,0.705813
31,3,629760,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.095806,-0.029194,0.872199,0.991518,-0.000001,-0.000001,0.129967
31,3,629760,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235073,0.074841,0.870869,0.999999,0.000009,0.000004,0.001062
31,3,629760,54,gripper,0,"","put plastic bottle on cutting board",-0.230120,0.107029,0.954100,-0.002330,-0.743578,0.013494,0.668509
31,3,629760,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.027855,-0.009258,0.888214,0.965305,0.029018,0.034805,-0.257163
31,3,629760,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.027706,0.113083,0.889523,0.430471,0.032275,-0.902020,-0.003611
31,3,629760,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235001,-0.075001,0.872199,0.999999,0.000000,-0.000000,0.001269
31,3,629760,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.234997,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000087
31,3,629760,55,gripper,0,"","put plastic bottle on cutting board",-0.061935,0.111330,0.940716,0.101137,-0.741926,0.035098,0.661880
31,3,629760,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.217255,0.460285,0.022371,0.501193,-0.365993,0.730695,0.284500
31,3,629760,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.213364,-0.040894,0.894335,0.668830,-0.027425,-0.000093,0.742909
31,3,629760,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234955,-0.044994,0.872199,1.000000,0.000000,-0.000001,-0.000421
31,3,629760,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.453171,-0.029205,0.055715,0.486437,0.504051,-0.513527,-0.495582
31,3,629760,56,gripper,0,"","put hamburger on frying pan",-0.193699,-0.029688,1.012667,0.052392,-0.707416,0.027406,0.704320
31,3,629760,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.113884,0.033134,1.002185,-0.113600,0.866407,0.057762,0.482802
31,3,629760,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.177273,0.065670,0.891816,0.497434,-0.544302,0.457564,0.496920
31,3,629760,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084953,0.045517,0.872199,0.999996,-0.000000,-0.000001,-0.002677
31,3,629760,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204182,0.074852,0.870871,0.999998,-0.000008,-0.000004,-0.001909
31,3,629760,57,gripper,0,"","put hamburger on frying pan",-0.115570,0.032776,1.048038,0.012651,-0.709016,0.012580,0.704967
31,3,629760,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.112549,-0.013954,0.890587,-0.505985,0.688755,-0.509967,0.097623
31,3,629760,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.175903,-0.037205,0.887036,0.064538,-0.704745,0.049937,0.704752
31,3,629760,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204994,0.074993,0.872199,1.000000,-0.000000,-0.000001,0.000020
31,3,629760,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.255074,-0.038692,0.870883,0.998714,0.000735,0.000677,-0.050679
31,3,629760,58,gripper,0,"","put hamburger on frying pan",-0.143394,-0.015596,0.995476,-0.025242,-0.752430,-0.015402,0.658009
31,3,629760,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.212238,0.071823,0.896350,0.998489,-0.024354,0.008586,0.048512
31,3,629760,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",0.207764,0.097366,0.018226,0.172788,0.683972,0.189389,-0.682978
31,3,629760,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000038
31,3,629760,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.085272,-0.079739,0.870871,0.999998,0.000000,-0.000001,-0.001862
31,3,629760,59,gripper,0,"","put hamburger on frying pan",-0.088134,-0.079613,0.942892,0.052966,-0.765177,0.081397,0.636454
31,3,629760,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.120911,-0.060204,0.890703,0.673706,-0.029416,-0.010202,0.738343
31,3,629760,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.053351,-0.099098,0.889715,0.299617,-0.648082,0.287710,0.638312
31,3,629760,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.201478,0.043678,0.872199,0.999729,-0.000001,-0.000001,-0.023285
31,3,629760,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.064753,-0.088039,0.870872,0.999561,0.000001,-0.000016,0.029631
31,3,629760,60,gripper,0,"","put hamburger on cutting board",-0.053755,-0.012039,1.007595,-0.076310,-0.708315,-0.043848,0.700388
31,3,629760,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.217089,0.016052,0.890794,0.631922,-0.026987,-0.006430,0.774535
31,3,629760,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.189667,0.070187,0.889563,0.479707,-0.528159,0.476323,0.513854
31,3,629760,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235050,-0.075253,0.872199,0.999998,-0.000000,-0.000000,-0.002203
31,3,629760,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204102,0.045723,0.870870,0.999998,-0.000002,-0.000003,0.001926
31,3,629760,61,gripper,0,"","put hamburger on cutting board",-0.203483,0.000242,1.020658,0.143443,-0.711695,0.117840,0.677516
31,3,629760,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.198833,0.077255,0.890525,0.708983,-0.026983,-0.003849,0.704699
31,3,629760,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.167660,-0.198956,0.887026,-0.559523,0.443725,-0.553891,-0.428075
31,3,629760,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.085007,0.075001,0.872199,1.000000,-0.000000,-0.000001,0.000126
31,3,629760,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235001,0.075039,0.870883,0.999999,0.000701,0.000716,0.000084
31,3,629760,62,gripper,0,"","put hamburger on cutting board",-0.163462,0.072504,1.107578,0.046626,-0.659527,0.021116,0.749937
31,3,629760,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.039902,0.054649,0.888112,0.969739,-0.026208,0.008462,0.242585
31,3,629760,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.041981,-0.098591,0.885720,0.666251,-0.261146,-0.640278,-0.279205
31,3,629760,63,recep,0,"011_frying pan_1","put hamburger on cutting board",0.071281,-0.109707,0.003400,0.334220,0.000000,-0.000000,0.942495
31,3,629760,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205265,0.045250,0.870858,1.000000,0.000110,-0.000001,0.000101
31,3,629760,63,gripper,0,"","put hamburger on cutting board",-0.051121,-0.053698,0.999196,-0.053610,-0.788960,-0.012922,0.611965
31,4,634880,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.154709,0.061043,0.878981,0.758753,-0.009352,0.651012,0.019748
31,4,634880,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",0.004959,-0.041862,0.879766,0.749732,-0.019076,0.031194,0.660730
31,4,634880,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.125031,-0.068680,0.869533,0.962685,-0.000050,0.000033,-0.270625
31,4,634880,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234985,-0.074959,0.871288,0.999999,-0.000154,-0.001019,0.000176
31,4,634880,0,gripper,0,"","put kitchen shovel on cloth",-0.026085,-0.031887,0.968661,0.186511,-0.657155,0.150491,0.714643
31,4,634880,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.066803,-0.119064,0.886109,-0.518017,0.488817,-0.271563,-0.647279
31,4,634880,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.042900,0.093948,0.888031,0.687359,-0.055289,0.075265,0.720289
31,4,634880,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.059464,-0.078064,0.876409,0.974938,0.085079,-0.063390,-0.195548
31,4,634880,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000071
31,4,634880,1,gripper,0,"","put kitchen shovel on cloth",-0.097937,-0.125717,0.919094,-0.196520,-0.729040,-0.079248,0.650846
31,4,634880,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.113930,0.084801,0.884978,0.612729,-0.378093,0.530068,0.447925
31,4,634880,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.076996,-0.046043,0.882110,0.078959,0.792757,-0.599722,-0.075070
31,4,634880,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.118122,0.063370,0.869532,0.968372,0.000001,-0.000000,-0.249511
31,4,634880,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.082516,-0.072380,0.871289,0.999692,-0.000179,-0.001015,-0.024785
31,4,634880,2,gripper,0,"","put kitchen shovel on cloth",-0.189800,-0.145519,0.914982,-0.085037,-0.758219,-0.070919,0.642529
31,4,634880,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.046711,-0.047707,0.879373,0.623414,-0.207923,0.184919,0.730704
31,4,634880,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.015291,-0.023132,0.881638,0.688072,0.025294,-0.030147,0.724575
31,4,634880,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.019447,-0.108925,0.870062,0.983897,-0.001999,0.009155,-0.178492
31,4,634880,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.136143,-0.092041,0.871288,0.927946,-0.000526,-0.000887,-0.372713
31,4,634880,3,gripper,0,"","put kitchen shovel on cloth",-0.201880,-0.088493,0.976695,-0.087535,-0.760796,-0.002167,0.643057
31,4,634880,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.196049,0.036087,0.884979,-0.605490,0.386559,-0.523857,-0.457742
31,4,634880,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.172244,-0.018509,0.885339,0.757548,-0.062159,0.098354,0.642326
31,4,634880,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.224733,0.044609,0.869532,0.982727,0.000007,-0.000034,0.185063
31,4,634880,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205211,-0.075195,0.871289,0.999998,-0.000156,-0.001020,0.001719
31,4,634880,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.140307,-0.021935,0.937577,0.107595,-0.732127,0.112764,0.663097
31,4,634880,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.227228,-0.060936,0.884977,0.388455,-0.555452,0.339752,0.652031
31,4,634880,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.156305,-0.032463,0.920678,0.612604,0.130108,0.145017,0.766001
31,4,634880,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.074997,0.869532,1.000000,-0.000000,0.000000,0.000302
31,4,634880,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205311,0.045143,0.871210,0.999982,-0.003915,-0.004121,-0.001720
31,4,634880,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.226109,-0.047741,0.987886,-0.082469,-0.682592,-0.062928,0.723400
31,4,634880,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.081459,0.055542,0.885121,-0.514658,-0.450928,0.628287,-0.370198
31,4,634880,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.107750,0.019882,0.887002,0.809127,-0.036490,0.013997,0.586332
31,4,634880,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.075478,0.029991,0.869532,0.994994,-0.000011,0.000001,-0.099934
31,4,634880,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.236584,-0.024529,0.871288,0.985028,0.000024,-0.001030,0.172390
31,4,634880,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.158323,0.108559,1.002864,0.078674,-0.710374,0.043797,0.698041
31,4,634880,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.224125,-0.042030,0.885401,0.598146,0.078230,-0.053471,0.795765
31,4,634880,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.113499,0.006653,0.881873,0.262625,-0.071759,0.015265,0.962105
31,4,634880,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.212311,-0.042000,0.869532,0.999913,0.000001,-0.000008,0.013177
31,4,634880,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.235027,0.075241,0.871282,0.999998,-0.000449,-0.001266,0.001390
31,4,634880,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.113224,0.010620,0.914921,-0.069026,-0.717192,-0.072364,0.689663
31,4,634880,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.062233,-0.008785,0.881884,-0.797745,-0.257330,0.464394,-0.285871
31,4,634880,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.153603,-0.070084,0.881638,0.001465,0.039073,-0.004503,0.999225
31,4,634880,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.084648,-0.075413,0.869532,0.999995,0.000000,-0.000000,-0.003165
31,4,634880,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.092247,0.046944,0.871288,0.997706,-0.000087,-0.001028,0.067693
31,4,634880,8,gripper,0,"","put ketchup bottle on cloth",-0.191135,-0.148968,0.916158,-0.055027,-0.776952,0.010923,0.627055
31,4,634880,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.126686,0.111588,0.879907,0.853147,0.121862,-0.231492,0.451333
31,4,634880,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.076462,0.006096,0.873650,0.049041,0.514951,0.852043,0.080275
31,4,634880,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.193993,-0.078617,0.869532,0.999411,-0.000000,-0.000002,-0.034303
31,4,634880,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.235016,0.045013,0.871288,0.999999,-0.000153,-0.001019,0.000136
31,4,634880,9,gripper,0,"","put ketchup bottle on cloth",-0.236080,-0.047699,0.937020,-0.070594,-0.756366,-0.052162,0.648233
31,4,634880,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",0.299667,-0.249855,0.010288,-0.572525,-0.352444,0.300358,-0.676596
31,4,634880,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.076427,-0.088642,0.885205,0.807785,0.059995,-0.007097,-0.586374
31,4,634880,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000020
31,4,634880,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.020264,-0.124065,0.871275,0.990774,-0.001025,-0.001445,-0.135514
31,4,634880,10,gripper,0,"","put ketchup bottle on cloth",-0.122015,-0.121717,0.955753,-0.182883,-0.705563,-0.151962,0.667565
31,4,634880,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.121601,-0.077805,0.885084,0.600990,0.338880,-0.314710,0.651866
31,4,634880,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.177765,-0.067966,0.893400,0.502809,-0.359503,0.153950,0.770870
31,4,634880,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.114922,-0.075008,0.869532,1.000000,0.000000,-0.000000,-0.000715
31,4,634880,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234983,-0.044960,0.871288,0.999999,-0.000154,-0.001019,0.000065
31,4,634880,11,gripper,0,"","put ketchup bottle on cloth",-0.091551,-0.013945,1.006532,-0.083403,-0.782766,-0.071032,0.612598
31,4,634880,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",1.146024,0.807579,0.010182,-0.679461,-0.296940,-0.579430,0.338261
31,4,634880,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.150079,0.002701,0.887025,0.957404,0.076383,-0.023075,-0.277506
31,4,634880,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.203940,0.077618,0.869533,0.987446,0.000000,-0.000000,0.157958
31,4,634880,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.108262,-0.075119,0.871289,0.999964,-0.000166,-0.001018,-0.008370
31,4,634880,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.169181,-0.017279,0.913241,-0.003032,-0.713145,0.007990,0.700965
31,4,634880,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.247465,0.024143,0.885502,-0.086789,0.275624,-0.956718,-0.034496
31,4,634880,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.104746,-0.005157,0.883764,0.661334,-0.006849,0.047567,0.748550
31,4,634880,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.219940,0.056408,0.870191,0.993234,0.008283,0.005640,-0.115699
31,4,634880,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235153,-0.052605,0.871287,0.999788,-0.000174,-0.001016,-0.020540
31,4,634880,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.209609,0.040558,0.920267,0.068242,-0.704473,-0.005048,0.706424
31,4,634880,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.164169,0.042522,0.879662,-0.824700,-0.165633,-0.309873,0.443185
31,4,634880,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.207378,0.076450,0.890224,0.735783,-0.176478,0.185575,0.626930
31,4,634880,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235168,0.075714,0.869540,0.999972,-0.000118,-0.000374,0.007437
31,4,634880,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.060211,-0.078720,0.871288,0.999460,-0.000188,-0.001014,-0.032851
31,4,634880,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.191912,0.019491,0.991102,-0.059851,-0.745547,-0.076779,0.659304
31,4,634880,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.225273,-0.038033,0.886617,0.579329,0.223036,-0.166121,0.766183
31,4,634880,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.156059,-0.062805,0.881851,0.401188,-0.067290,0.025073,0.913177
31,4,634880,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.234100,-0.048416,0.870133,0.943594,0.007039,0.008062,-0.330931
31,4,634880,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.235012,0.045021,0.871288,0.999999,-0.000153,-0.001019,-0.000025
31,4,634880,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.158222,-0.060812,0.914954,-0.002949,-0.747008,-0.018054,0.664564
31,4,634880,16,obj,0,"003_bread_1","put 7up can on carpet",-0.208076,-0.074520,0.886637,0.342983,0.015296,-0.001211,0.939216
31,4,634880,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.185921,0.014568,0.886967,-0.092324,-0.702953,0.701600,-0.071346
31,4,634880,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234993,0.045033,0.869490,0.999998,0.000547,0.001422,0.001112
31,4,634880,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.204552,-0.074760,0.870448,0.999999,-0.000908,-0.000834,0.000667
31,4,634880,16,gripper,0,"","put 7up can on carpet",-0.068321,0.068907,1.011482,0.078563,-0.741729,0.088060,0.660236
31,4,634880,17,obj,0,"003_bread_1","put 7up can on carpet",-0.219070,0.066036,0.886568,0.567070,0.013124,-0.001191,0.823564
31,4,634880,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.282505,0.221817,0.886001,-0.152288,0.802811,-0.524996,-0.238081
31,4,634880,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.083611,0.075066,0.869490,0.999980,0.000174,0.000876,0.006275
31,4,634880,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.225014,0.076359,0.870461,0.998703,-0.000063,-0.000246,0.050902
31,4,634880,17,gripper,0,"","put 7up can on carpet",-0.087685,0.071386,0.988220,0.065056,-0.760002,0.081163,0.641542
31,4,634880,18,obj,0,"003_bread_1","put 7up can on carpet",-0.232941,0.074825,0.887186,0.997665,0.006983,0.005383,0.067730
31,4,634880,18,obj,1,"005_7up can_1","put 7up can on carpet",0.089493,-0.031757,0.016859,0.827194,0.161546,0.321843,-0.431360
31,4,634880,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205051,0.075005,0.869490,1.000000,0.000180,0.000874,-0.000004
31,4,634880,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.083042,0.076973,0.870448,1.000000,-0.000588,-0.000558,-0.000099
31,4,634880,18,gripper,0,"","put 7up can on carpet",-0.077419,0.123854,0.939485,0.038804,-0.775236,-0.025612,0.629959
31,4,634880,19,obj,0,"003_bread_1","put 7up can on carpet",-0.127029,-0.029217,0.887083,0.032014,-0.134971,0.987338,0.076951
31,4,634880,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.165350,-0.083351,0.886653,0.250210,-0.722302,0.584164,0.272812
31,4,634880,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.102964,-0.041840,0.869490,0.997538,0.000118,0.000887,0.070118
31,4,634880,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.083549,0.077812,0.870448,0.999991,-0.000818,-0.000763,0.004022
31,4,634880,19,gripper,0,"","put 7up can on carpet",-0.158544,-0.053705,0.964861,0.005458,-0.745645,0.025908,0.665817
31,4,634880,20,obj,0,"003_bread_1","put bread on newspaper",-0.216482,-0.036880,0.886755,0.939132,0.012024,0.005426,0.343303
31,4,634880,20,obj,1,"005_7up can_1","put bread on newspaper",-0.250807,0.026760,0.888813,0.700904,0.194438,-0.209788,0.653388
31,4,634880,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204972,-0.074986,0.869490,1.000000,0.000180,0.000874,-0.000204
31,4,634880,20,recep,1,"003_carpet_1","put bread on newspaper",-0.235000,0.044998,0.870461,1.000000,0.000019,-0.000158,0.000005
31,4,634880,20,gripper,0,"","put bread on newspaper",-0.107096,0.109259,1.023312,0.036239,-0.672065,0.060169,0.737153
31,4,634880,21,obj,0,"003_bread_1","put bread on newspaper",-0.201754,0.047699,0.886270,0.265241,0.017160,-0.002127,0.964027
31,4,634880,21,obj,1,"005_7up can_1","put bread on newspaper",365.947327,-138.549576,-2661.702393,0.321532,-0.498724,-0.434431,-0.677615
31,4,634880,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.234978,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000013
31,4,634880,21,recep,1,"003_carpet_1","put bread on newspaper",-0.235003,0.075012,0.870462,1.000000,0.000037,-0.000158,-0.000133
31,4,634880,21,gripper,0,"","put bread on newspaper",-0.176877,0.125811,0.971380,0.124002,-0.725694,0.041492,0.675477
31,4,634880,22,obj,0,"003_bread_1","put bread on newspaper",-0.115498,-0.015476,0.886390,0.655896,0.024400,0.005080,0.754440
31,4,634880,22,obj,1,"005_7up can_1","put bread on newspaper",-0.107132,-0.078026,0.888514,-0.008185,0.748305,-0.662211,-0.038074
31,4,634880,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.114964,-0.045013,0.869489,0.999999,0.000539,0.001418,-0.000345
31,4,634880,22,recep,1,"003_carpet_1","put bread on newspaper",-0.088821,0.091930,0.870447,0.998188,-0.003269,-0.002539,-0.060020
31,4,634880,22,gripper,0,"","put bread on newspaper",-0.065861,0.066162,0.952152,-0.049986,-0.793388,-0.073772,0.602158
31,4,634880,23,obj,0,"003_bread_1","put bread on newspaper",-0.148945,-0.010925,0.886772,0.703743,0.011266,-0.005167,0.710346
31,4,634880,23,obj,1,"005_7up can_1","put bread on newspaper",-0.254379,-0.060463,0.889332,0.248128,0.757142,-0.454636,0.398089
31,4,634880,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.235027,-0.075031,0.869489,1.000000,0.000181,0.000876,-0.000214
31,4,634880,23,recep,1,"003_carpet_1","put bread on newspaper",-0.113674,-0.044685,0.870420,0.999783,-0.000699,-0.001252,-0.020779
31,4,634880,23,gripper,0,"","put bread on newspaper",-0.124195,0.049541,0.966094,0.063541,-0.703640,0.009374,0.707648
31,4,634880,24,obj,0,"003_bread_1","put bread on carpet",-0.217819,-0.025581,0.885746,0.793340,0.019890,0.004983,0.608434
31,4,634880,24,obj,1,"005_7up can_1","put bread on carpet",0.070732,-0.250652,0.016826,0.729275,-0.158103,-0.171151,-0.643326
31,4,634880,24,recep,0,"004_newspaper_1","put bread on carpet",-0.234993,-0.045000,0.869490,1.000000,0.000180,0.000874,-0.000027
31,4,634880,24,recep,1,"003_carpet_1","put bread on carpet",-0.083481,0.071125,0.870461,0.999862,0.000021,-0.000158,0.016621
31,4,634880,24,gripper,0,"","put bread on carpet",-0.080383,0.067551,0.975976,-0.003465,-0.738597,0.009015,0.674078
31,4,634880,25,obj,0,"003_bread_1","put bread on carpet",-0.200344,-0.075485,0.884472,0.508274,0.030045,0.013838,0.860560
31,4,634880,25,obj,1,"005_7up can_1","put bread on carpet",0.114006,0.012175,0.017066,0.005277,-0.807902,-0.001590,0.589292
31,4,634880,25,recep,0,"004_newspaper_1","put bread on carpet",-0.246613,-0.086063,0.869490,0.999986,0.000188,0.000873,-0.005268
31,4,634880,25,recep,1,"003_carpet_1","put bread on carpet",-0.048985,-0.082706,0.870449,0.818502,-0.001141,-0.000157,-0.574502
31,4,634880,25,gripper,0,"","put bread on carpet",-0.176554,-0.055394,1.003305,-0.067510,-0.677846,0.023711,0.731714
31,4,634880,26,obj,0,"003_bread_1","put bread on carpet",-0.227085,-0.041626,0.886556,0.997341,0.002176,-0.007612,0.072443
31,4,634880,26,obj,1,"005_7up can_1","put bread on carpet",0.131939,-0.041819,0.017198,-0.112144,0.296915,0.947832,0.029655
31,4,634880,26,recep,0,"004_newspaper_1","put bread on carpet",-0.085766,0.075613,0.869490,0.999998,0.000181,0.000874,-0.001805
31,4,634880,26,recep,1,"003_carpet_1","put bread on carpet",-0.235016,-0.074999,0.870456,0.999999,-0.000843,-0.001046,-0.000317
31,4,634880,26,gripper,0,"","put bread on carpet",-0.082575,0.082065,1.002800,0.088545,-0.691066,0.022173,0.717005
31,4,634880,27,obj,0,"003_bread_1","put bread on carpet",-0.218466,0.074007,0.886688,0.997456,0.006609,0.002717,0.070930
31,4,634880,27,obj,1,"005_7up can_1","put bread on carpet",-0.083179,-0.087734,0.889018,0.094968,0.487260,0.865857,-0.062058
31,4,634880,27,recep,0,"004_newspaper_1","put bread on carpet",-0.205536,0.074499,0.869490,0.999999,0.000180,0.000874,-0.001226
31,4,634880,27,recep,1,"003_carpet_1","put bread on carpet",-0.085014,-0.074995,0.870461,1.000000,0.000019,-0.000158,0.000004
31,4,634880,27,gripper,0,"","put bread on carpet",-0.138760,0.061584,1.020219,0.131884,-0.713750,0.108866,0.679203
31,4,634880,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.085189,-0.052515,0.886626,0.881043,0.008661,-0.007695,0.472894
31,4,634880,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.200355,0.051882,0.888320,0.616315,0.289176,-0.226906,0.696453
31,4,634880,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205177,0.044937,0.869490,0.999999,0.000179,0.000875,0.000518
31,4,634880,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085000,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000016
31,4,634880,28,gripper,0,"","put 7up can on newspaper",-0.080000,0.095770,1.037548,-0.061071,-0.707572,-0.001164,0.703996
31,4,634880,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.206018,-0.050701,0.885437,0.932886,0.009616,0.005136,0.360006
31,4,634880,29,obj,1,"005_7up can_1","put 7up can on newspaper",-0.175385,0.091333,0.888920,-0.129943,0.650921,-0.738900,-0.115941
31,4,634880,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234854,-0.075033,0.869490,1.000000,0.000191,0.000890,-0.000368
31,4,634880,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205265,0.075045,0.870447,1.000000,-0.000128,-0.000159,0.000481
31,4,634880,29,gripper,0,"","put 7up can on newspaper",-0.175501,0.095897,0.954961,0.052018,-0.733323,-0.006052,0.677860
31,4,634880,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.137135,-0.026552,0.886498,0.511326,0.015199,-0.002846,0.859248
31,4,634880,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.236378,0.095285,0.888649,-0.607340,-0.365380,-0.435923,0.554623
31,4,634880,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235031,0.075003,0.869490,1.000000,0.000182,0.000875,-0.000130
31,4,634880,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.148254,-0.049076,0.870461,0.968158,0.000057,-0.000148,0.250339
31,4,634880,30,gripper,0,"","put 7up can on newspaper",-0.223883,0.082096,0.941515,-0.009229,-0.719651,-0.005894,0.694250
31,4,634880,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.237770,-0.064211,0.886369,0.516139,0.026493,0.001689,0.856093
31,4,634880,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.105488,-0.033651,0.888676,0.595385,0.282758,-0.227390,0.716839
31,4,634880,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235046,-0.075001,0.869490,0.999999,0.000181,0.000875,-0.000761
31,4,634880,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114990,-0.044975,0.870447,0.999999,-0.000911,-0.000834,0.000353
31,4,634880,31,gripper,0,"","put 7up can on newspaper",-0.107222,0.066177,0.945433,0.185153,-0.745311,0.100911,0.632493
31,4,634880,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.212097,-0.075566,0.887495,0.109768,-0.030718,0.003784,0.993475
31,4,634880,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234673,0.075331,0.878547,0.382194,0.003200,0.013108,0.923984
31,4,634880,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084999,-0.075006,0.871344,0.999999,-0.000158,0.001164,-0.000025
31,4,634880,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,0.045000,0.874363,1.000000,-0.000000,-0.000001,0.000000
31,4,634880,32,gripper,0,"","put banana on flat bowl",-0.215050,0.072815,0.942829,-0.033396,-0.710370,-0.107723,0.694734
31,4,634880,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.217903,0.101295,0.885931,0.009880,-0.020862,0.706798,0.707039
31,4,634880,33,obj,1,"013_banana_1","put banana on flat bowl",-0.127487,-0.048315,0.885472,0.085827,0.053386,-0.891359,0.441886
31,4,634880,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
31,4,634880,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.115002,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000000
31,4,634880,33,gripper,0,"","put banana on flat bowl",-0.092117,-0.022923,0.989278,0.103371,-0.720640,0.064774,0.682493
31,4,634880,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.158813,0.039697,0.887459,0.621612,-0.012909,0.008155,0.783177
31,4,634880,34,obj,1,"013_banana_1","put banana on flat bowl",-0.205162,-0.044001,0.878547,0.376344,0.003108,0.013082,0.926382
31,4,634880,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
31,4,634880,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235004,0.075002,0.874362,1.000000,0.000000,-0.000001,0.000228
31,4,634880,34,gripper,0,"","put banana on flat bowl",-0.159626,-0.025133,0.996191,0.038238,-0.751333,-0.036180,0.657821
31,4,634880,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.210508,0.054678,0.887529,0.991459,-0.005323,0.042891,0.123048
31,4,634880,35,obj,1,"013_banana_1","put banana on flat bowl",-0.084990,-0.075438,0.878547,0.999910,0.013285,0.002056,0.000352
31,4,634880,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.114994,0.074995,0.871344,0.999999,-0.000158,0.001164,-0.000011
31,4,634880,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205000,-0.075000,0.874363,1.000000,0.000000,-0.000000,-0.000001
31,4,634880,35,gripper,0,"","put banana on flat bowl",-0.072636,-0.075531,0.955366,-0.138588,-0.725776,-0.141212,0.658864
31,4,634880,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.125372,-0.037676,0.887188,0.926950,-0.002905,0.031299,0.373865
31,4,634880,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.204833,0.040903,0.878547,0.936781,0.011741,0.006567,0.349656
31,4,634880,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.074995,0.871344,0.999999,-0.000157,0.001164,-0.000016
31,4,634880,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235000,-0.075000,0.874362,1.000000,-0.000001,-0.000000,-0.000001
31,4,634880,36,gripper,0,"","put carrot on sheet metal",-0.149338,0.024380,1.026292,-0.100347,-0.697906,-0.048717,0.707449
31,4,634880,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.104187,0.070922,0.887453,0.361564,-0.036164,0.016149,0.931506
31,4,634880,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.270573,0.072078,0.887939,0.137752,0.068008,0.013536,0.988037
31,4,634880,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.114994,-0.045005,0.871344,0.999999,-0.000158,0.001164,-0.000011
31,4,634880,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874363,1.000000,0.000001,-0.000000,-0.000000
31,4,634880,37,gripper,0,"","put carrot on sheet metal",-0.146020,0.044998,1.012565,0.082932,-0.705448,0.186234,0.678809
31,4,634880,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.085537,-0.096666,0.887503,0.799788,-0.025846,0.033347,0.598799
31,4,634880,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.114677,0.044692,0.878547,0.923628,0.011500,0.006988,0.383054
31,4,634880,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.074999,0.871344,0.999999,-0.000158,0.001163,0.000000
31,4,634880,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
31,4,634880,38,gripper,0,"","put carrot on sheet metal",-0.067900,-0.077075,0.962993,-0.273998,-0.612714,-0.185393,0.717730
31,4,634880,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.105289,0.128988,0.885729,0.507424,0.487830,0.506100,0.498403
31,4,634880,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.084694,-0.074684,0.878547,0.382195,0.003191,0.013081,0.923984
31,4,634880,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.045001,0.871344,0.999999,-0.000158,0.001164,0.000000
31,4,634880,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075000,0.874362,1.000000,0.000000,-0.000001,-0.000000
31,4,634880,39,gripper,0,"","put carrot on sheet metal",-0.099024,0.121575,0.999193,-0.003975,-0.729244,-0.042515,0.682921
31,4,634880,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.218803,0.064600,0.887367,0.401281,-0.021016,0.006737,0.915689
31,4,634880,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.234566,-0.074955,0.878547,0.708256,0.007965,0.010829,0.705828
31,4,634880,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084999,-0.075047,0.871345,0.999999,-0.000157,0.001163,-0.000133
31,4,634880,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000298
31,4,634880,40,gripper,0,"","put carrot on flat bowl",-0.185780,0.075767,0.956611,0.206472,-0.712345,0.192931,0.642426
31,4,634880,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.096012,-0.077486,0.887555,0.767568,-0.023454,0.025233,0.640042
31,4,634880,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
31,4,634880,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
31,4,634880,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000300
31,4,634880,41,gripper,0,"","put carrot on flat bowl",-0.053993,0.081132,0.987554,0.179485,-0.731955,0.070987,0.653443
31,4,634880,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.127792,-0.074305,0.887217,0.390748,-0.024765,0.019361,0.919961
31,4,634880,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.084549,0.075020,0.878547,0.707910,0.007968,0.010844,0.706174
31,4,634880,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044989,0.871344,0.999999,-0.000158,0.001164,0.000017
31,4,634880,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000447
31,4,634880,42,gripper,0,"","put carrot on flat bowl",-0.101439,-0.038682,0.972271,0.116105,-0.737314,0.176620,0.641633
31,4,634880,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.232260,0.048359,0.893955,0.997607,0.038307,-0.013611,0.055923
31,4,634880,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.084982,-0.075443,0.878548,0.999908,0.013330,0.002032,-0.001169
31,4,634880,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.114990,0.074968,0.871344,0.999999,-0.000158,0.001164,-0.000101
31,4,634880,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235006,0.044996,0.874362,1.000000,0.000099,0.000099,0.000940
31,4,634880,43,gripper,0,"","put carrot on flat bowl",-0.073404,-0.011289,1.025624,0.060238,-0.706005,0.132133,0.693159
31,4,634880,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.071158,-0.027754,0.887654,0.997757,0.002177,0.045903,-0.048672
31,4,634880,44,obj,1,"013_banana_1","put banana on sheet metal",-0.153757,0.101353,0.885930,0.789739,-0.592675,-0.130927,-0.088917
31,4,634880,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234986,0.074917,0.871344,0.999999,-0.000158,0.001164,0.000007
31,4,634880,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085000,0.075001,0.874363,1.000000,0.000000,-0.000001,0.000005
31,4,634880,44,gripper,0,"","put banana on sheet metal",-0.053351,-0.030318,0.920675,0.044524,-0.755318,0.024177,0.653398
31,4,634880,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.088514,0.080273,0.887475,0.997081,-0.001957,0.030607,0.069927
31,4,634880,45,obj,1,"013_banana_1","put banana on sheet metal",-0.234797,0.074297,0.878547,0.999909,0.013280,0.002059,0.000725
31,4,634880,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
31,4,634880,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.115000,-0.045000,0.874363,1.000000,-0.000000,-0.000000,0.000659
31,4,634880,45,gripper,0,"","put banana on sheet metal",-0.200463,0.059988,0.973001,0.086403,-0.698318,0.022332,0.710203
31,4,634880,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.191299,0.072731,0.885968,0.643167,0.624799,0.331099,0.293829
31,4,634880,46,obj,1,"013_banana_1","put banana on sheet metal",-0.234554,-0.074980,0.878547,0.707971,0.007985,0.010871,0.706113
31,4,634880,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084454,0.074837,0.871344,0.999999,-0.000156,0.001164,-0.001226
31,4,634880,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,-0.075001,0.874363,1.000000,-0.000001,0.000000,0.000373
31,4,634880,46,gripper,0,"","put banana on sheet metal",-0.205933,-0.057576,0.962272,-0.041515,-0.704504,-0.022495,0.708127
31,4,634880,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.102848,0.059198,0.895058,0.991888,0.089889,-0.030850,-0.084414
31,4,634880,47,obj,1,"013_banana_1","put banana on sheet metal",-0.234978,0.074549,0.878547,0.999908,0.013310,0.002025,-0.001865
31,4,634880,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
31,4,634880,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114990,0.045012,0.874363,1.000000,0.000001,-0.000001,0.000477
31,4,634880,47,gripper,0,"","put banana on sheet metal",-0.131573,-0.004137,1.044063,0.005307,-0.695094,-0.055534,0.716751
31,4,634880,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.072350,0.073124,0.888112,0.821305,-0.027510,-0.001352,0.569824
31,4,634880,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.159081,-0.009899,0.888489,-0.669036,0.120765,-0.724810,-0.111610
31,4,634880,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.066055,-0.036346,0.872200,0.996012,-0.000001,-0.000001,-0.089217
31,4,634880,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.180046,0.079716,0.870916,0.964810,0.001666,0.002953,0.262927
31,4,634880,48,gripper,0,"","put plastic bottle on cutting board",-0.176010,-0.007843,0.962315,-0.117441,-0.783941,-0.052256,0.607383
31,4,634880,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.027252,3.758224,0.022398,0.311753,0.648989,0.492500,-0.488944
31,4,634880,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.209457,-0.052578,0.892166,-0.075546,-0.686539,0.721732,-0.045398
31,4,634880,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085690,-0.074718,0.872200,0.999937,-0.000000,-0.000001,-0.011215
31,4,634880,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.233829,-0.074524,0.870870,0.999970,-0.000000,-0.000004,-0.007775
31,4,634880,49,gripper,0,"","put plastic bottle on cutting board",-0.119600,0.077032,0.973584,0.112454,-0.740120,0.076165,0.658616
31,4,634880,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.168995,0.088360,0.890970,0.974382,0.045860,0.040280,-0.216456
31,4,634880,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.095062,0.051205,0.903744,0.514018,-0.382830,0.616641,0.457143
31,4,634880,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.083530,0.049519,0.872199,0.999590,-0.000001,-0.000001,0.028618
31,4,634880,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204979,0.075115,0.870883,0.999999,0.000700,0.000713,-0.000363
31,4,634880,50,gripper,0,"","put plastic bottle on cutting board",-0.105387,0.044722,1.026162,0.082718,-0.732230,0.094408,0.669391
31,4,634880,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.347538,-0.196140,0.019312,0.306301,-0.021030,-0.017783,0.951536
31,4,634880,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.056837,-0.098480,0.898120,0.038122,-0.388972,0.920322,0.015955
31,4,634880,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.091894,-0.093559,0.872199,0.999873,0.000000,-0.000000,0.015931
31,4,634880,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.226000,-0.035206,0.870870,0.996431,0.000000,-0.000001,-0.084414
31,4,634880,51,gripper,0,"","put plastic bottle on cutting board",-0.310586,-0.254187,0.917065,0.103595,-0.567136,0.143122,0.804451
31,4,634880,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.079353,-0.049999,0.890509,0.586852,-0.026250,-0.007918,0.809230
31,4,634880,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.244303,-0.056641,0.894408,0.714794,-0.017531,0.002718,0.699110
31,4,634880,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.234006,-0.075104,0.872199,0.999874,-0.000000,-0.000000,0.015854
31,4,634880,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.083671,-0.073673,0.870870,0.999961,0.000000,-0.000000,-0.008856
31,4,634880,52,gripper,0,"","put hamburger on frying pan",-0.192763,-0.030855,0.996685,0.009848,-0.712150,0.022693,0.701591
31,4,634880,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.068579,0.007881,0.892131,0.136104,-0.358018,0.762817,0.520970
31,4,634880,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.035254,0.176178,0.885720,-0.644252,-0.318687,0.613670,-0.326782
31,4,634880,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.250967,-0.079712,0.872199,0.990834,0.000001,-0.000000,0.135081
31,4,634880,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.080179,0.082394,0.870870,0.997532,-0.000000,-0.000001,0.070215
31,4,634880,53,gripper,0,"","put hamburger on frying pan",-0.090345,-0.011000,0.959018,-0.040195,-0.724024,0.038164,0.687545
31,4,634880,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.182446,-0.072140,0.888112,0.170547,-0.018343,-0.020542,0.984965
31,4,634880,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.104652,-0.011372,0.894439,0.704526,-0.016456,0.002099,0.709484
31,4,634880,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.095787,-0.029186,0.872199,0.991581,0.000000,-0.000001,0.129489
31,4,634880,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.230419,0.075649,0.870870,0.999663,0.000000,-0.000001,-0.025947
31,4,634880,54,gripper,0,"","put hamburger on frying pan",-0.167311,0.037825,0.999859,0.109068,-0.660702,0.047248,0.741178
31,4,634880,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.218647,-0.049644,0.896280,0.999700,-0.022695,0.007573,-0.005177
31,4,634880,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.014519,0.114136,0.885720,0.722287,0.018369,-0.691240,0.012279
31,4,634880,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,-0.075001,0.872199,0.999999,-0.000000,-0.000000,0.001643
31,4,634880,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.234997,0.075001,0.870870,1.000000,-0.000000,-0.000001,-0.000116
31,4,634880,55,gripper,0,"","put hamburger on frying pan",-0.091663,0.052053,0.956517,-0.135144,-0.700740,-0.052872,0.698501
31,4,634880,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.217255,0.460285,0.022371,0.501554,-0.365064,0.731159,0.283863
31,4,634880,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.213371,-0.040928,0.894335,0.677353,-0.027289,0.000097,0.735152
31,4,634880,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.234955,-0.044994,0.872199,1.000000,-0.000000,-0.000001,-0.000457
31,4,634880,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.453171,-0.029205,0.055715,0.486439,0.504049,-0.513525,-0.495584
31,4,634880,56,gripper,0,"","put hamburger on cutting board",-0.144974,-0.007711,1.020392,0.063819,-0.716898,0.079820,0.689647
31,4,634880,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.065708,0.033001,0.899792,0.374440,0.841923,0.078183,-0.380590
31,4,634880,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.200611,0.069946,0.889677,0.534527,-0.473508,0.528064,0.459586
31,4,634880,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.082958,0.040642,0.872199,0.999924,-0.000000,-0.000001,-0.012322
31,4,634880,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.217464,0.082355,0.870883,0.999543,0.000721,0.000696,-0.030202
31,4,634880,57,gripper,0,"","put hamburger on cutting board",-0.143812,0.074411,1.006841,-0.024919,-0.683277,-0.082347,0.725073
31,4,634880,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.241638,-0.020557,0.890587,-0.664524,0.006879,-0.029061,0.746670
31,4,634880,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.176056,-0.037182,0.887026,0.064952,-0.707965,0.049632,0.701501
31,4,634880,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204994,0.074993,0.872199,1.000000,0.000000,-0.000001,0.000001
31,4,634880,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.255077,-0.038692,0.870908,0.998724,0.002172,0.002000,-0.050423
31,4,634880,58,gripper,0,"","put hamburger on cutting board",-0.100647,0.019861,1.088757,0.010966,-0.687598,0.004918,0.725993
31,4,634880,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.088234,-0.066914,0.890764,0.988477,-0.025708,0.013461,0.148567
31,4,634880,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",0.207764,0.097366,0.018226,0.172795,0.683970,0.189397,-0.682976
31,4,634880,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235126,0.077171,0.872199,0.999745,-0.000000,-0.000001,0.022569
31,4,634880,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085260,-0.079739,0.870871,0.999998,0.000000,-0.000000,-0.001882
31,4,634880,59,gripper,0,"","put hamburger on cutting board",-0.193941,-0.052782,0.941564,-0.022665,-0.774199,0.005803,0.632510
31,4,634880,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.123277,-0.055527,0.890580,0.668807,-0.087105,-0.026106,0.737854
31,4,634880,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.198673,0.023346,0.895392,0.498481,-0.513331,0.493215,0.494720
31,4,634880,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.201537,0.043610,0.872199,0.999736,-0.000001,-0.000000,-0.022973
31,4,634880,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.065091,-0.086533,0.870871,0.999807,0.000000,-0.000001,0.019648
31,4,634880,60,gripper,0,"","put plastic bottle on frying pan",-0.168649,0.038660,1.050670,-0.006473,-0.653219,-0.006726,0.757112
31,4,634880,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.210180,0.024658,0.890801,0.733915,-0.028286,-0.002936,0.678646
31,4,634880,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.244530,-0.074848,0.895308,0.470605,-0.539701,0.462226,0.523068
31,4,634880,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235067,-0.075142,0.872200,0.999972,0.000000,-0.000000,-0.007458
31,4,634880,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.197966,0.056110,0.870870,1.000000,0.000005,0.000004,-0.000452
31,4,634880,61,gripper,0,"","put plastic bottle on frying pan",-0.117095,0.053848,1.008557,0.122728,-0.675627,0.092337,0.721068
31,4,634880,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.105247,0.082397,0.895325,0.681423,0.044627,-0.026738,0.730039
31,4,634880,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.167660,-0.198956,0.887026,-0.559522,0.443726,-0.553890,-0.428076
31,4,634880,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.085716,0.073128,0.872199,0.999840,-0.000000,-0.000001,0.017870
31,4,634880,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235432,0.071499,0.870870,0.999903,-0.000000,-0.000001,-0.013936
31,4,634880,62,gripper,0,"","put plastic bottle on frying pan",-0.118227,0.085686,0.952379,0.061275,-0.709206,0.005373,0.702313
31,4,634880,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.039906,0.054653,0.888112,0.968643,-0.026245,0.008346,0.246925
31,4,634880,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.042152,-0.096802,0.886740,0.627234,-0.276606,-0.678227,-0.264719
31,4,634880,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",0.071281,-0.109707,0.003400,0.334223,0.000000,-0.000000,0.942494
31,4,634880,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205265,0.045250,0.870858,1.000000,0.000110,-0.000001,0.000094
31,4,634880,63,gripper,0,"","put plastic bottle on frying pan",-0.042507,-0.076487,0.946764,-0.173802,-0.706424,-0.143440,0.670957
32,1,640000,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.153183,-0.029869,0.879375,-0.990928,-0.013828,0.087116,-0.101397
32,1,640000,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.085991,0.075111,0.881638,0.999226,-0.004463,-0.039089,-0.000486
32,1,640000,0,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084999,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000028
32,1,640000,0,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000101
32,1,640000,0,gripper,0,"","put ketchup bottle on yellow_plate",-0.211838,-0.053230,0.913695,-0.174270,-0.721490,-0.192771,0.641811
32,1,640000,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.076267,-0.073463,0.885085,0.492208,0.384122,-0.258432,0.737153
32,1,640000,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.234383,-0.075714,0.881638,0.382518,0.034427,-0.019078,0.923109
32,1,640000,1,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.085003,-0.074997,0.869532,1.000000,0.000001,-0.000001,0.000020
32,1,640000,1,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.205025,0.075027,0.871282,0.999999,-0.000451,-0.001265,0.000100
32,1,640000,1,gripper,0,"","put ketchup bottle on yellow_plate",-0.119915,0.029709,0.996031,-0.021602,-0.708615,-0.027043,0.704746
32,1,640000,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.201229,-0.039230,0.885085,0.629743,0.324690,-0.330138,0.623706
32,1,640000,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.205132,0.075729,0.881641,0.703363,-0.031501,0.024959,0.709694
32,1,640000,2,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.044998,0.869532,1.000000,0.000000,-0.000000,0.000018
32,1,640000,2,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114994,-0.074997,0.871288,0.999999,-0.000154,-0.001019,0.000007
32,1,640000,2,gripper,0,"","put ketchup bottle on yellow_plate",-0.224722,0.054829,0.996303,-0.079165,-0.701903,-0.038332,0.706821
32,1,640000,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.059441,0.061989,0.885085,0.640269,0.319013,-0.335587,0.612918
32,1,640000,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.235041,-0.044159,0.881641,0.401169,-0.038368,0.011962,0.915122
32,1,640000,3,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.078075,0.075752,0.869532,0.998177,0.000001,-0.000001,0.060354
32,1,640000,3,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
32,1,640000,3,gripper,0,"","put ketchup bottle on yellow_plate",-0.206557,-0.023079,0.949125,0.045945,-0.708085,0.005928,0.704606
32,1,640000,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.087544,0.090706,0.888266,0.561722,0.364022,-0.313699,0.673460
32,1,640000,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205111,-0.045959,0.881638,0.706783,0.024507,-0.030810,0.706334
32,1,640000,4,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085000,-0.074997,0.869532,1.000000,0.000000,-0.000001,-0.000000
32,1,640000,4,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
32,1,640000,4,gripper,0,"","put ketchup bottle on cloth",-0.216930,0.060905,0.991885,-0.060963,-0.731047,-0.088251,0.673844
32,1,640000,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.185362,-0.044014,0.879628,0.603256,0.389076,-0.556439,0.418424
32,1,640000,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.096922,-0.038712,0.881641,0.789756,-0.027974,0.028831,0.612105
32,1,640000,5,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000008
32,1,640000,5,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000137
32,1,640000,5,gripper,0,"","put ketchup bottle on cloth",-0.234652,-0.057968,0.931225,0.065051,-0.734834,0.113928,0.665438
32,1,640000,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.239857,0.052879,0.879088,0.722831,0.266654,-0.378588,0.512916
32,1,640000,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",0.712543,-0.411880,0.012837,-0.216885,0.039120,0.004146,0.975404
32,1,640000,6,recep,0,"001_plate_simpler","put ketchup bottle on cloth",1.114468,-1.064484,0.000732,-0.969293,-0.000000,-0.000000,0.245909
32,1,640000,6,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114964,0.045029,0.871288,0.999999,-0.000153,-0.001019,0.000329
32,1,640000,6,gripper,0,"","put ketchup bottle on cloth",-0.348597,-0.062176,0.909841,-0.199917,-0.690415,0.301571,0.626431
32,1,640000,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.191483,0.027054,0.888080,0.665034,0.299501,-0.357096,0.583533
32,1,640000,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.084263,0.074364,0.883919,0.707147,0.042606,0.004394,0.705768
32,1,640000,7,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,-0.074997,0.869532,1.000000,0.000000,-0.000001,0.000016
32,1,640000,7,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205311,0.045151,0.871210,0.999982,-0.003917,-0.004120,-0.002068
32,1,640000,7,gripper,0,"","put ketchup bottle on cloth",-0.083508,0.069210,0.929788,0.175100,-0.776522,0.039262,0.603996
32,1,640000,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.205116,0.035103,0.879089,0.627025,0.326133,-0.328742,0.626423
32,1,640000,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.071075,0.010822,0.883032,0.789429,-0.084651,0.096949,0.600197
32,1,640000,8,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000000,-0.000001,0.000024
32,1,640000,8,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.115707,-0.046543,0.871228,0.999999,0.000047,-0.001440,0.000683
32,1,640000,8,gripper,0,"","put kitchen shovel on yellow_plate",-0.076244,-0.007502,0.921996,0.120786,-0.706275,0.102681,0.689959
32,1,640000,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.235023,-0.084805,0.879088,0.627135,0.326076,-0.328802,0.626311
32,1,640000,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.191654,-0.039577,0.882007,0.655606,-0.028501,0.016196,0.754391
32,1,640000,9,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.084999,-0.074993,0.869532,1.000000,-0.000001,-0.000001,-0.000080
32,1,640000,9,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.112698,0.043736,0.871288,0.999676,-0.000127,-0.001022,0.025430
32,1,640000,9,gripper,0,"","put kitchen shovel on yellow_plate",-0.195152,-0.040567,0.981913,-0.015558,-0.696227,-0.095335,0.711292
32,1,640000,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.214752,-0.044983,0.879088,0.886324,-0.001326,-0.463062,0.000567
32,1,640000,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.097534,-0.082848,0.887693,0.517898,0.231718,-0.193074,0.800507
32,1,640000,10,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000001,0.000027
32,1,640000,10,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,0.075008,0.871282,0.999999,-0.000452,-0.001266,-0.000014
32,1,640000,10,gripper,0,"","put kitchen shovel on yellow_plate",-0.087307,-0.068151,0.914726,-0.111585,-0.736440,-0.055687,0.664909
32,1,640000,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.203831,-0.055584,0.885083,0.523956,0.372038,-0.274604,0.715298
32,1,640000,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.229950,0.078003,0.884553,0.704977,0.059506,0.001136,0.706728
32,1,640000,11,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.224970,-0.064949,0.869532,0.993297,0.000001,-0.000001,-0.115593
32,1,640000,11,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084978,-0.074997,0.871288,0.999999,-0.000154,-0.001019,-0.000040
32,1,640000,11,gripper,0,"","put kitchen shovel on yellow_plate",-0.208664,0.079142,0.913152,0.006190,-0.721974,0.006504,0.691862
32,1,640000,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.094734,-0.074997,0.879089,0.886324,-0.001276,-0.463064,0.000662
32,1,640000,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.170822,-0.027092,0.881958,0.997327,-0.002885,-0.066390,0.030364
32,1,640000,12,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.234851,0.075115,0.869532,0.999368,-0.000000,-0.000000,0.035552
32,1,640000,12,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114990,0.045006,0.871288,0.999999,-0.000153,-0.001018,-0.000015
32,1,640000,12,gripper,0,"","put kitchen shovel on cloth",-0.111950,0.032024,0.944745,-0.008363,-0.760398,-0.007549,0.649360
32,1,640000,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.244768,-0.074982,0.879087,0.886585,-0.001599,-0.462562,0.000125
32,1,640000,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.228790,0.076168,0.881638,0.998037,-0.006346,-0.038831,-0.048729
32,1,640000,13,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.115000,-0.044998,0.869532,1.000000,-0.000001,0.000000,0.000017
32,1,640000,13,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
32,1,640000,13,gripper,0,"","put kitchen shovel on cloth",-0.232925,0.026678,0.954537,0.032195,-0.689869,0.032026,0.722509
32,1,640000,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.241978,-0.081955,0.879089,0.819644,0.174708,-0.428848,0.337267
32,1,640000,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.065784,-0.011627,0.909467,0.771827,-0.011899,-0.018722,0.635445
32,1,640000,14,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.281494,0.055180,0.869532,0.984714,0.000000,-0.000000,-0.174177
32,1,640000,14,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.070786,-0.099163,0.871288,0.991654,-0.000283,-0.000990,-0.128923
32,1,640000,14,gripper,0,"","put kitchen shovel on cloth",-0.109043,-0.005163,0.947049,0.082314,-0.726347,0.049011,0.680619
32,1,640000,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.211868,-0.051884,0.879087,0.819309,0.175231,-0.427918,0.338987
32,1,640000,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.214096,0.077286,0.881638,0.938631,0.009237,-0.038262,0.342670
32,1,640000,15,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.058208,0.083019,0.869532,0.994932,0.000001,-0.000001,0.100551
32,1,640000,15,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,-0.074993,0.871288,0.999999,-0.000155,-0.001020,0.000011
32,1,640000,15,gripper,0,"","put kitchen shovel on cloth",-0.218765,0.083786,0.931138,0.001095,-0.742630,-0.063579,0.666676
32,1,640000,16,obj,0,"003_bread_1","put bread on newspaper",-0.235123,0.044460,0.883544,0.709161,0.010125,-0.007598,0.704933
32,1,640000,16,obj,1,"005_7up can_1","put bread on newspaper",-0.206352,-0.078323,0.889024,-0.290733,-0.682311,0.576236,-0.343333
32,1,640000,16,recep,0,"004_newspaper_1","put bread on newspaper",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000018
32,1,640000,16,recep,1,"003_carpet_1","put bread on newspaper",-0.205017,-0.074886,0.870407,0.999999,-0.000259,-0.001000,0.000832
32,1,640000,16,gripper,0,"","put bread on newspaper",-0.130924,0.025686,0.987698,-0.026541,-0.750158,-0.013535,0.660587
32,1,640000,17,obj,0,"003_bread_1","put bread on newspaper",-0.192513,-0.054562,0.884549,0.567583,0.029990,0.016549,0.822603
32,1,640000,17,obj,1,"005_7up can_1","put bread on newspaper",-0.085182,-0.082607,0.885627,0.687222,0.161037,-0.168389,0.688068
32,1,640000,17,recep,0,"004_newspaper_1","put bread on newspaper",-0.235054,-0.074993,0.869489,1.000000,0.000180,0.000875,0.000122
32,1,640000,17,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.074993,0.870452,0.999998,0.001568,0.001265,0.000026
32,1,640000,17,gripper,0,"","put bread on newspaper",-0.140684,-0.054472,0.964700,-0.044934,-0.772491,-0.089896,0.627022
32,1,640000,18,obj,0,"003_bread_1","put bread on newspaper",-0.204468,-0.075478,0.883544,0.383767,0.012270,-0.003117,0.923343
32,1,640000,18,obj,1,"005_7up can_1","put bread on newspaper",-0.026264,0.086094,0.957524,-0.143679,0.789088,-0.556750,-0.216163
32,1,640000,18,recep,0,"004_newspaper_1","put bread on newspaper",-0.204990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000041
32,1,640000,18,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,-0.074989,0.870447,0.999999,-0.000923,-0.000845,-0.000035
32,1,640000,18,gripper,0,"","put bread on newspaper",-0.050774,0.078781,0.985949,-0.054027,-0.735747,-0.071922,0.671257
32,1,640000,19,obj,0,"003_bread_1","put bread on newspaper",-0.084667,-0.076519,0.883544,0.364405,0.012331,-0.002870,0.931154
32,1,640000,19,obj,1,"005_7up can_1","put bread on newspaper",-0.228579,-0.067104,0.888229,0.670930,0.128545,-0.091530,0.724535
32,1,640000,19,recep,0,"004_newspaper_1","put bread on newspaper",-0.234980,-0.075012,0.869490,0.999999,0.000181,0.000876,-0.000830
32,1,640000,19,recep,1,"003_carpet_1","put bread on newspaper",-0.205002,0.044998,0.870441,0.999999,-0.000676,-0.001047,0.000008
32,1,640000,19,gripper,0,"","put bread on newspaper",-0.105171,-0.081079,0.914140,-0.030583,-0.770193,-0.037729,0.635959
32,1,640000,20,obj,0,"003_bread_1","put bread on carpet",-0.232504,-0.036732,0.886622,0.881567,0.009106,-0.005111,0.471944
32,1,640000,20,obj,1,"005_7up can_1","put bread on carpet",-0.223575,-0.040218,0.916549,0.767329,0.240465,0.096283,0.586612
32,1,640000,20,recep,0,"004_newspaper_1","put bread on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
32,1,640000,20,recep,1,"003_carpet_1","put bread on carpet",-0.235003,-0.044998,0.870446,0.999999,-0.000728,-0.001048,-0.000001
32,1,640000,20,gripper,0,"","put bread on carpet",-0.221066,-0.026918,0.965595,0.012238,-0.695044,0.070373,0.715410
32,1,640000,21,obj,0,"003_bread_1","put bread on carpet",-0.103085,-0.036587,0.886555,0.999277,0.001391,-0.010018,-0.036651
32,1,640000,21,obj,1,"005_7up can_1","put bread on carpet",-0.092607,0.075169,0.885626,0.972473,-0.005022,-0.232957,0.001335
32,1,640000,21,recep,0,"004_newspaper_1","put bread on carpet",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000006
32,1,640000,21,recep,1,"003_carpet_1","put bread on carpet",-0.115005,-0.044994,0.870448,0.999999,-0.000923,-0.000845,-0.000075
32,1,640000,21,gripper,0,"","put bread on carpet",-0.208047,0.015619,0.981978,0.076756,-0.712757,0.086074,0.691866
32,1,640000,22,obj,0,"003_bread_1","put bread on carpet",-0.226318,-0.055222,0.886589,0.905915,0.008136,-0.008159,0.423302
32,1,640000,22,obj,1,"005_7up can_1","put bread on carpet",-0.177395,-0.063072,0.932732,0.726509,0.241198,-0.279541,0.579539
32,1,640000,22,recep,0,"004_newspaper_1","put bread on carpet",-0.084995,0.075001,0.869490,1.000000,0.000180,0.000874,0.000012
32,1,640000,22,recep,1,"003_carpet_1","put bread on carpet",-0.235004,-0.075020,0.870466,0.999999,-0.000940,-0.001038,0.000002
32,1,640000,22,gripper,0,"","put bread on carpet",-0.160070,-0.063751,0.971440,-0.004769,-0.760354,0.054468,0.647203
32,1,640000,23,obj,0,"003_bread_1","put bread on carpet",-0.059940,-0.071278,0.886448,0.284326,0.017143,-0.002270,0.958572
32,1,640000,23,obj,1,"005_7up can_1","put bread on carpet",-0.191139,-0.080524,0.885965,0.137966,0.658090,-0.124414,0.729660
32,1,640000,23,recep,0,"004_newspaper_1","put bread on carpet",-0.234997,0.075001,0.869490,1.000000,0.000180,0.000874,-0.000001
32,1,640000,23,recep,1,"003_carpet_1","put bread on carpet",-0.084995,-0.074978,0.870461,1.000000,0.000018,-0.000158,0.000067
32,1,640000,23,gripper,0,"","put bread on carpet",-0.229815,-0.108124,0.913961,-0.110218,-0.738270,-0.078065,0.660844
32,1,640000,24,obj,0,"003_bread_1","put 7up can on newspaper",-0.186745,0.039694,0.885622,0.956829,0.011996,0.005355,0.290356
32,1,640000,24,obj,1,"005_7up can_1","put 7up can on newspaper",-0.161758,0.086498,0.886825,0.737528,0.196134,-0.204327,0.613053
32,1,640000,24,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205360,0.075138,0.869490,0.999997,0.000548,0.001432,0.001802
32,1,640000,24,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235001,-0.074997,0.870461,1.000000,0.000019,-0.000158,-0.000024
32,1,640000,24,gripper,0,"","put 7up can on newspaper",-0.186111,0.039037,0.975153,0.126194,-0.701808,0.164189,0.681602
32,1,640000,25,obj,0,"003_bread_1","put 7up can on newspaper",-0.192139,0.045851,0.883544,0.410795,0.012170,-0.003482,0.911640
32,1,640000,25,obj,1,"005_7up can_1","put 7up can on newspaper",-0.177185,-0.181383,0.885855,-0.381241,-0.621043,0.469048,-0.498954
32,1,640000,25,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235027,-0.075014,0.869490,1.000000,0.000179,0.000874,0.000167
32,1,640000,25,recep,1,"003_carpet_1","put 7up can on newspaper",-0.115005,-0.044981,0.870447,0.999999,-0.000922,-0.000845,-0.000020
32,1,640000,25,gripper,0,"","put 7up can on newspaper",-0.207676,0.054937,0.956221,-0.046586,-0.753742,0.021135,0.655176
32,1,640000,26,obj,0,"003_bread_1","put 7up can on newspaper",-0.084488,0.074516,0.883544,0.383570,0.012268,-0.003123,0.923425
32,1,640000,26,obj,1,"005_7up can_1","put 7up can on newspaper",-0.179020,-0.093613,0.887513,-0.652409,-0.071547,0.038638,-0.753493
32,1,640000,26,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205383,-0.074854,0.869489,0.999999,0.000548,0.001424,-0.000690
32,1,640000,26,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,-0.074982,0.870448,0.999999,-0.000923,-0.000845,-0.000026
32,1,640000,26,gripper,0,"","put 7up can on newspaper",-0.110296,0.003854,1.022305,0.000973,-0.718758,0.051092,0.693380
32,1,640000,27,obj,0,"003_bread_1","put 7up can on newspaper",-0.215380,-0.055855,0.885659,0.313011,0.029195,0.003378,0.949295
32,1,640000,27,obj,1,"005_7up can_1","put 7up can on newspaper",-0.064373,-0.069332,0.911659,0.339496,0.570695,-0.249051,0.704999
32,1,640000,27,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234987,-0.075008,0.869489,1.000000,0.000180,0.000875,-0.000040
32,1,640000,27,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,0.075022,0.870447,0.999999,-0.000923,-0.000845,-0.000036
32,1,640000,27,gripper,0,"","put 7up can on newspaper",-0.092452,-0.085715,0.942086,-0.108530,-0.755573,-0.137555,0.631197
32,1,640000,28,obj,0,"003_bread_1","put 7up can on carpet",-0.086253,0.073284,0.883545,0.999889,0.001280,-0.014593,0.002783
32,1,640000,28,obj,1,"005_7up can_1","put 7up can on carpet",-0.070406,0.011902,0.885876,-0.551972,-0.292356,0.751891,-0.210984
32,1,640000,28,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234998,-0.075001,0.869489,1.000000,0.000180,0.000874,0.000000
32,1,640000,28,recep,1,"003_carpet_1","put 7up can on carpet",-0.085002,-0.074997,0.870447,0.999999,-0.000923,-0.000845,0.000005
32,1,640000,28,gripper,0,"","put 7up can on carpet",-0.101964,0.074276,0.916173,0.140058,-0.756145,0.084537,0.633626
32,1,640000,29,obj,0,"003_bread_1","put 7up can on carpet",-0.064943,-0.096207,0.904785,0.971843,-0.005712,-0.092348,0.216703
32,1,640000,29,obj,1,"005_7up can_1","put 7up can on carpet",0.172136,-0.001535,0.017055,0.582245,-0.287378,-0.723270,-0.235127
32,1,640000,29,recep,0,"004_newspaper_1","put 7up can on carpet",-0.101042,0.042931,0.869489,0.994803,0.000090,0.000889,0.101811
32,1,640000,29,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074984,0.870447,0.999999,-0.000923,-0.000845,-0.000032
32,1,640000,29,gripper,0,"","put 7up can on carpet",-0.091206,-0.098177,0.932753,-0.090011,-0.791127,-0.040198,0.603656
32,1,640000,30,obj,0,"003_bread_1","put 7up can on carpet",-0.205116,0.074528,0.883544,0.705103,0.010168,-0.007542,0.708992
32,1,640000,30,obj,1,"005_7up can_1","put 7up can on carpet",-0.079117,-0.056383,0.888223,0.640507,0.184873,-0.146327,0.730864
32,1,640000,30,recep,0,"004_newspaper_1","put 7up can on carpet",-0.085842,-0.075157,0.869491,0.999997,0.000178,0.000871,0.002156
32,1,640000,30,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,0.075016,0.870448,0.999999,-0.000923,-0.000845,-0.000022
32,1,640000,30,gripper,0,"","put 7up can on carpet",-0.139050,0.034436,1.002421,0.046297,-0.705575,0.038435,0.706076
32,1,640000,31,obj,0,"003_bread_1","put 7up can on carpet",-0.085476,0.074490,0.883544,0.924410,0.006459,-0.010886,0.381189
32,1,640000,31,obj,1,"005_7up can_1","put 7up can on carpet",-0.211975,-0.020226,0.888667,0.778230,0.121554,-0.155745,0.596092
32,1,640000,31,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204998,0.075003,0.869490,1.000000,0.000180,0.000874,0.000026
32,1,640000,31,recep,1,"003_carpet_1","put 7up can on carpet",-0.235207,-0.044931,0.870461,0.999999,0.000019,-0.000160,0.001368
32,1,640000,31,gripper,0,"","put 7up can on carpet",-0.144358,0.013559,1.002962,0.067077,-0.735630,0.121368,0.663038
32,1,640000,32,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.119949,0.105651,0.887258,0.494598,-0.024916,0.022464,0.868474
32,1,640000,32,obj,1,"013_banana_1","put carrot on sheet metal",-0.234535,-0.074990,0.878547,0.706824,0.007951,0.010859,0.707262
32,1,640000,32,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,1,640000,32,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.114998,-0.045000,0.874363,1.000000,0.000000,-0.000001,-0.000000
32,1,640000,32,gripper,0,"","put carrot on sheet metal",-0.055702,0.051266,0.968858,0.137272,-0.773284,-0.001903,0.619019
32,1,640000,33,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.237137,0.038239,0.887557,0.891354,-0.011873,0.028527,0.452254
32,1,640000,33,obj,1,"013_banana_1","put carrot on sheet metal",-0.204685,-0.075308,0.878547,0.923610,0.011523,0.007001,0.383097
32,1,640000,33,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871344,0.999999,-0.000157,0.001164,-0.000024
32,1,640000,33,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.115002,0.075000,0.874363,1.000000,0.000001,-0.000001,-0.000000
32,1,640000,33,gripper,0,"","put carrot on sheet metal",-0.097338,0.038863,1.005442,-0.011921,-0.647747,0.048172,0.760238
32,1,640000,34,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.208473,-0.073067,0.887435,0.908777,-0.018705,0.034929,0.415396
32,1,640000,34,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,-0.075309,0.878547,0.923610,0.011463,0.006969,0.383100
32,1,640000,34,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
32,1,640000,34,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000001,-0.000000,-0.000000
32,1,640000,34,gripper,0,"","put carrot on sheet metal",-0.208035,-0.034981,0.997305,0.061526,-0.668604,0.100822,0.734179
32,1,640000,35,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.255972,-0.065733,0.885487,0.196974,-0.207256,-0.674996,0.680167
32,1,640000,35,obj,1,"013_banana_1","put carrot on sheet metal",-0.084686,0.075317,0.878547,0.382193,0.003178,0.013037,0.923985
32,1,640000,35,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
32,1,640000,35,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205000,0.045000,0.874363,1.000000,-0.000000,0.000000,-0.000000
32,1,640000,35,gripper,0,"","put carrot on sheet metal",-0.305867,-0.098763,0.913751,-0.002759,-0.724015,0.038806,0.688686
32,1,640000,36,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.130063,0.034335,1.005104,0.989867,-0.048483,0.082284,-0.105077
32,1,640000,36,obj,1,"013_banana_1","put carrot on flat bowl",-0.106290,-0.047899,0.878547,0.996191,0.013408,0.000898,-0.086157
32,1,640000,36,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204991,0.045001,0.871344,0.999999,-0.000158,0.001164,-0.000001
32,1,640000,36,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,0.075000,0.874363,1.000000,-0.000001,-0.000001,0.000000
32,1,640000,36,gripper,0,"","put carrot on flat bowl",-0.125268,0.037318,1.033233,0.021771,-0.687015,0.134883,0.713683
32,1,640000,37,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087555,-0.075687,0.887210,0.741476,-0.026923,0.017446,0.670212
32,1,640000,37,obj,1,"013_banana_1","put carrot on flat bowl",-0.204554,-0.074994,0.878547,0.706803,0.007985,0.010897,0.707281
32,1,640000,37,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
32,1,640000,37,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,0.000000,0.000001
32,1,640000,37,gripper,0,"","put carrot on flat bowl",-0.069872,0.001081,1.017589,-0.038241,-0.691738,-0.020331,0.720849
32,1,640000,38,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.087593,-0.076574,0.887458,0.348966,-0.035355,0.011562,0.936397
32,1,640000,38,obj,1,"013_banana_1","put carrot on flat bowl",-0.234715,-0.044708,0.878547,0.382233,0.003189,0.013064,0.923968
32,1,640000,38,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
32,1,640000,38,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000001,-0.000000,0.000000
32,1,640000,38,gripper,0,"","put carrot on flat bowl",-0.062462,-0.053940,0.943477,-0.067661,-0.737498,-0.040782,0.670713
32,1,640000,39,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090015,0.049979,0.887460,0.690627,-0.020984,0.019536,0.722643
32,1,640000,39,obj,1,"013_banana_1","put carrot on flat bowl",-0.114559,-0.074995,0.878547,0.706852,0.007946,0.010846,0.707234
32,1,640000,39,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
32,1,640000,39,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
32,1,640000,39,gripper,0,"","put carrot on flat bowl",-0.079632,0.057338,1.000496,0.060421,-0.691500,0.123567,0.709160
32,1,640000,40,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.239334,-0.075958,0.887479,0.946055,-0.009140,0.025355,0.322884
32,1,640000,40,obj,1,"013_banana_1","put banana on sheet metal",-0.114693,-0.045315,0.878547,0.923789,0.011500,0.006981,0.382666
32,1,640000,40,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
32,1,640000,40,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,0.000000,0.000062
32,1,640000,40,gripper,0,"","put banana on sheet metal",-0.063744,0.085544,1.013606,0.144912,-0.783390,0.079164,0.599195
32,1,640000,41,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.232662,-0.046339,0.887529,0.932911,-0.015469,0.040363,0.357503
32,1,640000,41,obj,1,"013_banana_1","put banana on sheet metal",-0.114674,-0.075308,0.878547,0.923784,0.011503,0.006983,0.382676
32,1,640000,41,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075003,0.871344,0.999999,-0.000157,0.001163,-0.000010
32,1,640000,41,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
32,1,640000,41,gripper,0,"","put banana on sheet metal",-0.115829,-0.003213,1.008011,0.057147,-0.746579,0.008547,0.662783
32,1,640000,42,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087616,-0.069841,0.887288,0.996615,0.003864,0.034284,0.074621
32,1,640000,42,obj,1,"013_banana_1","put banana on sheet metal",-0.203987,0.074242,0.878547,0.999822,0.013344,0.001875,-0.013201
32,1,640000,42,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000018
32,1,640000,42,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
32,1,640000,42,gripper,0,"","put banana on sheet metal",-0.183947,0.082339,0.967157,0.073329,-0.716975,0.029845,0.692588
32,1,640000,43,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.087666,-0.077135,0.887277,0.352488,-0.026592,0.003987,0.935430
32,1,640000,43,obj,1,"013_banana_1","put banana on sheet metal",-0.234684,0.075331,0.878547,0.382568,0.003214,0.013138,0.923829
32,1,640000,43,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000049
32,1,640000,43,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
32,1,640000,43,gripper,0,"","put banana on sheet metal",-0.175370,0.071143,0.970691,0.161001,-0.683539,0.096315,0.705391
32,1,640000,44,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.236347,-0.073807,0.887529,0.379857,-0.039980,0.016434,0.924035
32,1,640000,44,obj,1,"013_banana_1","put banana on flat bowl",-0.203593,0.076145,0.878546,0.372104,0.003048,0.013114,0.928093
32,1,640000,44,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,0.075001,0.871345,0.999999,-0.000158,0.001164,-0.000027
32,1,640000,44,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.085000,-0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000000
32,1,640000,44,gripper,0,"","put banana on flat bowl",-0.160798,0.072933,0.949383,0.133795,-0.697416,0.153039,0.687233
32,1,640000,45,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.086958,0.074533,0.887552,0.740227,-0.022949,0.022209,0.671598
32,1,640000,45,obj,1,"013_banana_1","put banana on flat bowl",-0.204559,-0.044989,0.878547,0.706990,0.007946,0.010855,0.707096
32,1,640000,45,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084990,-0.075010,0.871344,0.999999,-0.000157,0.001164,-0.000051
32,1,640000,45,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075001,0.874363,1.000000,0.000001,-0.000001,0.000096
32,1,640000,45,gripper,0,"","put banana on flat bowl",-0.149386,0.019323,1.014012,0.091669,-0.686644,0.116860,0.711661
32,1,640000,46,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.238110,0.074636,0.887379,0.743563,-0.019694,0.027231,0.667821
32,1,640000,46,obj,1,"013_banana_1","put banana on flat bowl",-0.204556,-0.044983,0.878547,0.707005,0.007961,0.010857,0.707080
32,1,640000,46,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000046
32,1,640000,46,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000063
32,1,640000,46,gripper,0,"","put banana on flat bowl",-0.133888,-0.038962,0.980155,-0.213132,-0.648131,-0.239512,0.690750
32,1,640000,47,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235802,0.077864,0.887549,0.997386,0.000576,0.028185,0.066536
32,1,640000,47,obj,1,"013_banana_1","put banana on flat bowl",-0.084789,-0.075157,0.878547,0.999897,0.013300,0.001981,-0.005069
32,1,640000,47,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074987,0.871344,0.999999,-0.000157,0.001164,-0.000063
32,1,640000,47,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000000,-0.000001,0.000175
32,1,640000,47,gripper,0,"","put banana on flat bowl",-0.067631,-0.064547,0.977942,0.128881,-0.767813,0.071025,0.623545
32,1,640000,48,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.087372,0.075203,0.894146,0.957311,0.013875,-0.034286,0.286684
32,1,640000,48,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.215240,0.096249,0.887026,0.649675,-0.289031,0.648187,0.272466
32,1,640000,48,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,0.075001,0.872199,1.000000,-0.000001,-0.000001,-0.000050
32,1,640000,48,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000003
32,1,640000,48,gripper,0,"","put hamburger on frying pan",-0.074276,0.083504,0.998454,-0.043500,-0.690280,-0.075447,0.718282
32,1,640000,49,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.224857,0.027565,0.895946,0.917372,-0.069280,-0.079674,0.383773
32,1,640000,49,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.184765,-0.053314,0.887027,0.648850,-0.290983,0.647313,0.274423
32,1,640000,49,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000000,-0.000000,-0.000039
32,1,640000,49,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.115002,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000013
32,1,640000,49,gripper,0,"","put hamburger on frying pan",-0.107536,-0.084864,1.012127,-0.049139,-0.747963,-0.067161,0.658503
32,1,640000,50,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.239113,0.040817,0.893929,0.980355,-0.011327,-0.014950,0.196346
32,1,640000,50,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064983,-0.053391,0.887027,0.649648,-0.289094,0.648158,0.272531
32,1,640000,50,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235001,0.044998,0.872199,1.000000,-0.000001,-0.000001,-0.000000
32,1,640000,50,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084999,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000008
32,1,640000,50,gripper,0,"","put hamburger on frying pan",-0.062473,-0.049194,0.958964,0.101610,-0.743483,0.046100,0.659381
32,1,640000,51,obj,0,"014_hamburger_1","put hamburger on frying pan",1.509613,1.745289,0.019312,-0.038347,0.015460,0.022794,-0.998885
32,1,640000,51,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.064928,-0.057953,0.887027,0.639159,-0.312792,0.637061,0.296293
32,1,640000,51,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.205000,-0.044998,0.872199,1.000000,0.000000,-0.000001,0.000006
32,1,640000,51,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235010,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000014
32,1,640000,51,gripper,0,"","put hamburger on frying pan",-0.121643,-0.083769,1.025963,-0.072271,-0.668759,-0.173158,0.719413
32,1,640000,52,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.085457,-0.073898,0.888112,0.932076,-0.027056,0.005141,0.361215
32,1,640000,52,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.190064,0.099072,0.887026,0.651512,-0.284613,0.650141,0.268038
32,1,640000,52,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235000,-0.075001,0.872199,1.000000,0.000000,-0.000001,0.000000
32,1,640000,52,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.083212,0.081516,0.870870,0.999924,-0.000000,-0.000001,0.012333
32,1,640000,52,gripper,0,"","put hamburger on cutting board",-0.084755,0.097990,0.947319,0.147928,-0.741318,0.004219,0.654635
32,1,640000,53,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.193113,0.087292,0.890473,0.902656,-0.028243,0.005271,0.429402
32,1,640000,53,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.065046,0.096497,0.887026,0.649686,-0.289002,0.648201,0.272438
32,1,640000,53,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235001,-0.075001,0.872199,1.000000,-0.000000,-0.000000,0.000183
32,1,640000,53,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235054,0.075001,0.870883,1.000000,0.000702,0.000718,-0.000157
32,1,640000,53,gripper,0,"","put hamburger on cutting board",-0.134975,-0.048443,1.024181,0.074123,-0.725194,0.075186,0.680402
32,1,640000,54,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.086124,0.074837,0.888112,0.389307,-0.022521,-0.015852,0.920696
32,1,640000,54,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.354668,0.096073,0.891225,0.606239,-0.671358,0.060114,0.422064
32,1,640000,54,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000014
32,1,640000,54,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.205002,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000004
32,1,640000,54,gripper,0,"","put hamburger on cutting board",-0.378813,0.081846,0.898835,-0.045810,-0.549385,-0.084482,0.830024
32,1,640000,55,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.107117,-0.097141,0.890794,0.867949,-0.029260,0.002915,0.495782
32,1,640000,55,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.235748,0.104263,0.887026,0.497362,-0.513701,0.489691,0.498944
32,1,640000,55,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.115002,0.044998,0.872199,1.000000,-0.000000,-0.000001,-0.000000
32,1,640000,55,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.078453,-0.072079,0.870870,0.999943,-0.000000,-0.000001,0.010648
32,1,640000,55,gripper,0,"","put hamburger on cutting board",-0.145510,-0.103355,0.968125,-0.150569,-0.748933,-0.098595,0.637737
32,1,640000,56,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.114426,0.046028,0.900086,0.936401,0.012173,-0.028056,0.349598
32,1,640000,56,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.064850,-0.053497,0.887026,0.648768,-0.291179,0.647224,0.274619
32,1,640000,56,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114998,0.044998,0.872199,1.000000,0.000000,-0.000001,0.000000
32,1,640000,56,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204987,-0.075016,0.870869,1.000000,0.000000,-0.000000,0.000032
32,1,640000,56,gripper,0,"","put plastic bottle on frying pan",-0.111633,0.041559,0.946001,0.059303,-0.747554,0.014600,0.661387
32,1,640000,57,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.207512,-0.051289,0.888349,0.765247,-0.008893,-0.024656,0.643203
32,1,640000,57,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.095177,-0.057110,0.895149,0.433493,-0.559123,0.402946,0.580603
32,1,640000,57,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084972,-0.075005,0.872199,1.000000,0.000000,-0.000001,0.000163
32,1,640000,57,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115002,0.044998,0.870870,1.000000,0.000000,-0.000000,-0.000011
32,1,640000,57,gripper,0,"","put plastic bottle on frying pan",-0.207664,-0.054665,0.915564,0.007760,-0.729098,0.012005,0.684260
32,1,640000,58,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.235985,-0.044392,0.888112,0.713057,-0.026884,-0.005985,0.700565
32,1,640000,58,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.120152,-0.073498,0.896230,0.558350,-0.352981,0.238969,0.711719
32,1,640000,58,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114975,-0.074917,0.872199,0.999993,-0.000000,-0.000001,-0.003797
32,1,640000,58,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.059692,0.062458,0.870871,0.999836,0.000000,-0.000001,-0.018104
32,1,640000,58,gripper,0,"","put plastic bottle on frying pan",-0.063925,0.071169,0.919748,0.030225,-0.777103,0.035331,0.627654
32,1,640000,59,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.086115,-0.045223,0.888112,0.388667,-0.022513,-0.015867,0.920966
32,1,640000,59,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.149502,-0.053276,0.966120,0.529419,0.078099,0.151964,0.830977
32,1,640000,59,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.205000,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000003
32,1,640000,59,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.274874,0.067310,0.870870,0.953570,-0.000000,-0.000000,0.301172
32,1,640000,59,gripper,0,"","put plastic bottle on frying pan",-0.170801,-0.061295,1.005732,-0.184864,-0.691923,-0.142082,0.683287
32,1,640000,60,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085457,-0.073898,0.888112,0.932076,-0.027056,0.005141,0.361215
32,1,640000,60,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.078345,0.078484,0.889703,0.597782,-0.388925,0.593643,0.372804
32,1,640000,60,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.241564,0.051098,0.875253,0.000148,0.992337,-0.123560,0.000047
32,1,640000,60,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.081504,0.079308,0.870870,0.999995,0.000000,-0.000006,-0.003270
32,1,640000,60,gripper,0,"","put plastic bottle on cutting board",-0.103302,0.063068,1.012720,0.170075,-0.758077,0.053281,0.627340
32,1,640000,61,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.205919,0.075607,0.888113,0.711117,-0.026868,-0.006060,0.702534
32,1,640000,61,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.235733,-0.021172,0.889656,0.421200,-0.576124,0.416194,0.563431
32,1,640000,61,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000054
32,1,640000,61,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.233919,-0.043255,0.870871,0.999929,-0.000008,-0.000007,-0.011914
32,1,640000,61,gripper,0,"","put plastic bottle on cutting board",-0.119090,-0.025658,1.089146,-0.043587,-0.724843,-0.017938,0.687300
32,1,640000,62,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085960,0.045601,0.888112,0.712557,-0.026878,-0.006005,0.701073
32,1,640000,62,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.222137,0.092167,0.892448,0.028064,-0.640407,0.767085,0.025921
32,1,640000,62,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.235012,-0.044994,0.872199,1.000000,-0.000000,-0.000001,0.000392
32,1,640000,62,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204994,0.075001,0.870870,1.000000,0.000002,-0.000002,-0.000534
32,1,640000,62,gripper,0,"","put plastic bottle on cutting board",-0.118982,0.053982,1.111180,0.086559,-0.695601,0.072774,0.709473
32,1,640000,63,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085228,-0.073883,0.888112,0.925793,-0.027141,0.004677,0.377027
32,1,640000,63,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.196400,-0.035179,0.889375,0.536135,-0.469709,0.534397,0.454261
32,1,640000,63,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.008121,0.081512,0.872215,0.992418,0.000058,-0.000176,-0.122910
32,1,640000,63,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235069,-0.074562,0.870870,1.000000,-0.000001,-0.000004,0.000260
32,1,640000,63,gripper,0,"","put plastic bottle on cutting board",-0.096394,-0.079504,0.946013,-0.040229,-0.767403,-0.031657,0.639119
32,2,645120,0,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.112190,-0.021072,0.879125,-0.627205,0.113062,0.765088,0.092039
32,2,645120,0,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.082809,0.078537,0.881638,0.988669,0.001273,-0.039346,0.144859
32,2,645120,0,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.071823,-0.083275,0.869532,0.998668,-0.000000,-0.000000,-0.051600
32,2,645120,0,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000154
32,2,645120,0,gripper,0,"","put ketchup bottle on cloth",-0.125244,-0.016678,0.936347,0.185650,-0.738074,0.073423,0.644507
32,2,645120,1,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.264168,-0.001648,0.879088,0.788760,0.209764,-0.412831,0.404261
32,2,645120,1,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.234379,-0.075714,0.881638,0.382565,0.034426,-0.019080,0.923090
32,2,645120,1,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.076664,-0.079765,0.869532,0.977300,-0.000000,-0.000002,-0.211860
32,2,645120,1,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000170
32,2,645120,1,gripper,0,"","put ketchup bottle on cloth",-0.319319,-0.009579,0.914007,0.076294,-0.748591,0.100521,0.650912
32,2,645120,2,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.160320,-0.097145,0.898292,0.220426,-0.828967,-0.501748,-0.111687
32,2,645120,2,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.205132,0.075729,0.881641,0.703238,-0.031493,0.024940,0.709819
32,2,645120,2,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.182507,-0.076012,0.873271,0.987035,0.038182,-0.041732,-0.150209
32,2,645120,2,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114994,-0.074997,0.871288,0.999999,-0.000155,-0.001019,0.000006
32,2,645120,2,gripper,0,"","put ketchup bottle on cloth",-0.204670,-0.079906,0.942197,0.004837,-0.768270,0.091183,0.633580
32,2,645120,3,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.059443,0.061882,0.885084,0.640646,0.318811,-0.335768,0.612530
32,2,645120,3,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.235035,-0.044167,0.881641,0.401336,-0.038344,0.011958,0.915050
32,2,645120,3,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.078077,0.075752,0.869532,0.998176,0.000000,-0.000000,0.060365
32,2,645120,3,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000009
32,2,645120,3,gripper,0,"","put ketchup bottle on cloth",-0.082214,0.091190,1.034179,0.012825,-0.722586,-0.007118,0.691125
32,2,645120,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.087612,0.090973,0.888198,0.566363,0.354394,-0.307673,0.677477
32,2,645120,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.065827,-0.078316,0.886526,0.574285,-0.059792,0.002117,0.816466
32,2,645120,4,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.019800,-0.079842,0.869532,0.998873,0.000000,-0.000001,0.047454
32,2,645120,4,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
32,2,645120,4,gripper,0,"","put kitchen shovel on yellow_plate",-0.075096,-0.081215,0.969408,-0.171664,-0.706641,-0.107304,0.677994
32,2,645120,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191307,-0.084404,0.879809,-0.924635,0.009075,-0.022415,-0.380087
32,2,645120,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.065800,0.070900,0.887568,0.685059,0.021011,-0.028566,0.727624
32,2,645120,5,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.085001,0.074997,0.869532,1.000000,0.000000,-0.000001,0.000032
32,2,645120,5,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.234999,0.075005,0.871288,0.999999,-0.000154,-0.001019,0.000145
32,2,645120,5,gripper,0,"","put kitchen shovel on yellow_plate",-0.216086,-0.094578,0.913826,-0.167735,-0.687511,-0.079214,0.702081
32,2,645120,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.124252,0.060921,0.928946,0.639866,0.296780,-0.355067,0.613531
32,2,645120,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",0.712547,-0.411873,0.012837,-0.216675,0.039118,0.004136,0.975451
32,2,645120,6,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",1.114468,-1.064484,0.000732,-0.969296,-0.000000,0.000000,0.245895
32,2,645120,6,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114960,0.045029,0.871288,0.999999,-0.000153,-0.001019,0.000361
32,2,645120,6,gripper,0,"","put kitchen shovel on yellow_plate",-0.170094,0.063526,0.960447,0.031799,-0.716902,0.014142,0.696305
32,2,645120,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.191486,0.027054,0.888080,0.664986,0.299533,-0.357101,0.583569
32,2,645120,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.245667,-0.093994,0.887291,0.689340,0.022626,-0.039783,0.722991
32,2,645120,7,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.235023,-0.075317,0.869532,0.999992,0.000006,0.000003,-0.004104
32,2,645120,7,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205315,0.045151,0.871210,0.999982,-0.003916,-0.004120,-0.001983
32,2,645120,7,gripper,0,"","put kitchen shovel on yellow_plate",-0.148968,0.050781,1.011308,0.063590,-0.641143,0.037499,0.763862
32,2,645120,8,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.106415,-0.054581,0.888013,0.537922,0.365050,-0.290848,0.701987
32,2,645120,8,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.065056,0.010956,0.882819,0.780320,-0.081625,0.091479,0.613245
32,2,645120,8,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000001
32,2,645120,8,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.115692,-0.046547,0.871288,0.999999,-0.000153,-0.001020,0.000765
32,2,645120,8,gripper,0,"","put kitchen shovel on cloth",-0.250057,0.008453,0.951620,-0.037265,-0.702332,0.021659,0.710543
32,2,645120,9,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.157223,-0.002758,0.882440,0.663959,-0.190075,0.134354,0.710619
32,2,645120,9,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.110104,0.019119,0.888823,0.672572,0.024983,-0.080580,0.735207
32,2,645120,9,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.084751,-0.071663,0.869532,0.998607,0.000000,-0.000000,-0.052763
32,2,645120,9,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.112698,0.043736,0.871288,0.999674,-0.000127,-0.001022,0.025520
32,2,645120,9,gripper,0,"","put kitchen shovel on cloth",-0.180370,-0.012222,0.926369,0.009172,-0.742382,-0.117505,0.659528
32,2,645120,10,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.214752,-0.044983,0.879088,0.886322,-0.001325,-0.463068,0.000568
32,2,645120,10,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.101566,-0.079678,0.881638,0.546267,0.030295,-0.025093,0.836687
32,2,645120,10,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,0.000000,0.000023
32,2,645120,10,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084988,0.075008,0.871282,0.999999,-0.000452,-0.001266,-0.000002
32,2,645120,10,gripper,0,"","put kitchen shovel on cloth",-0.070551,-0.057005,0.974185,0.087994,-0.738531,0.106953,0.659841
32,2,645120,11,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.196817,-0.077316,0.885112,-0.058748,0.803927,-0.586445,-0.079574
32,2,645120,11,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.129433,-0.102688,0.888744,0.701095,-0.008501,-0.006496,0.712988
32,2,645120,11,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.224966,-0.064957,0.869532,0.993323,0.000001,-0.000000,-0.115366
32,2,645120,11,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.076666,-0.089394,0.871288,0.999486,-0.000121,-0.001024,0.032047
32,2,645120,11,gripper,0,"","put kitchen shovel on cloth",-0.230274,-0.096901,0.936658,-0.082644,-0.743326,0.022853,0.663411
32,2,645120,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.237925,0.078579,0.884948,-0.530362,-0.469958,-0.442562,0.549540
32,2,645120,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.172423,-0.020607,0.881638,0.998735,-0.003219,-0.039204,0.031312
32,2,645120,12,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235852,0.076351,0.869532,0.998107,0.000001,-0.000000,0.061506
32,2,645120,12,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114990,0.045006,0.871288,0.999999,-0.000153,-0.001018,-0.000015
32,2,645120,12,gripper,0,"","put ketchup bottle on yellow_plate",-0.233152,0.071337,1.023938,0.076571,-0.732914,0.060220,0.673311
32,2,645120,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.200790,-0.056671,0.878982,0.757237,-0.036790,0.650049,0.051718
32,2,645120,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.228792,0.076168,0.881638,0.998034,-0.006348,-0.038855,-0.048764
32,2,645120,13,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.115002,-0.044998,0.869532,1.000000,-0.000001,-0.000000,0.000015
32,2,645120,13,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
32,2,645120,13,gripper,0,"","put ketchup bottle on yellow_plate",-0.243409,-0.074018,0.913894,-0.058534,-0.722114,-0.092545,0.683053
32,2,645120,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.218025,-0.077530,0.879372,0.919593,-0.074847,0.267984,0.277364
32,2,645120,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.062428,-0.009548,0.881641,0.768213,-0.028957,0.027862,0.638932
32,2,645120,14,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.281494,0.055180,0.869532,0.984712,-0.000000,-0.000000,-0.174187
32,2,645120,14,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.070786,-0.099163,0.871288,0.991655,-0.000283,-0.000990,-0.128915
32,2,645120,14,gripper,0,"","put ketchup bottle on yellow_plate",-0.330784,-0.156250,0.918136,-0.041843,-0.696630,0.109902,0.707727
32,2,645120,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.043987,0.094131,0.885083,0.772823,0.225211,-0.403855,0.434655
32,2,645120,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.214092,0.077290,0.881638,0.938582,0.009232,-0.038237,0.342807
32,2,645120,15,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.058197,0.083027,0.869532,0.994926,0.000002,-0.000002,0.100605
32,2,645120,15,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
32,2,645120,15,gripper,0,"","put ketchup bottle on yellow_plate",-0.172480,0.067205,0.964982,0.161454,-0.689583,0.198218,0.677583
32,2,645120,16,obj,0,"003_bread_1","put bread on carpet",-0.235123,0.044460,0.883544,0.709056,0.010122,-0.007592,0.705039
32,2,645120,16,obj,1,"005_7up can_1","put bread on carpet",-0.206329,-0.077290,0.888955,-0.305227,-0.671571,0.568594,-0.364046
32,2,645120,16,recep,0,"004_newspaper_1","put bread on carpet",-0.114990,0.075001,0.869490,1.000000,0.000180,0.000874,0.000024
32,2,645120,16,recep,1,"003_carpet_1","put bread on carpet",-0.205025,-0.074856,0.870448,1.000000,-0.000137,-0.000167,0.000752
32,2,645120,16,gripper,0,"","put bread on carpet",-0.126621,0.086361,0.974680,0.048409,-0.693545,0.102061,0.711502
32,2,645120,17,obj,0,"003_bread_1","put bread on carpet",-0.192524,-0.054562,0.884550,0.567279,0.030000,0.016554,0.822812
32,2,645120,17,obj,1,"005_7up can_1","put bread on carpet",-0.189789,0.089909,0.888870,0.593445,0.408279,-0.490566,0.490384
32,2,645120,17,recep,0,"004_newspaper_1","put bread on carpet",-0.235065,-0.074993,0.869489,1.000000,0.000179,0.000872,0.000234
32,2,645120,17,recep,1,"003_carpet_1","put bread on carpet",-0.205013,0.075001,0.870461,1.000000,0.000019,-0.000158,0.000062
32,2,645120,17,gripper,0,"","put bread on carpet",-0.054289,0.042765,0.970311,-0.032160,-0.770369,-0.115274,0.626267
32,2,645120,18,obj,0,"003_bread_1","put bread on carpet",-0.204468,-0.075478,0.883544,0.383767,0.012271,-0.003119,0.923343
32,2,645120,18,obj,1,"005_7up can_1","put bread on carpet",-0.077244,-0.098309,0.928961,-0.300216,0.597534,-0.529255,-0.522219
32,2,645120,18,recep,0,"004_newspaper_1","put bread on carpet",-0.204979,0.075005,0.869490,1.000000,0.000180,0.000874,0.000076
32,2,645120,18,recep,1,"003_carpet_1","put bread on carpet",-0.085003,-0.074974,0.870447,0.999999,-0.000923,-0.000845,-0.000065
32,2,645120,18,gripper,0,"","put bread on carpet",-0.089008,-0.101276,0.961880,-0.093712,-0.709092,-0.095208,0.692345
32,2,645120,19,obj,0,"003_bread_1","put bread on carpet",-0.201954,0.058758,0.886615,0.413391,0.014449,-0.002505,0.910436
32,2,645120,19,obj,1,"005_7up can_1","put bread on carpet",-0.228500,-0.067108,0.888230,0.671839,0.128405,-0.091692,0.723697
32,2,645120,19,recep,0,"004_newspaper_1","put bread on carpet",-0.234921,-0.075027,0.869489,0.999997,0.000182,0.000876,-0.002159
32,2,645120,19,recep,1,"003_carpet_1","put bread on carpet",-0.205006,0.044998,0.870441,0.999999,-0.000676,-0.001047,0.000014
32,2,645120,19,gripper,0,"","put bread on carpet",-0.027574,0.091417,0.932899,0.176883,-0.797506,0.092915,0.569266
32,2,645120,20,obj,0,"003_bread_1","put 7up can on newspaper",-0.235764,-0.033047,0.886650,0.830011,0.011301,-0.006817,0.557591
32,2,645120,20,obj,1,"005_7up can_1","put 7up can on newspaper",-0.177187,-0.037102,0.887944,0.554072,0.385641,-0.243941,0.696260
32,2,645120,20,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000875,0.000010
32,2,645120,20,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235843,-0.043987,0.870460,0.999957,0.000020,-0.000158,0.009283
32,2,645120,20,gripper,0,"","put 7up can on newspaper",-0.198222,-0.037073,0.943491,0.032334,-0.680421,0.003202,0.732101
32,2,645120,21,obj,0,"003_bread_1","put 7up can on newspaper",-0.101067,-0.033085,0.886536,0.999863,0.002093,-0.010246,-0.012857
32,2,645120,21,obj,1,"005_7up can_1","put 7up can on newspaper",0.103218,0.114296,0.017310,-0.020374,-0.682163,0.730798,-0.013150
32,2,645120,21,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000005
32,2,645120,21,recep,1,"003_carpet_1","put 7up can on newspaper",-0.114033,-0.043495,0.870417,0.999999,-0.000583,-0.001213,0.000106
32,2,645120,21,gripper,0,"","put 7up can on newspaper",-0.018789,0.075506,0.915049,0.056947,-0.795084,0.129454,0.589779
32,2,645120,22,obj,0,"003_bread_1","put 7up can on newspaper",-0.226467,-0.055164,0.886582,0.904549,0.008411,-0.008094,0.426211
32,2,645120,22,obj,1,"005_7up can_1","put 7up can on newspaper",-0.090042,0.056713,0.888940,-0.709670,-0.248397,0.262629,-0.604726
32,2,645120,22,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.071899,0.086456,0.869491,0.999743,0.000163,0.000878,0.022665
32,2,645120,22,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235016,-0.075043,0.870466,0.999999,-0.000941,-0.001041,0.000208
32,2,645120,22,gripper,0,"","put 7up can on newspaper",-0.121788,0.060072,1.011553,0.020658,-0.710419,-0.004127,0.703464
32,2,645120,23,obj,0,"003_bread_1","put 7up can on newspaper",-0.059940,-0.071274,0.886448,0.284312,0.017143,-0.002269,0.958576
32,2,645120,23,obj,1,"005_7up can_1","put 7up can on newspaper",-0.217735,-0.015774,0.937070,0.752919,-0.013397,0.147263,0.641285
32,2,645120,23,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235195,0.074970,0.869490,1.000000,0.000180,0.000875,0.000029
32,2,645120,23,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084995,-0.074982,0.870461,1.000000,0.000018,-0.000158,0.000088
32,2,645120,23,gripper,0,"","put 7up can on newspaper",-0.216679,-0.012857,0.966798,0.021128,-0.679564,0.090979,0.727646
32,2,645120,24,obj,0,"003_bread_1","put 7up can on carpet",-0.185051,0.042948,0.885583,0.952309,0.011668,0.004645,0.304876
32,2,645120,24,obj,1,"005_7up can_1","put 7up can on carpet",-0.160828,0.125616,0.886979,0.504493,-0.469265,0.492852,0.531389
32,2,645120,24,recep,0,"004_newspaper_1","put 7up can on carpet",-0.205261,0.076284,0.869489,0.999949,0.000527,0.001416,0.009945
32,2,645120,24,recep,1,"003_carpet_1","put 7up can on carpet",-0.235001,-0.074986,0.870461,1.000000,0.000019,-0.000159,-0.000041
32,2,645120,24,gripper,0,"","put 7up can on carpet",-0.165966,0.077550,1.020243,0.204614,-0.614739,0.193779,0.736668
32,2,645120,25,obj,0,"003_bread_1","put 7up can on carpet",-0.119865,-0.028078,0.886609,0.317776,0.012786,-0.000599,0.948079
32,2,645120,25,obj,1,"005_7up can_1","put 7up can on carpet",-0.177185,-0.181385,0.885855,-0.381091,-0.621185,0.468866,-0.499062
32,2,645120,25,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235027,-0.075014,0.869490,1.000000,0.000180,0.000874,0.000184
32,2,645120,25,recep,1,"003_carpet_1","put 7up can on carpet",-0.115005,-0.044975,0.870447,0.999999,-0.000923,-0.000845,-0.000047
32,2,645120,25,gripper,0,"","put 7up can on carpet",-0.153561,0.064617,0.996908,-0.034566,-0.702028,-0.073465,0.707506
32,2,645120,26,obj,0,"003_bread_1","put 7up can on carpet",-0.084488,0.074516,0.883544,0.383569,0.012270,-0.003125,0.923425
32,2,645120,26,obj,1,"005_7up can_1","put 7up can on carpet",-0.164204,-0.197195,0.885637,0.654868,0.116071,-0.098993,0.740186
32,2,645120,26,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204788,-0.074726,0.869490,0.999996,0.000178,0.000875,0.002589
32,2,645120,26,recep,1,"003_carpet_1","put 7up can on carpet",-0.085003,-0.074965,0.870448,0.999999,-0.000923,-0.000845,-0.000058
32,2,645120,26,gripper,0,"","put 7up can on carpet",-0.193069,-0.067703,0.981973,-0.051319,-0.698660,-0.050144,0.711847
32,2,645120,27,obj,0,"003_bread_1","put 7up can on carpet",-0.215431,-0.055845,0.885661,0.311146,0.029192,0.003390,0.949908
32,2,645120,27,obj,1,"005_7up can_1","put 7up can on carpet",-0.071974,0.070906,0.888707,0.484570,0.475122,-0.364587,0.637595
32,2,645120,27,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234991,-0.075008,0.869489,1.000000,0.000180,0.000875,-0.000034
32,2,645120,27,recep,1,"003_carpet_1","put 7up can on carpet",-0.084955,0.075024,0.870461,1.000000,0.000017,-0.000158,0.000012
32,2,645120,27,gripper,0,"","put 7up can on carpet",-0.162536,0.047395,0.991504,0.137676,-0.703031,0.101732,0.690248
32,2,645120,28,obj,0,"003_bread_1","put bread on newspaper",-0.197279,-0.042408,0.885035,0.998969,0.005241,0.043533,0.011754
32,2,645120,28,obj,1,"005_7up can_1","put bread on newspaper",-0.039521,-0.023067,0.887517,-0.407041,0.026579,0.912549,-0.029421
32,2,645120,28,recep,0,"004_newspaper_1","put bread on newspaper",-0.234996,-0.075001,0.869489,1.000000,0.000180,0.000874,-0.000006
32,2,645120,28,recep,1,"003_carpet_1","put bread on newspaper",-0.081449,-0.080524,0.870448,0.998816,-0.000753,-0.000636,-0.048636
32,2,645120,28,gripper,0,"","put bread on newspaper",-0.065146,0.058298,1.012175,0.093805,-0.739544,0.064887,0.663374
32,2,645120,29,obj,0,"003_bread_1","put bread on newspaper",-0.059505,-0.100765,0.886430,0.982870,0.004083,-0.007921,0.184087
32,2,645120,29,obj,1,"005_7up can_1","put bread on newspaper",0.172136,-0.001541,0.017055,0.582241,-0.287389,-0.723266,-0.235136
32,2,645120,29,recep,0,"004_newspaper_1","put bread on newspaper",-0.101042,0.042929,0.869489,0.994810,0.000090,0.000888,0.101752
32,2,645120,29,recep,1,"003_carpet_1","put bread on newspaper",-0.085001,-0.074984,0.870462,1.000000,0.000037,-0.000159,-0.000036
32,2,645120,29,gripper,0,"","put bread on newspaper",-0.106872,-0.011630,0.962938,0.012316,-0.730394,-0.018658,0.682661
32,2,645120,30,obj,0,"003_bread_1","put bread on newspaper",-0.098087,-0.098036,0.894167,0.554694,0.229240,-0.350613,0.718911
32,2,645120,30,obj,1,"005_7up can_1","put bread on newspaper",-0.078148,-0.060467,0.888227,0.622613,0.279958,-0.222400,0.696071
32,2,645120,30,recep,0,"004_newspaper_1","put bread on newspaper",-0.085850,-0.075159,0.869491,0.999999,0.000179,0.000871,0.000593
32,2,645120,30,recep,1,"003_carpet_1","put bread on newspaper",-0.085003,0.075033,0.870448,0.999999,-0.000923,-0.000845,-0.000047
32,2,645120,30,gripper,0,"","put bread on newspaper",-0.074245,0.059697,0.968861,0.130420,-0.772122,0.039758,0.620675
32,2,645120,31,obj,0,"003_bread_1","put bread on newspaper",-0.216526,0.091259,0.886744,0.883624,0.016065,0.001840,0.467918
32,2,645120,31,obj,1,"005_7up can_1","put bread on newspaper",-0.212582,-0.023067,0.888622,0.755147,0.174811,-0.225453,0.590225
32,2,645120,31,recep,0,"004_newspaper_1","put bread on newspaper",-0.205093,0.075031,0.869490,1.000000,0.000180,0.000874,0.000320
32,2,645120,31,recep,1,"003_carpet_1","put bread on newspaper",-0.235199,-0.044920,0.870461,0.999999,0.000019,-0.000159,0.001425
32,2,645120,31,gripper,0,"","put bread on newspaper",-0.117292,0.127710,1.036111,-0.075038,-0.722514,-0.107930,0.678744
32,2,645120,32,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.102814,0.126416,0.885809,0.367478,0.366991,0.604414,0.604119
32,2,645120,32,obj,1,"013_banana_1","put carrot on flat bowl",-0.234535,-0.074990,0.878547,0.706823,0.007964,0.010874,0.707262
32,2,645120,32,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,2,645120,32,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.114998,-0.045000,0.874363,1.000000,0.000001,0.000000,0.000000
32,2,645120,32,gripper,0,"","put carrot on flat bowl",-0.087528,0.100078,0.943985,0.308966,-0.662806,0.179246,0.658103
32,2,645120,33,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.143326,0.006503,0.885680,0.388804,-0.397841,-0.581185,0.593951
32,2,645120,33,obj,1,"013_banana_1","put carrot on flat bowl",-0.192928,-0.081216,0.878547,0.947451,0.011919,0.006180,0.319620
32,2,645120,33,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.081871,-0.075812,0.871344,0.999972,-0.000166,0.001163,0.007319
32,2,645120,33,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.108364,0.081449,0.874362,0.999903,0.000001,-0.000001,0.013903
32,2,645120,33,gripper,0,"","put carrot on flat bowl",-0.180923,-0.004081,0.914070,0.016330,-0.763707,0.016127,0.645155
32,2,645120,34,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.206509,-0.086163,0.887542,0.962753,-0.008724,0.018114,0.269633
32,2,645120,34,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,-0.075309,0.878548,0.923609,0.011495,0.006986,0.383100
32,2,645120,34,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
32,2,645120,34,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075000,0.874362,1.000000,-0.000000,0.000000,0.000000
32,2,645120,34,gripper,0,"","put carrot on flat bowl",-0.191578,-0.023671,1.010947,-0.113519,-0.687000,0.067875,0.714519
32,2,645120,35,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.235125,-0.035580,0.883267,0.085621,-0.140510,-0.986295,-0.012199
32,2,645120,35,obj,1,"013_banana_1","put carrot on flat bowl",-0.084686,0.075317,0.878547,0.382193,0.003181,0.013048,0.923985
32,2,645120,35,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000158,0.001164,-0.000010
32,2,645120,35,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.204111,0.029012,0.874363,0.993043,-0.000000,-0.000001,0.117755
32,2,645120,35,gripper,0,"","put carrot on flat bowl",-0.195917,0.031693,0.961584,0.065474,-0.728323,0.029572,0.681457
32,2,645120,36,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.135256,0.018363,0.892380,0.949275,0.198568,-0.014192,-0.243406
32,2,645120,36,obj,1,"013_banana_1","put banana on sheet metal",-0.107312,-0.048775,0.878547,0.990442,0.013462,0.000201,-0.137274
32,2,645120,36,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.205141,0.045064,0.871344,0.999999,-0.000156,0.001164,-0.000844
32,2,645120,36,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084983,0.074998,0.874362,1.000000,-0.000000,-0.000001,-0.000487
32,2,645120,36,gripper,0,"","put banana on sheet metal",-0.063791,0.083262,0.969899,0.111291,-0.768311,0.007432,0.630284
32,2,645120,37,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.090633,-0.076985,0.887322,0.751417,-0.012942,0.020910,0.659369
32,2,645120,37,obj,1,"013_banana_1","put banana on sheet metal",-0.204554,-0.074994,0.878547,0.706803,0.007980,0.010892,0.707282
32,2,645120,37,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
32,2,645120,37,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,-0.000000,0.000001
32,2,645120,37,gripper,0,"","put banana on sheet metal",-0.128185,-0.018757,0.995386,0.177662,-0.645764,0.155769,0.726059
32,2,645120,38,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089123,-0.080236,0.887156,0.359635,-0.022807,-0.000399,0.932814
32,2,645120,38,obj,1,"013_banana_1","put banana on sheet metal",-0.236904,-0.039029,0.878547,0.356797,0.002825,0.013138,0.934085
32,2,645120,38,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,2,645120,38,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000000
32,2,645120,38,gripper,0,"","put banana on sheet metal",-0.216635,-0.034245,0.950042,-0.126210,-0.680931,-0.120448,0.711263
32,2,645120,39,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.089878,0.049458,0.887275,0.686419,-0.019323,0.027906,0.726414
32,2,645120,39,obj,1,"013_banana_1","put banana on sheet metal",-0.114559,-0.074994,0.878547,0.706892,0.007968,0.010871,0.707193
32,2,645120,39,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001163,0.000000
32,2,645120,39,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.205002,0.075000,0.874362,1.000000,-0.000001,-0.000001,-0.000000
32,2,645120,39,gripper,0,"","put banana on sheet metal",-0.071617,-0.016613,0.967114,0.155806,-0.726382,0.068852,0.665848
32,2,645120,40,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.243210,-0.077444,0.887533,0.959893,-0.004832,0.024798,0.279225
32,2,645120,40,obj,1,"013_banana_1","put banana on flat bowl",-0.114685,-0.045315,0.878547,0.923962,0.011505,0.006977,0.382248
32,2,645120,40,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
32,2,645120,40,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000141
32,2,645120,40,gripper,0,"","put banana on flat bowl",-0.080917,-0.022463,0.968674,-0.054988,-0.709427,-0.115885,0.693008
32,2,645120,41,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.232655,-0.046349,0.887529,0.932638,-0.015499,0.040349,0.358216
32,2,645120,41,obj,1,"013_banana_1","put banana on flat bowl",-0.114670,-0.075308,0.878547,0.923962,0.011474,0.006961,0.382249
32,2,645120,41,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.074999,0.871344,0.999999,-0.000157,0.001163,-0.000019
32,2,645120,41,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
32,2,645120,41,gripper,0,"","put banana on flat bowl",-0.095812,-0.018324,1.019014,0.008178,-0.690221,0.000884,0.723552
32,2,645120,42,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088287,-0.068514,0.887297,0.996871,0.003843,0.034530,0.070996
32,2,645120,42,obj,1,"013_banana_1","put banana on flat bowl",-0.203983,0.074240,0.878547,0.999819,0.013341,0.001871,-0.013466
32,2,645120,42,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000047
32,2,645120,42,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,0.000001,-0.000000,0.000143
32,2,645120,42,gripper,0,"","put banana on flat bowl",-0.181870,0.070519,0.949278,0.060488,-0.773104,0.065326,0.628000
32,2,645120,43,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.089258,-0.079844,0.887407,0.363787,-0.031443,0.015332,0.930825
32,2,645120,43,obj,1,"013_banana_1","put banana on flat bowl",-0.234684,0.075335,0.878547,0.382925,0.003214,0.013121,0.923681
32,2,645120,43,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000090
32,2,645120,43,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000001,-0.000000
32,2,645120,43,gripper,0,"","put banana on flat bowl",-0.197053,0.073964,0.999446,0.005051,-0.729349,0.029572,0.683484
32,2,645120,44,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.246469,-0.074181,0.887348,0.372916,-0.036305,0.013754,0.927052
32,2,645120,44,obj,1,"013_banana_1","put carrot on sheet metal",-0.203593,0.076145,0.878546,0.372104,0.003045,0.013103,0.928093
32,2,645120,44,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000027
32,2,645120,44,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085000,-0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000000
32,2,645120,44,gripper,0,"","put carrot on sheet metal",-0.229314,-0.075935,0.960096,-0.073548,-0.711939,-0.051199,0.696500
32,2,645120,45,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.083487,0.068258,0.887438,0.755282,-0.015210,0.018054,0.654975
32,2,645120,45,obj,1,"013_banana_1","put carrot on sheet metal",-0.204557,-0.044985,0.878547,0.707211,0.007949,0.010852,0.706874
32,2,645120,45,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084990,-0.075018,0.871344,0.999999,-0.000157,0.001164,-0.000071
32,2,645120,45,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000186
32,2,645120,45,gripper,0,"","put carrot on sheet metal",-0.070297,0.077159,0.980629,0.092882,-0.764254,0.099136,0.630445
32,2,645120,46,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.238144,0.092607,0.885771,0.701687,0.703674,0.083611,0.074083
32,2,645120,46,obj,1,"013_banana_1","put carrot on sheet metal",-0.202702,-0.045893,0.878547,0.802251,0.009434,0.009575,0.596835
32,2,645120,46,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,-0.075006,0.871345,0.999999,-0.000157,0.001164,-0.000049
32,2,645120,46,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084927,0.075098,0.874362,0.999999,-0.000001,0.000000,0.001656
32,2,645120,46,gripper,0,"","put carrot on sheet metal",-0.101614,-0.000327,0.914614,-0.144044,-0.811328,-0.043197,0.564918
32,2,645120,47,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.236118,0.078287,0.887507,0.997225,-0.003342,0.025244,0.069952
32,2,645120,47,obj,1,"013_banana_1","put carrot on sheet metal",-0.084785,-0.075159,0.878547,0.999895,0.013277,0.001974,-0.005405
32,2,645120,47,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.084991,0.074978,0.871344,0.999999,-0.000157,0.001164,-0.000085
32,2,645120,47,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000332
32,2,645120,47,gripper,0,"","put carrot on sheet metal",-0.253401,0.073086,0.965005,-0.092279,-0.767396,-0.053518,0.632237
32,2,645120,48,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.138145,0.075020,0.898036,0.904756,-0.083090,0.064011,0.412815
32,2,645120,48,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.215263,0.096237,0.887028,0.650227,-0.288371,0.647987,0.272323
32,2,645120,48,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.089516,0.070686,0.872205,0.998912,-0.000097,-0.000034,-0.046639
32,2,645120,48,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,-0.045002,0.870870,1.000000,0.000000,-0.000000,0.000009
32,2,645120,48,gripper,0,"","put hamburger on cutting board",-0.154858,0.061588,0.931381,0.036610,-0.753506,-0.079916,0.651538
32,2,645120,49,obj,0,"014_hamburger_1","put hamburger on cutting board",0.337830,0.496323,0.019312,0.182652,0.010054,0.025641,-0.982792
32,2,645120,49,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.184765,-0.053314,0.887027,0.648841,-0.291005,0.647304,0.274444
32,2,645120,49,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.230255,0.049770,0.872199,1.000000,-0.000001,-0.000001,-0.000133
32,2,645120,49,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.115032,0.073624,0.870870,1.000000,0.000000,-0.000001,-0.000689
32,2,645120,49,gripper,0,"","put hamburger on cutting board",-0.092731,0.098078,0.928783,-0.087745,-0.741506,-0.029338,0.664537
32,2,645120,50,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.110107,0.092316,0.890586,0.997592,-0.026602,0.014027,0.062496
32,2,645120,50,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.064983,-0.053391,0.887027,0.649645,-0.289103,0.648155,0.272538
32,2,645120,50,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.224655,0.042053,0.872199,0.998328,0.000000,-0.000001,0.057810
32,2,645120,50,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.085052,0.075039,0.870870,1.000000,-0.000000,-0.000001,0.000137
32,2,645120,50,gripper,0,"","put hamburger on cutting board",-0.157206,0.088066,0.994404,0.050143,-0.739840,0.100412,0.663355
32,2,645120,51,obj,0,"014_hamburger_1","put hamburger on cutting board",1.509609,1.745293,0.019312,-0.043865,0.015582,0.022709,-0.998658
32,2,645120,51,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.071140,0.106178,0.937754,0.526457,-0.511828,0.404913,0.544904
32,2,645120,51,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.205000,-0.044998,0.872199,1.000000,-0.000000,-0.000001,0.000000
32,2,645120,51,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.235018,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000035
32,2,645120,51,gripper,0,"","put hamburger on cutting board",-0.068842,0.105530,0.963850,-0.004927,-0.729485,-0.073691,0.679998
32,2,645120,52,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085457,-0.073898,0.888112,0.932071,-0.027056,0.005141,0.361228
32,2,645120,52,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.225455,-0.069485,0.895085,0.486794,-0.530630,0.457196,0.521953
32,2,645120,52,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235000,-0.075001,0.872199,1.000000,-0.000001,-0.000000,-0.000026
32,2,645120,52,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.076414,0.070091,0.870870,0.997231,0.000000,-0.000001,0.074369
32,2,645120,52,gripper,0,"","put plastic bottle on frying pan",-0.064221,-0.087053,0.976725,-0.112536,-0.713422,-0.124270,0.680384
32,2,645120,53,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.193209,0.087254,0.890473,0.902968,-0.028269,0.005271,0.428745
32,2,645120,53,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.257444,-0.067791,0.895198,0.551579,-0.453446,0.541510,0.443750
32,2,645120,53,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.232866,-0.072628,0.872199,0.999998,0.000000,-0.000000,-0.001939
32,2,645120,53,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235155,0.075005,0.870882,0.999999,0.000692,0.000703,-0.000429
32,2,645120,53,gripper,0,"","put plastic bottle on frying pan",-0.115139,-0.062330,1.021452,0.038510,-0.695818,-0.012451,0.717077
32,2,645120,54,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.087521,0.071785,0.889742,0.292455,-0.052369,0.037294,0.954116
32,2,645120,54,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.416336,0.113594,0.016920,0.194154,-0.664228,-0.192212,-0.695816
32,2,645120,54,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000020
32,2,645120,54,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.205006,-0.045002,0.870870,1.000000,0.000001,-0.000000,0.000010
32,2,645120,54,gripper,0,"","put plastic bottle on frying pan",-0.101904,0.071915,0.914441,0.041711,-0.758903,0.036649,0.648833
32,2,645120,55,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.107086,-0.097145,0.890795,0.867787,-0.029279,0.002920,0.496064
32,2,645120,55,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.139015,0.068050,0.895360,0.562945,-0.438263,0.554811,0.428024
32,2,645120,55,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.114994,0.045002,0.872199,1.000000,-0.000000,-0.000001,-0.000404
32,2,645120,55,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.078430,-0.072079,0.870870,0.999942,-0.000000,-0.000001,0.010747
32,2,645120,55,gripper,0,"","put plastic bottle on frying pan",-0.127901,0.078865,1.007614,0.118164,-0.714446,0.074811,0.685570
32,2,645120,56,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.196808,-0.037109,0.890548,0.905932,-0.026381,0.003359,0.422588
32,2,645120,56,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.105164,-0.052143,0.887150,0.665360,-0.050644,0.036730,0.743897
32,2,645120,56,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114639,0.048073,0.872199,0.999973,-0.000000,-0.000001,0.007379
32,2,645120,56,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.206261,-0.075455,0.870893,0.999998,0.001233,0.001257,0.000441
32,2,645120,56,gripper,0,"","put plastic bottle on cutting board",-0.067200,-0.045151,0.914160,-0.077168,-0.741660,-0.063950,0.663247
32,2,645120,57,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.207355,-0.050259,0.888112,0.766309,-0.027272,-0.003841,0.641881
32,2,645120,57,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.106281,0.090981,0.889503,0.569165,-0.428153,0.568583,0.411642
32,2,645120,57,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.085121,-0.067768,0.872199,0.999361,-0.000000,-0.000001,-0.035739
32,2,645120,57,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.115005,0.047993,0.870870,0.999920,-0.000000,0.000001,0.012647
32,2,645120,57,gripper,0,"","put plastic bottle on cutting board",-0.097408,0.069334,0.998698,0.171943,-0.730130,0.098823,0.653896
32,2,645120,58,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.235985,-0.044392,0.888112,0.713379,-0.026887,-0.005974,0.700237
32,2,645120,58,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.073700,0.005508,0.895725,0.700588,0.070709,-0.658878,0.264682
32,2,645120,58,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.110630,-0.076122,0.872199,0.998850,-0.000000,-0.000001,0.047954
32,2,645120,58,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.059654,0.062428,0.870745,0.999826,-0.001206,-0.000037,-0.018599
32,2,645120,58,gripper,0,"","put plastic bottle on cutting board",-0.091047,0.001303,0.946046,0.085663,-0.728640,0.038068,0.678451
32,2,645120,59,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086115,-0.045269,0.888112,0.386159,-0.022469,-0.015929,0.922021
32,2,645120,59,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.153709,0.042858,0.914879,-0.441540,-0.511985,0.416945,-0.607512
32,2,645120,59,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.204927,-0.075081,0.872199,1.000000,-0.000000,-0.000001,-0.000479
32,2,645120,59,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.275183,0.067543,0.870870,0.953430,-0.000000,-0.000000,0.301615
32,2,645120,59,gripper,0,"","put plastic bottle on cutting board",-0.145080,0.046820,0.951248,-0.117561,-0.784368,-0.081451,0.603583
32,2,645120,60,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.219638,0.075554,0.896498,0.957269,-0.026521,0.006669,0.287902
32,2,645120,60,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.081041,0.072094,0.890588,0.565793,-0.402755,0.628043,0.351040
32,2,645120,60,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.241564,0.051098,0.875254,0.000157,0.992337,-0.123560,-0.000001
32,2,645120,60,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.084225,0.072338,0.870870,0.999885,0.000000,-0.000001,-0.015149
32,2,645120,60,gripper,0,"","put hamburger on frying pan",-0.059493,0.060284,0.927948,0.071158,-0.784646,0.044228,0.614256
32,2,645120,61,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.173685,0.069065,0.890591,-0.050021,-0.052227,0.014525,0.997276
32,2,645120,61,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.235516,-0.021355,0.889654,0.420974,-0.576285,0.415943,0.563620
32,2,645120,61,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000000,-0.000096
32,2,645120,61,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.233761,-0.043266,0.870870,0.999930,-0.000002,-0.000002,-0.011799
32,2,645120,61,gripper,0,"","put hamburger on frying pan",-0.180484,0.074175,0.918523,-0.086270,-0.715877,0.022090,0.692524
32,2,645120,62,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.193478,-0.029484,0.896469,0.656646,-0.021105,0.004479,0.753890
32,2,645120,62,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.222137,0.092167,0.892448,0.028061,-0.640500,0.767008,0.025925
32,2,645120,62,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.235012,-0.044994,0.872199,1.000000,0.000000,-0.000001,0.000384
32,2,645120,62,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.204994,0.075001,0.870870,1.000000,0.000001,-0.000001,-0.000547
32,2,645120,62,gripper,0,"","put hamburger on frying pan",-0.137592,0.005831,1.015627,-0.026346,-0.714692,0.015442,0.698773
32,2,645120,63,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.085228,-0.073883,0.888112,0.925300,-0.027148,0.004642,0.378234
32,2,645120,63,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.173386,-0.029293,0.923859,0.600822,-0.683334,0.197787,0.364620
32,2,645120,63,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.008121,0.081512,0.872215,0.992396,0.000058,-0.000176,-0.123089
32,2,645120,63,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.236233,-0.075970,0.870870,1.000000,0.000000,-0.000001,-0.000894
32,2,645120,63,gripper,0,"","put hamburger on frying pan",-0.146461,-0.019596,1.000440,-0.108917,-0.714835,-0.085856,0.685403
32,3,650240,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.121162,-0.018272,0.879212,-0.276716,0.106074,0.954614,0.029798
32,3,650240,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.074150,0.066910,0.881638,0.993649,-0.000295,-0.039369,0.105416
32,3,650240,0,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.071823,-0.083275,0.869532,0.998669,-0.000001,-0.000000,-0.051574
32,3,650240,0,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000225
32,3,650240,0,gripper,0,"","put kitchen shovel on yellow_plate",-0.074192,-0.020241,0.947333,-0.047686,-0.786485,-0.060000,0.612836
32,3,650240,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.264168,-0.001648,0.879088,0.788754,0.209770,-0.412830,0.404272
32,3,650240,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.096813,-0.098267,0.887011,0.662415,0.024209,-0.048288,0.747187
32,3,650240,1,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.076252,-0.070068,0.869532,0.973336,0.000001,0.000000,-0.229385
32,3,650240,1,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000232
32,3,650240,1,gripper,0,"","put kitchen shovel on yellow_plate",-0.159550,-0.103809,0.942044,-0.270383,-0.654746,-0.284674,0.645880
32,3,650240,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.207119,-0.189621,0.878982,-0.415767,-0.548832,-0.350274,0.635003
32,3,650240,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.156235,-0.060196,0.894940,0.626505,-0.052757,-0.034877,0.776847
32,3,650240,2,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.177551,-0.080528,0.873375,0.973803,0.040690,-0.041541,-0.219832
32,3,650240,2,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114994,-0.074997,0.871288,0.999999,-0.000153,-0.001019,0.000030
32,3,650240,2,gripper,0,"","put kitchen shovel on yellow_plate",-0.201941,-0.075974,0.930161,-0.051937,-0.767546,-0.103700,0.630414
32,3,650240,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.059448,0.061882,0.885083,0.641069,0.318227,-0.335473,0.612552
32,3,650240,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.097614,0.101913,0.888117,0.410293,-0.600789,0.622471,0.288518
32,3,650240,3,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.078093,0.075752,0.869532,0.998175,-0.000000,-0.000002,0.060391
32,3,650240,3,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084988,-0.074997,0.871289,0.999999,-0.000157,-0.001019,0.000009
32,3,650240,3,gripper,0,"","put kitchen shovel on yellow_plate",-0.222598,-0.060902,0.932250,-0.076919,-0.743304,-0.075280,0.660239
32,3,650240,4,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.087616,0.090942,0.888197,0.568383,0.353540,-0.308754,0.675738
32,3,650240,4,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.019037,-0.001480,0.883433,0.830832,-0.035640,0.090875,0.547895
32,3,650240,4,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.019756,-0.079903,0.869532,0.998866,0.000000,-0.000000,0.047602
32,3,650240,4,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
32,3,650240,4,gripper,0,"","put kitchen shovel on cloth",-0.216287,-0.125668,0.914047,0.092302,-0.747249,0.114676,0.648035
32,3,650240,5,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.184788,-0.078743,0.879373,-0.882140,0.104802,-0.257758,-0.380008
32,3,650240,5,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.066446,0.072540,0.887595,0.645215,0.021566,-0.025793,0.763261
32,3,650240,5,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.089163,0.073303,0.869532,0.999904,-0.000000,-0.000000,-0.013871
32,3,650240,5,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000145
32,3,650240,5,gripper,0,"","put kitchen shovel on cloth",-0.204284,0.054180,0.947682,0.158966,-0.742874,0.206169,0.616735
32,3,650240,6,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.112160,0.152847,0.878982,-0.548159,0.444828,-0.475456,-0.524968
32,3,650240,6,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",0.712555,-0.411873,0.012837,-0.216481,0.039121,0.004129,0.975494
32,3,650240,6,recep,0,"001_plate_simpler","put kitchen shovel on cloth",1.114468,-1.064484,0.000732,-0.969296,-0.000000,0.000000,0.245898
32,3,650240,6,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.114960,0.045029,0.871288,0.999999,-0.000153,-0.001019,0.000395
32,3,650240,6,gripper,0,"","put kitchen shovel on cloth",-0.212175,-0.049946,0.973397,-0.021165,-0.700731,-0.028683,0.712535
32,3,650240,7,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.174427,0.283714,0.879213,0.193190,0.689135,-0.669053,0.200346
32,3,650240,7,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.208878,-0.159225,0.887044,0.340044,0.043336,-0.035944,0.938722
32,3,650240,7,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.205650,-0.128174,0.869532,0.999156,-0.000002,0.000004,-0.041069
32,3,650240,7,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.198261,0.045662,0.871283,0.999816,-0.000200,-0.001057,-0.019156
32,3,650240,7,gripper,0,"","put kitchen shovel on cloth",-0.227509,0.022751,0.920856,0.179461,-0.695660,0.160514,0.676821
32,3,650240,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.104172,-0.056530,0.888048,0.412247,0.580809,-0.516046,0.475825
32,3,650240,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.065063,0.010998,0.882782,0.780615,-0.080760,0.090731,0.613095
32,3,650240,8,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,-0.075001,0.869532,1.000000,0.000001,-0.000001,0.000001
32,3,650240,8,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.115700,-0.046585,0.871288,0.999999,-0.000153,-0.001019,0.000647
32,3,650240,8,gripper,0,"","put ketchup bottle on yellow_plate",-0.092354,0.059216,1.007337,-0.056244,-0.680167,0.000245,0.730896
32,3,650240,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.108315,-0.081253,0.885369,0.659116,-0.198435,0.195078,0.698667
32,3,650240,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.060593,-0.059502,0.887592,0.684433,0.020104,-0.026886,0.728302
32,3,650240,9,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.084736,-0.071663,0.869532,0.998592,-0.000001,-0.000000,-0.053044
32,3,650240,9,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.112698,0.043732,0.871288,0.999673,-0.000127,-0.001022,0.025533
32,3,650240,9,gripper,0,"","put ketchup bottle on yellow_plate",-0.197712,-0.079361,0.923831,0.081872,-0.748559,0.125967,0.645824
32,3,650240,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.126068,-0.029903,0.879349,-0.301059,-0.041838,0.952561,-0.015489
32,3,650240,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.101559,-0.079689,0.881638,0.546620,0.030311,-0.025121,0.836455
32,3,650240,10,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.235001,0.075001,0.869532,1.000000,-0.000001,0.000000,0.000036
32,3,650240,10,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084988,0.075008,0.871282,0.999999,-0.000452,-0.001266,0.000009
32,3,650240,10,gripper,0,"","put ketchup bottle on yellow_plate",-0.153763,-0.025415,0.924299,-0.012555,-0.748912,0.076875,0.658076
32,3,650240,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.199217,-0.065956,0.885211,0.161743,0.779757,-0.560793,0.226560
32,3,650240,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.122917,-0.093357,0.889345,0.714967,0.019616,-0.040571,0.697705
32,3,650240,11,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.225807,-0.063347,0.869532,0.994983,0.000001,-0.000000,-0.100039
32,3,650240,11,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.075298,-0.087727,0.871288,0.999826,-0.000135,-0.001022,0.018651
32,3,650240,11,gripper,0,"","put ketchup bottle on yellow_plate",-0.212374,-0.071211,0.982365,0.102822,-0.738467,0.074524,0.662224
32,3,650240,12,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.226261,0.113907,0.885085,-0.544378,0.366415,0.283126,0.699451
32,3,650240,12,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.172420,-0.020607,0.881638,0.998737,-0.003220,-0.039224,0.031241
32,3,650240,12,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235545,0.077206,0.869532,0.998583,-0.000000,0.000000,0.053212
32,3,650240,12,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114990,0.045006,0.871288,0.999999,-0.000157,-0.001019,-0.000015
32,3,650240,12,gripper,0,"","put ketchup bottle on cloth",-0.218397,0.119139,0.949610,-0.008220,-0.699267,0.190630,0.688926
32,3,650240,13,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.176048,-0.060509,0.879116,-0.098900,-0.009232,-0.995053,0.001480
32,3,650240,13,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.228792,0.076168,0.881638,0.998033,-0.006349,-0.038849,-0.048792
32,3,650240,13,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.093174,-0.044407,0.869532,0.999095,-0.000000,-0.000001,0.042527
32,3,650240,13,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
32,3,650240,13,gripper,0,"","put ketchup bottle on cloth",-0.172134,-0.093512,0.956361,0.048416,-0.741096,-0.043964,0.668206
32,3,650240,14,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.180019,-0.062729,0.879212,-0.273183,-0.180447,0.943386,-0.053215
32,3,650240,14,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.062428,-0.009544,0.881641,0.768175,-0.028959,0.027860,0.638978
32,3,650240,14,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.281494,0.055180,0.869532,0.984711,0.000000,-0.000000,-0.174198
32,3,650240,14,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.070786,-0.099163,0.871288,0.991656,-0.000283,-0.000991,-0.128906
32,3,650240,14,gripper,0,"","put ketchup bottle on cloth",-0.311949,-0.082541,0.917315,0.138205,-0.673874,0.348975,0.636404
32,3,650240,15,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.042618,0.056332,0.890429,0.216039,0.579767,-0.765871,0.175040
32,3,650240,15,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.214088,0.077293,0.881638,0.938530,0.009248,-0.038261,0.342946
32,3,650240,15,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.053688,0.080082,0.869532,0.991968,0.000000,-0.000002,0.126490
32,3,650240,15,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084991,-0.074993,0.871288,1.000000,-0.000157,-0.001020,0.000011
32,3,650240,15,gripper,0,"","put ketchup bottle on cloth",-0.048075,0.045527,0.931203,0.188507,-0.755356,0.003970,0.627604
32,3,650240,16,obj,0,"003_bread_1","put 7up can on newspaper",-0.124321,0.065277,0.886583,0.677216,0.022539,0.001351,0.735438
32,3,650240,16,obj,1,"005_7up can_1","put 7up can on newspaper",-0.206352,-0.077251,0.888956,-0.304898,-0.671816,0.567692,-0.365275
32,3,650240,16,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.114990,0.075005,0.869490,1.000000,0.000180,0.000874,0.000104
32,3,650240,16,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205025,-0.074844,0.870448,0.999999,-0.000891,-0.000818,0.000754
32,3,650240,16,gripper,0,"","put 7up can on newspaper",-0.252281,-0.033764,0.950012,0.004081,-0.713353,0.045400,0.699320
32,3,650240,17,obj,0,"003_bread_1","put 7up can on newspaper",-0.192535,-0.054562,0.884550,0.566959,0.029996,0.016554,0.823033
32,3,650240,17,obj,1,"005_7up can_1","put 7up can on newspaper",-0.189457,0.089916,0.888845,0.593514,0.407396,-0.484390,0.497129
32,3,650240,17,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.235077,-0.074989,0.869489,1.000000,0.000179,0.000873,0.000366
32,3,650240,17,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205013,0.074993,0.870461,1.000000,0.000019,-0.000158,0.000067
32,3,650240,17,gripper,0,"","put 7up can on newspaper",-0.191895,0.082197,0.998068,0.018412,-0.709823,-0.021738,0.703804
32,3,650240,18,obj,0,"003_bread_1","put 7up can on newspaper",-0.190025,0.087269,0.885812,0.330794,0.027423,0.004234,0.943295
32,3,650240,18,obj,1,"005_7up can_1","put 7up can on newspaper",-0.080654,-0.098301,0.888819,-0.359472,0.640014,-0.440057,-0.517216
32,3,650240,18,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.204964,0.075008,0.869489,1.000000,0.000180,0.000875,0.000086
32,3,650240,18,recep,1,"003_carpet_1","put 7up can on newspaper",-0.084999,-0.074970,0.870462,1.000000,0.000036,-0.000158,-0.000022
32,3,650240,18,gripper,0,"","put 7up can on newspaper",-0.076344,-0.068394,1.010865,-0.042442,-0.742347,0.022000,0.668308
32,3,650240,19,obj,0,"003_bread_1","put 7up can on newspaper",-0.201954,0.058758,0.886615,0.413534,0.014450,-0.002508,0.910370
32,3,650240,19,obj,1,"005_7up can_1","put 7up can on newspaper",-0.228495,-0.067112,0.888231,0.671378,0.128464,-0.091626,0.724123
32,3,650240,19,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234926,-0.075031,0.869490,0.999997,0.000201,0.000899,-0.002346
32,3,650240,19,recep,1,"003_carpet_1","put 7up can on newspaper",-0.205006,0.044998,0.870441,0.999999,-0.000675,-0.001047,0.000011
32,3,650240,19,gripper,0,"","put 7up can on newspaper",-0.195423,0.048262,0.982834,0.095790,-0.712939,0.071668,0.690946
32,3,650240,20,obj,0,"003_bread_1","put 7up can on carpet",-0.235763,-0.033047,0.886650,0.830011,0.011297,-0.006800,0.557592
32,3,650240,20,obj,1,"005_7up can_1","put 7up can on carpet",-0.177460,-0.036034,0.887825,0.562241,0.362344,-0.224333,0.708707
32,3,650240,20,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
32,3,650240,20,recep,1,"003_carpet_1","put 7up can on carpet",-0.235844,-0.043987,0.870460,0.999957,0.000020,-0.000159,0.009283
32,3,650240,20,gripper,0,"","put 7up can on carpet",-0.061921,0.073212,0.919177,-0.058571,-0.767040,-0.144361,0.622398
32,3,650240,21,obj,0,"003_bread_1","put 7up can on carpet",-0.096537,-0.019688,0.886476,0.998844,0.003132,-0.010379,0.046831
32,3,650240,21,obj,1,"005_7up can_1","put 7up can on carpet",0.103220,0.114349,0.017307,-0.021562,-0.682245,0.730666,-0.014267
32,3,650240,21,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000875,0.000004
32,3,650240,21,recep,1,"003_carpet_1","put 7up can on carpet",-0.112509,-0.039131,0.870342,0.999991,-0.000309,-0.001751,0.003896
32,3,650240,21,gripper,0,"","put 7up can on carpet",-0.199123,-0.061750,0.953656,0.054616,-0.718712,0.095791,0.686509
32,3,650240,22,obj,0,"003_bread_1","put 7up can on carpet",-0.225986,-0.054642,0.886571,0.906597,0.008374,-0.007953,0.421840
32,3,650240,22,obj,1,"005_7up can_1","put 7up can on carpet",-0.156162,-0.071812,0.898875,0.538694,0.711291,0.416269,-0.174914
32,3,650240,22,recep,0,"004_newspaper_1","put 7up can on carpet",-0.070873,0.089138,0.869490,0.999804,0.000162,0.000878,0.019772
32,3,650240,22,recep,1,"003_carpet_1","put 7up can on carpet",-0.234993,-0.075012,0.870448,0.999999,-0.000786,-0.000726,0.000058
32,3,650240,22,gripper,0,"","put 7up can on carpet",-0.222219,-0.057413,0.960032,-0.108378,-0.776652,-0.042351,0.619090
32,3,650240,23,obj,0,"003_bread_1","put 7up can on carpet",-0.052090,-0.079258,0.886580,0.271550,0.013628,0.000018,0.962328
32,3,650240,23,obj,1,"005_7up can_1","put 7up can on carpet",-0.076088,-0.046986,0.888703,0.518287,-0.412089,0.321102,0.677093
32,3,650240,23,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235195,0.074970,0.869490,1.000000,0.000180,0.000874,0.000036
32,3,650240,23,recep,1,"003_carpet_1","put 7up can on carpet",-0.081207,-0.078526,0.870477,0.999528,-0.003193,-0.002928,-0.030426
32,3,650240,23,gripper,0,"","put 7up can on carpet",-0.150656,-0.015295,0.987082,-0.075936,-0.741672,-0.115156,0.656427
32,3,650240,24,obj,0,"003_bread_1","put bread on newspaper",-0.235229,-0.027733,0.886154,0.841354,-0.064083,0.037846,0.535336
32,3,650240,24,obj,1,"005_7up can_1","put bread on newspaper",-0.160072,0.127892,0.886968,0.522809,-0.451922,0.508933,0.513249
32,3,650240,24,recep,0,"004_newspaper_1","put bread on newspaper",-0.201256,0.079279,0.869490,0.999060,0.000142,0.000881,0.043346
32,3,650240,24,recep,1,"003_carpet_1","put bread on newspaper",-0.235001,-0.074965,0.870456,0.999999,-0.000842,-0.001045,-0.000028
32,3,650240,24,gripper,0,"","put bread on newspaper",-0.197601,-0.027444,1.000211,-0.011036,-0.705309,0.044990,0.707385
32,3,650240,25,obj,0,"003_bread_1","put bread on newspaper",-0.119865,-0.028069,0.886609,0.317787,0.012787,-0.000599,0.948076
32,3,650240,25,obj,1,"005_7up can_1","put bread on newspaper",-0.177185,-0.181391,0.885855,-0.380947,-0.621321,0.468685,-0.499173
32,3,650240,25,recep,0,"004_newspaper_1","put bread on newspaper",-0.235027,-0.075014,0.869490,1.000000,0.000180,0.000874,0.000197
32,3,650240,25,recep,1,"003_carpet_1","put bread on newspaper",-0.115005,-0.044966,0.870447,0.999999,-0.000923,-0.000845,-0.000065
32,3,650240,25,gripper,0,"","put bread on newspaper",-0.187651,0.027791,0.974896,0.147514,-0.691099,0.082198,0.702755
32,3,650240,26,obj,0,"003_bread_1","put bread on newspaper",-0.188885,-0.046854,0.885782,0.296809,0.029316,0.003381,0.954481
32,3,650240,26,obj,1,"005_7up can_1","put bread on newspaper",-0.164204,-0.197195,0.885637,0.654856,0.116093,-0.099011,0.740191
32,3,650240,26,recep,0,"004_newspaper_1","put bread on newspaper",-0.204823,-0.074753,0.869490,0.999996,0.000177,0.000876,0.002790
32,3,650240,26,recep,1,"003_carpet_1","put bread on newspaper",-0.084858,-0.075016,0.870448,0.999999,-0.000927,-0.000852,-0.000454
32,3,650240,26,gripper,0,"","put bread on newspaper",-0.182589,0.047025,0.953562,-0.008966,-0.713804,-0.101690,0.692865
32,3,650240,27,obj,0,"003_bread_1","put bread on newspaper",-0.216249,-0.055166,0.885690,0.273247,0.029498,0.003195,0.961486
32,3,650240,27,obj,1,"005_7up can_1","put bread on newspaper",-0.371969,0.075844,0.017055,-0.196457,0.737825,0.247628,0.596405
32,3,650240,27,recep,0,"004_newspaper_1","put bread on newspaper",-0.234987,-0.075014,0.869489,1.000000,0.000180,0.000875,-0.000094
32,3,650240,27,recep,1,"003_carpet_1","put bread on newspaper",-0.084799,0.075178,0.870461,1.000000,0.000018,-0.000159,-0.000792
32,3,650240,27,gripper,0,"","put bread on newspaper",-0.136057,0.044654,1.005793,-0.076451,-0.707848,-0.074872,0.698212
32,3,650240,28,obj,0,"003_bread_1","put bread on carpet",-0.197229,-0.042408,0.885030,0.998945,0.005406,0.043224,0.014502
32,3,650240,28,obj,1,"005_7up can_1","put bread on carpet",-0.045787,-0.032579,0.888138,-0.390191,0.197546,0.898898,0.026595
32,3,650240,28,recep,0,"004_newspaper_1","put bread on carpet",-0.234996,-0.075001,0.869489,1.000000,0.000180,0.000874,-0.000006
32,3,650240,28,recep,1,"003_carpet_1","put bread on carpet",-0.081413,-0.080559,0.870411,0.998814,-0.000791,-0.001371,-0.048670
32,3,650240,28,gripper,0,"","put bread on carpet",-0.193644,-0.012956,0.983001,-0.072261,-0.711775,0.034296,0.697839
32,3,650240,29,obj,0,"003_bread_1","put bread on carpet",-0.059513,-0.100834,0.886338,0.983174,0.006690,-0.008093,0.182367
32,3,650240,29,obj,1,"005_7up can_1","put bread on carpet",0.172136,-0.001547,0.017055,0.582231,-0.287419,-0.723254,-0.235160
32,3,650240,29,recep,0,"004_newspaper_1","put bread on carpet",-0.103312,0.041565,0.869490,0.995658,0.000097,0.000887,0.093079
32,3,650240,29,recep,1,"003_carpet_1","put bread on carpet",-0.085001,-0.074982,0.870462,1.000000,0.000036,-0.000159,-0.000043
32,3,650240,29,gripper,0,"","put bread on carpet",-0.125105,0.024130,1.001631,-0.066138,-0.724353,-0.082209,0.681307
32,3,650240,30,obj,0,"003_bread_1","put bread on carpet",-0.098579,-0.074718,0.886694,0.480253,0.026668,0.000485,0.876724
32,3,650240,30,obj,1,"005_7up can_1","put bread on carpet",-0.091824,-0.006401,0.886002,0.082016,-0.734225,0.668895,0.082260
32,3,650240,30,recep,0,"004_newspaper_1","put bread on carpet",-0.085835,-0.075130,0.869490,1.000000,0.000180,0.000874,-0.000153
32,3,650240,30,recep,1,"003_carpet_1","put bread on carpet",-0.085003,0.075047,0.870448,0.999999,-0.000923,-0.000845,-0.000081
32,3,650240,30,gripper,0,"","put bread on carpet",-0.099892,-0.123121,0.997393,0.036082,-0.776507,0.028478,0.628430
32,3,650240,31,obj,0,"003_bread_1","put bread on carpet",-0.216526,0.091257,0.886744,0.883760,0.016061,0.001826,0.467661
32,3,650240,31,obj,1,"005_7up can_1","put bread on carpet",-0.212555,-0.023050,0.888618,0.754983,0.173940,-0.225200,0.590788
32,3,650240,31,recep,0,"004_newspaper_1","put bread on carpet",-0.205093,0.075037,0.869490,1.000000,0.000180,0.000875,0.000261
32,3,650240,31,recep,1,"003_carpet_1","put bread on carpet",-0.235199,-0.044920,0.870461,0.999999,0.000019,-0.000159,0.001402
32,3,650240,31,gripper,0,"","put bread on carpet",-0.078922,0.022891,0.972472,0.108660,-0.720004,0.134058,0.672173
32,3,650240,32,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.106171,0.126811,0.885932,0.392376,0.366434,0.604752,0.588253
32,3,650240,32,obj,1,"013_banana_1","put banana on sheet metal",-0.234535,-0.074990,0.878547,0.706823,0.007967,0.010878,0.707262
32,3,650240,32,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,3,650240,32,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.114998,-0.045000,0.874363,1.000000,0.000001,0.000001,-0.000000
32,3,650240,32,gripper,0,"","put banana on sheet metal",-0.195259,-0.047314,0.943578,-0.004237,-0.709630,0.059400,0.702054
32,3,650240,33,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.138851,0.005917,0.884885,0.408339,-0.358632,-0.599252,0.587825
32,3,650240,33,obj,1,"013_banana_1","put banana on sheet metal",-0.193317,-0.081442,0.878547,0.963511,0.012274,0.005532,0.267330
32,3,650240,33,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.081871,-0.075812,0.871344,0.999973,-0.000166,0.001163,0.007319
32,3,650240,33,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.107067,0.082694,0.874362,0.999683,-0.000001,-0.000001,0.025184
32,3,650240,33,gripper,0,"","put banana on sheet metal",-0.150545,0.013019,1.009462,0.146217,-0.751641,0.180463,0.617325
32,3,650240,34,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.209110,-0.081956,0.887377,0.966966,-0.013273,0.035136,0.252122
32,3,650240,34,obj,1,"013_banana_1","put banana on sheet metal",-0.084686,-0.075309,0.878547,0.923610,0.011469,0.006973,0.383100
32,3,650240,34,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
32,3,650240,34,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
32,3,650240,34,gripper,0,"","put banana on sheet metal",-0.097034,-0.032993,1.031963,-0.052549,-0.749197,-0.062775,0.657268
32,3,650240,35,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.235125,-0.035580,0.883267,0.085621,-0.140510,-0.986295,-0.012199
32,3,650240,35,obj,1,"013_banana_1","put banana on sheet metal",-0.083286,0.076991,0.878547,0.369558,0.003000,0.013084,0.929111
32,3,650240,35,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
32,3,650240,35,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.204111,0.029012,0.874363,0.993043,-0.000000,-0.000001,0.117755
32,3,650240,35,gripper,0,"","put banana on sheet metal",-0.098413,-0.020787,0.997395,-0.065768,-0.692232,-0.126525,0.707447
32,3,650240,36,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.133324,0.024857,0.893048,0.872933,0.231559,-0.086486,-0.420582
32,3,650240,36,obj,1,"013_banana_1","put banana on flat bowl",-0.107312,-0.048775,0.878547,0.990441,0.013469,0.000201,-0.137274
32,3,650240,36,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.205149,0.045087,0.871344,0.999999,-0.000157,0.001163,-0.000681
32,3,650240,36,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084980,0.075003,0.874362,0.999998,-0.000000,-0.000001,-0.002072
32,3,650240,36,gripper,0,"","put banana on flat bowl",-0.082983,0.058711,0.994820,0.042592,-0.731410,-0.049636,0.678794
32,3,650240,37,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.094408,-0.077247,0.887533,0.759896,-0.022168,0.023820,0.649230
32,3,650240,37,obj,1,"013_banana_1","put banana on flat bowl",-0.204554,-0.074994,0.878547,0.706803,0.007996,0.010910,0.707281
32,3,650240,37,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
32,3,650240,37,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,-0.000000,-0.000000,0.000001
32,3,650240,37,gripper,0,"","put banana on flat bowl",-0.150417,-0.016150,1.016911,-0.098104,-0.700110,-0.089893,0.701527
32,3,650240,38,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.092476,-0.084251,0.887565,0.377089,-0.030053,0.014676,0.925573
32,3,650240,38,obj,1,"013_banana_1","put banana on flat bowl",-0.098148,0.085780,0.886908,0.299553,0.023177,-0.235420,0.924288
32,3,650240,38,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204990,0.075000,0.871344,0.999999,-0.000158,0.001163,-0.000002
32,3,650240,38,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.084999,0.075000,0.874363,1.000000,0.000000,-0.000000,0.000000
32,3,650240,38,gripper,0,"","put banana on flat bowl",-0.122044,0.085453,1.017130,0.269072,-0.650451,0.279288,0.653079
32,3,650240,39,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.088982,0.048821,0.887192,0.685139,-0.028056,0.014398,0.727729
32,3,650240,39,obj,1,"013_banana_1","put banana on flat bowl",-0.114559,-0.074993,0.878547,0.706926,0.007968,0.010870,0.707159
32,3,650240,39,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.234989,-0.044999,0.871344,0.999999,-0.000157,0.001164,0.000000
32,3,650240,39,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.205002,0.075000,0.874362,1.000000,0.000000,-0.000000,-0.000000
32,3,650240,39,gripper,0,"","put banana on flat bowl",-0.075623,-0.033557,0.979341,-0.276191,-0.649056,-0.271368,0.654832
32,3,650240,40,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.184601,-0.032879,0.954474,0.990357,-0.008294,0.118956,-0.070530
32,3,650240,40,obj,1,"013_banana_1","put carrot on sheet metal",-0.114685,-0.045315,0.878547,0.924142,0.011481,0.006957,0.381813
32,3,650240,40,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
32,3,650240,40,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000001,-0.000000,0.000220
32,3,650240,40,gripper,0,"","put carrot on sheet metal",-0.173260,-0.032096,0.998669,0.029384,-0.739950,0.083983,0.666752
32,3,650240,41,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.186314,-0.034214,0.933761,0.983375,-0.090327,0.136775,0.078148
32,3,650240,41,obj,1,"013_banana_1","put carrot on sheet metal",-0.114662,-0.075308,0.878547,0.924138,0.011491,0.006963,0.381823
32,3,650240,41,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.074993,0.871344,0.999999,-0.000157,0.001163,-0.000023
32,3,650240,41,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
32,3,650240,41,gripper,0,"","put carrot on sheet metal",-0.188169,-0.029577,0.964021,-0.151252,-0.684018,-0.011537,0.713518
32,3,650240,42,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089172,-0.067060,0.887278,0.997105,-0.007902,0.028010,0.070241
32,3,650240,42,obj,1,"013_banana_1","put carrot on sheet metal",-0.203983,0.074238,0.878547,0.999816,0.013321,0.001867,-0.013702
32,3,650240,42,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,-0.075003,0.871344,0.999999,-0.000158,0.001164,0.000070
32,3,650240,42,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,0.000222
32,3,650240,42,gripper,0,"","put carrot on sheet metal",-0.069481,0.083448,0.962547,0.180014,-0.746272,0.154981,0.621815
32,3,650240,43,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.089544,-0.077797,0.886929,0.242699,0.046137,-0.011561,0.968935
32,3,650240,43,obj,1,"013_banana_1","put carrot on sheet metal",-0.234684,0.075338,0.878547,0.383278,0.003224,0.013134,0.923534
32,3,650240,43,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234993,-0.074997,0.871344,0.999999,-0.000158,0.001164,-0.000136
32,3,650240,43,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075001,0.874363,1.000000,0.000000,0.000000,-0.000000
32,3,650240,43,gripper,0,"","put carrot on sheet metal",-0.062887,-0.058541,0.936732,-0.067225,-0.729825,0.077416,0.675901
32,3,650240,44,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.072012,-0.055309,0.962966,0.122158,0.072223,-0.003326,0.989874
32,3,650240,44,obj,1,"013_banana_1","put carrot on flat bowl",-0.203593,0.076145,0.878546,0.372104,0.003045,0.013104,0.928093
32,3,650240,44,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000027
32,3,650240,44,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085000,-0.075001,0.874363,1.000000,0.000000,-0.000001,0.000001
32,3,650240,44,gripper,0,"","put carrot on flat bowl",-0.042654,-0.059643,0.995456,0.018280,-0.716478,0.042966,0.696045
32,3,650240,45,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.071281,0.088758,0.887494,0.847126,-0.022501,0.035919,0.529699
32,3,650240,45,obj,1,"013_banana_1","put carrot on flat bowl",-0.204556,-0.044983,0.878547,0.707433,0.007969,0.010868,0.706652
32,3,650240,45,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084990,-0.075027,0.871344,0.999999,-0.000157,0.001164,-0.000089
32,3,650240,45,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,0.075001,0.874363,1.000000,-0.000001,-0.000001,0.000275
32,3,650240,45,gripper,0,"","put carrot on flat bowl",-0.065448,0.094107,0.949306,0.400085,-0.695914,0.232833,0.549021
32,3,650240,46,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.229954,0.132093,0.885931,0.690298,0.696307,-0.123113,-0.153263
32,3,650240,46,obj,1,"013_banana_1","put carrot on flat bowl",-0.202698,-0.045889,0.878547,0.802528,0.009421,0.009555,0.596463
32,3,650240,46,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,-0.075008,0.871345,0.999999,-0.000158,0.001164,-0.000041
32,3,650240,46,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084927,0.075098,0.874362,0.999999,0.000000,0.000000,0.001750
32,3,650240,46,gripper,0,"","put carrot on flat bowl",-0.160290,0.135992,1.023308,0.001588,-0.699544,0.040626,0.713432
32,3,650240,47,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.209503,0.077522,0.924238,0.988360,-0.010812,0.037595,0.147016
32,3,650240,47,obj,1,"013_banana_1","put carrot on flat bowl",-0.084785,-0.075161,0.878547,0.999893,0.013306,0.001972,-0.005740
32,3,650240,47,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.084991,0.074968,0.871344,0.999999,-0.000157,0.001164,-0.000107
32,3,650240,47,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.235001,-0.075001,0.874362,1.000000,-0.000001,-0.000001,0.000490
32,3,650240,47,gripper,0,"","put carrot on flat bowl",-0.210632,0.074839,0.974964,-0.076402,-0.725552,-0.124753,0.672439
32,3,650240,48,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.085747,0.061707,0.898749,0.585501,0.431595,0.655523,0.202988
32,3,650240,48,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.199860,-0.039730,0.889698,0.499095,-0.509643,0.496185,0.494943
32,3,650240,48,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.089500,0.070679,0.872199,0.998928,-0.000000,-0.000001,-0.046297
32,3,650240,48,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204773,-0.044811,0.870870,1.000000,-0.000000,-0.000001,0.000075
32,3,650240,48,gripper,0,"","put plastic bottle on frying pan",-0.119682,0.026979,1.039482,0.067448,-0.709909,0.093752,0.694759
32,3,650240,49,obj,0,"014_hamburger_1","put plastic bottle on frying pan",0.337833,0.496323,0.019312,0.187395,0.009931,0.025689,-0.981898
32,3,650240,49,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.061588,-0.010838,0.908349,0.136120,-0.687382,0.707360,0.092844
32,3,650240,49,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.230255,0.049770,0.872199,1.000000,-0.000001,-0.000001,-0.000201
32,3,650240,49,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.115032,0.073624,0.870870,1.000000,0.000000,-0.000001,-0.000688
32,3,650240,49,gripper,0,"","put plastic bottle on frying pan",-0.088331,-0.007151,0.930545,-0.020280,-0.775154,0.055232,0.629027
32,3,650240,50,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.110107,0.092316,0.890586,0.997577,-0.026603,0.014021,0.062733
32,3,650240,50,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.232868,0.056511,0.895376,0.574531,-0.424253,0.567318,0.409968
32,3,650240,50,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.228416,0.041595,0.872200,0.999572,-0.000001,-0.000001,0.029256
32,3,650240,50,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.085052,0.075039,0.870870,1.000000,-0.000000,-0.000001,0.000172
32,3,650240,50,gripper,0,"","put plastic bottle on frying pan",-0.163036,0.059120,1.018037,-0.061980,-0.727895,-0.017521,0.682657
32,3,650240,51,obj,0,"014_hamburger_1","put plastic bottle on frying pan",1.509605,1.745300,0.019312,-0.049432,0.015708,0.022622,-0.998398
32,3,650240,51,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.222464,-0.045979,0.895270,0.483311,-0.527611,0.474236,0.512968
32,3,650240,51,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.204948,-0.044968,0.872199,1.000000,0.000000,-0.000001,0.000024
32,3,650240,51,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.235025,0.075001,0.870870,1.000000,0.000001,-0.000000,-0.000054
32,3,650240,51,gripper,0,"","put plastic bottle on frying pan",-0.152094,0.075527,1.027624,0.042003,-0.714816,0.075725,0.693930
32,3,650240,52,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.085457,-0.073898,0.888112,0.932090,-0.027056,0.005144,0.361177
32,3,650240,52,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.085256,0.071182,0.888767,0.701371,-0.021657,0.005898,0.712443
32,3,650240,52,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.236157,-0.064251,0.872198,0.986937,-0.000000,-0.000001,0.161107
32,3,650240,52,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.076609,0.070072,0.870870,0.997233,0.000001,-0.000001,0.074338
32,3,650240,52,gripper,0,"","put plastic bottle on cutting board",-0.205031,0.038033,0.967619,-0.085559,-0.691597,-0.140514,0.703299
32,3,650240,53,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.193304,0.087212,0.890473,0.903267,-0.028274,0.005284,0.428115
32,3,650240,53,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.254963,-0.037430,0.960745,0.444188,-0.520450,0.453253,0.571306
32,3,650240,53,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.194473,-0.071510,0.872199,0.985443,-0.000000,-0.000001,-0.170009
32,3,650240,53,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235264,0.075005,0.870883,0.999999,0.000698,0.000709,-0.000698
32,3,650240,53,gripper,0,"","put plastic bottle on cutting board",-0.226757,-0.029339,0.990077,-0.079409,-0.708051,-0.050949,0.699830
32,3,650240,54,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.186733,-0.018364,0.890471,0.103801,-0.016391,-0.019254,0.994277
32,3,650240,54,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.416336,0.113594,0.016920,0.194155,-0.664227,-0.192212,-0.695817
32,3,650240,54,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000037
32,3,650240,54,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204987,-0.045021,0.870870,1.000000,0.000000,0.000001,-0.000022
32,3,650240,54,gripper,0,"","put plastic bottle on cutting board",-0.202726,-0.007603,0.985566,-0.080417,-0.738027,-0.038791,0.668838
32,3,650240,55,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.090996,-0.089684,0.890807,0.916154,-0.028988,0.005905,0.399734
32,3,650240,55,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.064857,-0.032143,0.889629,0.473060,-0.533963,0.469359,0.520384
32,3,650240,55,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.114613,0.044456,0.872199,0.999986,-0.000000,-0.000001,0.005288
32,3,650240,55,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.060207,-0.065117,0.870870,0.998828,-0.000000,0.000000,-0.048397
32,3,650240,55,gripper,0,"","put plastic bottle on cutting board",-0.167080,-0.080986,0.965198,-0.196372,-0.698938,-0.188234,0.661432
32,3,650240,56,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.112274,0.022873,0.895463,0.939014,-0.045389,-0.003267,0.340853
32,3,650240,56,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.105118,-0.054333,0.886092,0.668650,-0.021899,0.004930,0.743238
32,3,650240,56,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114639,0.048073,0.872200,0.999973,-0.000002,-0.000002,0.007392
32,3,650240,56,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.208450,-0.078049,0.870870,0.999869,0.000000,-0.000000,0.016196
32,3,650240,56,gripper,0,"","put hamburger on frying pan",-0.120514,0.000021,0.956341,0.172221,-0.695135,0.120484,0.687467
32,3,650240,57,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.170002,-0.054283,0.888112,0.647717,-0.026240,-0.008358,0.761383
32,3,650240,57,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.106159,0.090664,0.889502,0.570029,-0.426962,0.569397,0.410559
32,3,650240,57,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.085121,-0.067856,0.872199,0.999398,-0.000001,-0.000000,-0.034684
32,3,650240,57,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.114914,0.047638,0.870870,0.999950,-0.000000,0.000001,0.009961
32,3,650240,57,gripper,0,"","put hamburger on frying pan",-0.119871,-0.066132,1.011254,-0.002787,-0.714234,-0.004131,0.699889
32,3,650240,58,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.220772,-0.066154,0.890716,0.319074,0.000643,-0.148436,0.936033
32,3,650240,58,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.072510,-0.001026,0.887892,0.699526,0.189373,-0.671215,0.155793
32,3,650240,58,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.110638,-0.076168,0.872199,0.998891,-0.000000,-0.000001,0.047089
32,3,650240,58,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.059353,0.062115,0.870884,0.999822,0.000729,0.000705,-0.018815
32,3,650240,58,gripper,0,"","put hamburger on frying pan",-0.233116,-0.063200,0.917556,0.022500,-0.685880,0.031234,0.726696
32,3,650240,59,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.241413,0.006317,0.892891,-0.371002,-0.843407,0.174378,-0.347297
32,3,650240,59,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.152363,0.044819,0.885906,-0.448250,-0.548838,0.432095,-0.557802
32,3,650240,59,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.204926,-0.075081,0.872199,1.000000,-0.000001,-0.000001,-0.000488
32,3,650240,59,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.275187,0.067551,0.870870,0.953430,-0.000000,-0.000001,0.301614
32,3,650240,59,gripper,0,"","put hamburger on frying pan",-0.142339,0.046118,0.915304,-0.041700,-0.741052,-0.038387,0.669051
32,3,650240,60,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.099531,0.016533,0.891236,0.968084,0.145352,0.035492,0.201065
32,3,650240,60,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.068138,0.076187,0.889621,0.606297,-0.369369,0.612762,0.347123
32,3,650240,60,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.242130,0.041550,0.875253,0.000153,0.977546,-0.210720,0.000032
32,3,650240,60,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.066121,0.077713,0.870862,0.999292,-0.000003,0.000094,-0.037632
32,3,650240,60,gripper,0,"","put hamburger on cutting board",-0.104265,0.056404,0.945524,-0.002504,-0.733997,-0.012971,0.679025
32,3,650240,61,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.184072,0.038200,0.888112,-0.169087,-0.010408,-0.025500,0.985216
32,3,650240,61,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.233845,-0.027893,0.889677,0.467869,-0.538731,0.464146,0.524820
32,3,650240,61,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.084999,-0.075001,0.872199,1.000000,0.000000,-0.000001,-0.000138
32,3,650240,61,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.233868,-0.043602,0.870871,0.999913,-0.000010,-0.000007,-0.013163
32,3,650240,61,gripper,0,"","put hamburger on cutting board",-0.155842,0.062670,0.997766,-0.177893,-0.692796,-0.041872,0.697592
32,3,650240,62,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.193478,-0.029568,0.896470,0.658879,-0.021158,0.004550,0.751938
32,3,650240,62,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.222137,0.092167,0.892448,0.028054,-0.640609,0.766916,0.025928
32,3,650240,62,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.235016,-0.044994,0.872199,1.000000,-0.000000,-0.000001,0.000316
32,3,650240,62,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.204994,0.075001,0.870870,1.000000,0.000001,-0.000001,-0.000552
32,3,650240,62,gripper,0,"","put hamburger on cutting board",-0.202494,0.029671,0.984797,-0.070128,-0.664531,-0.120772,0.734094
32,3,650240,63,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.214092,-0.150948,0.894636,-0.527150,0.413276,0.134123,-0.730292
32,3,650240,63,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.204582,-0.041035,0.889486,0.589144,-0.404318,0.557960,0.422039
32,3,650240,63,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.008121,0.081512,0.872215,0.992379,0.000058,-0.000176,-0.123223
32,3,650240,63,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.230820,-0.063816,0.870827,0.999995,0.000239,0.000636,0.003066
32,3,650240,63,gripper,0,"","put hamburger on cutting board",-0.239178,-0.092005,0.916607,0.149837,-0.684477,0.191297,0.687347
32,4,655360,0,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.121162,-0.018272,0.879212,-0.276715,0.106064,0.954616,0.029795
32,4,655360,0,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.070976,0.066460,0.881638,0.999020,-0.003649,-0.039197,0.020253
32,4,655360,0,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.071823,-0.083275,0.869532,0.998670,0.000000,-0.000000,-0.051548
32,4,655360,0,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205025,0.075020,0.871282,0.999999,-0.000450,-0.001265,0.000278
32,4,655360,0,gripper,0,"","put kitchen shovel on cloth",-0.215767,0.046085,0.966511,-0.037236,-0.807521,-0.098091,0.580432
32,4,655360,1,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.264168,-0.001648,0.879088,0.788755,0.209769,-0.412827,0.404273
32,4,655360,1,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.095913,-0.078873,0.898846,0.718695,0.028892,0.012329,0.694615
32,4,655360,1,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.073009,-0.052452,0.869532,0.970103,0.000000,-0.000001,-0.242693
32,4,655360,1,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.205021,0.075027,0.871282,0.999999,-0.000450,-0.001265,0.000302
32,4,655360,1,gripper,0,"","put kitchen shovel on cloth",-0.154688,-0.076714,0.934360,0.002690,-0.778090,0.004938,0.628128
32,4,655360,2,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.207119,-0.189621,0.878982,-0.415784,-0.548826,-0.350295,0.634986
32,4,655360,2,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.133869,-0.072052,0.896167,0.693016,0.006043,-0.084917,0.715878
32,4,655360,2,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.159626,-0.083733,0.874565,0.941995,0.047516,-0.036943,-0.330186
32,4,655360,2,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.111156,-0.075874,0.871288,0.999988,-0.000151,-0.001020,0.004756
32,4,655360,2,gripper,0,"","put kitchen shovel on cloth",-0.229555,-0.128670,0.970969,-0.079786,-0.735176,-0.066428,0.669878
32,4,655360,3,obj,0,"007_ketchup bottle_1","put kitchen shovel on cloth",-0.061575,0.049698,0.885085,0.698784,0.283583,-0.366103,0.545205
32,4,655360,3,obj,1,"002_kitchen shovel_1","put kitchen shovel on cloth",-0.066500,-0.093140,0.889738,0.707252,0.046425,-0.080481,0.700829
32,4,655360,3,recep,0,"001_plate_simpler","put kitchen shovel on cloth",-0.078054,0.074860,0.869532,0.998915,-0.000001,-0.000002,0.046577
32,4,655360,3,recep,1,"002_cloth_1","put kitchen shovel on cloth",-0.084986,-0.074997,0.871288,1.000000,-0.000153,-0.001019,0.000021
32,4,655360,3,gripper,0,"","put kitchen shovel on cloth",-0.104424,-0.071060,1.003765,-0.055121,-0.701860,-0.077054,0.705986
32,4,655360,4,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.037337,-0.067375,0.885085,0.537967,0.367016,-0.282338,0.704397
32,4,655360,4,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.019004,-0.001450,0.883399,0.830612,-0.034675,0.089497,0.548518
32,4,655360,4,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.019755,-0.079903,0.869533,0.998865,-0.000001,0.000000,0.047623
32,4,655360,4,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.084991,0.074997,0.871289,0.999999,-0.000154,-0.001019,-0.000005
32,4,655360,4,gripper,0,"","put ketchup bottle on yellow_plate",-0.153944,-0.090973,0.961875,0.030344,-0.743127,-0.037485,0.667411
32,4,655360,5,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.087217,-0.036766,0.878981,0.753636,-0.069767,0.647335,0.090123
32,4,655360,5,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.066444,0.072533,0.887595,0.645385,0.021688,-0.025902,0.763110
32,4,655360,5,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.089163,0.073303,0.869532,0.999904,0.000001,-0.000001,-0.013871
32,4,655360,5,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.234999,0.075005,0.871288,0.999999,-0.000153,-0.001019,0.000145
32,4,655360,5,gripper,0,"","put ketchup bottle on yellow_plate",-0.090866,0.018772,0.956792,-0.014046,-0.757180,-0.016622,0.652843
32,4,655360,6,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.093315,0.039780,0.888061,-0.559109,0.438484,-0.474456,-0.519635
32,4,655360,6,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",0.712559,-0.411873,0.012837,-0.216297,0.039122,0.004122,0.975535
32,4,655360,6,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",1.114468,-1.064484,0.000732,-0.969292,-0.000000,0.000000,0.245912
32,4,655360,6,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.114960,0.045021,0.871288,0.999999,-0.000153,-0.001019,0.000439
32,4,655360,6,gripper,0,"","put ketchup bottle on yellow_plate",-0.206205,0.003170,0.961403,0.006063,-0.756645,0.133880,0.639943
32,4,655360,7,obj,0,"007_ketchup bottle_1","put ketchup bottle on yellow_plate",-0.174427,0.283714,0.879213,0.193192,0.689128,-0.669061,0.200344
32,4,655360,7,obj,1,"002_kitchen shovel_1","put ketchup bottle on yellow_plate",-0.209019,-0.159332,0.887044,0.344664,0.043562,-0.036264,0.937014
32,4,655360,7,recep,0,"001_plate_simpler","put ketchup bottle on yellow_plate",-0.205666,-0.128174,0.869532,0.999152,-0.000000,-0.000001,-0.041183
32,4,655360,7,recep,1,"002_cloth_1","put ketchup bottle on yellow_plate",-0.198132,0.045677,0.871288,0.999800,-0.000173,-0.001015,-0.019954
32,4,655360,7,gripper,0,"","put ketchup bottle on yellow_plate",-0.196367,-0.038162,0.993769,0.052265,-0.744931,0.154687,0.646853
32,4,655360,8,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.103012,-0.055538,0.888044,0.409102,0.584368,-0.508936,0.481802
32,4,655360,8,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.065010,0.012596,0.882778,0.776899,-0.081208,0.090148,0.617824
32,4,655360,8,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.239502,-0.073269,0.869532,0.992108,-0.000001,-0.000000,0.125383
32,4,655360,8,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.114731,-0.045876,0.871289,0.999945,-0.000143,-0.001020,0.010475
32,4,655360,8,gripper,0,"","put ketchup bottle on cloth",-0.236546,-0.016033,0.928331,-0.019410,-0.784145,-0.062154,0.617152
32,4,655360,9,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.082703,0.028423,0.888345,0.714456,0.064664,-0.065642,0.693587
32,4,655360,9,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.054684,-0.045288,0.887560,0.719519,-0.031012,0.022712,0.693408
32,4,655360,9,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.075741,-0.064072,0.869532,0.995936,-0.000000,-0.000000,-0.090063
32,4,655360,9,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.110615,0.046173,0.871288,0.999990,-0.000150,-0.001020,0.004231
32,4,655360,9,gripper,0,"","put ketchup bottle on cloth",-0.129372,0.059984,1.033483,-0.054906,-0.760219,-0.055736,0.644938
32,4,655360,10,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.122253,-0.030354,0.879116,0.096937,-0.202713,0.974231,0.019594
32,4,655360,10,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.101555,-0.079700,0.881638,0.546960,0.030276,-0.025119,0.836234
32,4,655360,10,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.235001,0.075001,0.869532,1.000000,-0.000000,-0.000000,0.000020
32,4,655360,10,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.084988,0.075008,0.871282,0.999999,-0.000452,-0.001266,0.000020
32,4,655360,10,gripper,0,"","put ketchup bottle on cloth",-0.319429,-0.212692,0.917600,0.193194,-0.620443,0.340059,0.679770
32,4,655360,11,obj,0,"007_ketchup bottle_1","put ketchup bottle on cloth",-0.199211,-0.066002,0.885213,0.161765,0.779648,-0.560945,0.226544
32,4,655360,11,obj,1,"002_kitchen shovel_1","put ketchup bottle on cloth",-0.122919,-0.093395,0.889341,0.715990,0.019538,-0.040551,0.696658
32,4,655360,11,recep,0,"001_plate_simpler","put ketchup bottle on cloth",-0.225807,-0.063347,0.869532,0.994984,0.000001,-0.000000,-0.100036
32,4,655360,11,recep,1,"002_cloth_1","put ketchup bottle on cloth",-0.075298,-0.087727,0.871288,0.999825,-0.000135,-0.001022,0.018668
32,4,655360,11,gripper,0,"","put ketchup bottle on cloth",-0.272765,-0.064665,0.975867,-0.121418,-0.670851,-0.074822,0.727749
32,4,655360,12,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.227347,0.114151,0.885084,-0.542664,0.367098,0.282214,0.700792
32,4,655360,12,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.171511,-0.020451,0.881637,0.998231,-0.002693,-0.039272,0.044563
32,4,655360,12,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.236856,0.077492,0.869532,0.998734,-0.000001,-0.000000,0.050313
32,4,655360,12,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.114990,0.045006,0.871288,0.999999,-0.000154,-0.001018,-0.000015
32,4,655360,12,gripper,0,"","put kitchen shovel on yellow_plate",-0.268093,-0.123987,0.914399,-0.245649,-0.616472,0.020093,0.747806
32,4,655360,13,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.176048,-0.060509,0.879116,-0.098901,-0.009229,-0.995053,0.001479
32,4,655360,13,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.227160,0.075684,0.881638,0.996272,-0.007435,-0.038655,-0.076759
32,4,655360,13,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.093172,-0.044407,0.869532,0.999095,-0.000000,-0.000001,0.042531
32,4,655360,13,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084990,0.075005,0.871289,0.999999,-0.000154,-0.001019,0.000001
32,4,655360,13,gripper,0,"","put kitchen shovel on yellow_plate",-0.154116,-0.063986,1.000020,-0.153348,-0.657002,-0.172726,0.717634
32,4,655360,14,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.190598,-0.068687,0.879714,0.457333,-0.128764,0.877911,0.059482
32,4,655360,14,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.233379,0.053127,0.886145,0.754329,0.026695,-0.024472,0.655497
32,4,655360,14,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.281502,0.055172,0.869532,0.984717,0.000000,-0.000000,-0.174161
32,4,655360,14,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.070736,-0.099190,0.871289,0.991639,-0.000284,-0.000991,-0.129037
32,4,655360,14,gripper,0,"","put kitchen shovel on yellow_plate",-0.232599,-0.085764,0.915259,0.162766,-0.709442,0.110179,0.676801
32,4,655360,15,obj,0,"007_ketchup bottle_1","put kitchen shovel on yellow_plate",-0.042572,0.055058,0.885210,0.222495,0.574511,-0.769713,0.167257
32,4,655360,15,obj,1,"002_kitchen shovel_1","put kitchen shovel on yellow_plate",-0.207077,0.023064,0.881637,0.659784,0.034879,-0.035820,0.749790
32,4,655360,15,recep,0,"001_plate_simpler","put kitchen shovel on yellow_plate",-0.053692,0.080082,0.869532,0.991968,-0.000000,-0.000002,0.126490
32,4,655360,15,recep,1,"002_cloth_1","put kitchen shovel on yellow_plate",-0.084991,-0.074993,0.871288,0.999999,-0.000154,-0.001019,0.000011
32,4,655360,15,gripper,0,"","put kitchen shovel on yellow_plate",-0.206707,0.016855,0.913257,-0.092271,-0.717002,-0.090092,0.685038
32,4,655360,16,obj,0,"003_bread_1","put 7up can on carpet",-0.124321,0.065277,0.886584,0.677372,0.022535,0.001349,0.735294
32,4,655360,16,obj,1,"005_7up can_1","put 7up can on carpet",-0.206352,-0.077259,0.888956,-0.304362,-0.672622,0.566754,-0.365695
32,4,655360,16,recep,0,"004_newspaper_1","put 7up can on carpet",-0.114990,0.075005,0.869490,1.000000,0.000180,0.000874,0.000247
32,4,655360,16,recep,1,"003_carpet_1","put 7up can on carpet",-0.205025,-0.074841,0.870448,0.999999,-0.000891,-0.000818,0.000773
32,4,655360,16,gripper,0,"","put 7up can on carpet",-0.121212,0.071194,0.957415,-0.046227,-0.746759,0.052662,0.661393
32,4,655360,17,obj,0,"003_bread_1","put 7up can on carpet",-0.192543,-0.054562,0.884549,0.566709,0.029977,0.016567,0.823206
32,4,655360,17,obj,1,"005_7up can_1","put 7up can on carpet",-0.189068,0.091400,0.888772,0.613226,0.383307,-0.456649,0.518171
32,4,655360,17,recep,0,"004_newspaper_1","put 7up can on carpet",-0.235088,-0.074989,0.869489,1.000000,0.000179,0.000874,0.000432
32,4,655360,17,recep,1,"003_carpet_1","put 7up can on carpet",-0.205013,0.074989,0.870461,1.000000,0.000019,-0.000157,0.000070
32,4,655360,17,gripper,0,"","put 7up can on carpet",-0.091574,0.063786,0.979626,0.083146,-0.737348,0.262411,0.616883
32,4,655360,18,obj,0,"003_bread_1","put 7up can on carpet",-0.190025,0.087269,0.885812,0.330810,0.027415,0.004232,0.943290
32,4,655360,18,obj,1,"005_7up can_1","put 7up can on carpet",-0.080654,-0.098301,0.888819,-0.359517,0.639975,-0.440114,-0.517184
32,4,655360,18,recep,0,"004_newspaper_1","put 7up can on carpet",-0.204964,0.075008,0.869489,1.000000,0.000180,0.000875,0.000069
32,4,655360,18,recep,1,"003_carpet_1","put 7up can on carpet",-0.084999,-0.074970,0.870462,1.000000,0.000036,-0.000158,0.000003
32,4,655360,18,gripper,0,"","put 7up can on carpet",-0.053619,0.077656,1.040609,-0.055278,-0.685134,-0.014844,0.726165
32,4,655360,19,obj,0,"003_bread_1","put 7up can on carpet",-0.201956,0.058758,0.886615,0.413650,0.014451,-0.002513,0.910318
32,4,655360,19,obj,1,"005_7up can_1","put 7up can on carpet",-0.228500,-0.067131,0.888230,0.671626,0.128444,-0.091704,0.723886
32,4,655360,19,recep,0,"004_newspaper_1","put 7up can on carpet",-0.234936,-0.075035,0.869490,0.999996,0.000182,0.000873,-0.002551
32,4,655360,19,recep,1,"003_carpet_1","put 7up can on carpet",-0.205008,0.044998,0.870441,0.999999,-0.000676,-0.001047,0.000001
32,4,655360,19,gripper,0,"","put 7up can on carpet",-0.097072,0.096998,1.007448,-0.005691,-0.656534,-0.033774,0.753518
32,4,655360,20,obj,0,"003_bread_1","put bread on newspaper",-0.244084,-0.029629,0.886617,0.807131,0.010507,-0.006784,0.590239
32,4,655360,20,obj,1,"005_7up can_1","put bread on newspaper",-0.188177,-0.015358,0.944785,0.653137,0.230948,-0.103397,0.713712
32,4,655360,20,recep,0,"004_newspaper_1","put bread on newspaper",-0.204996,0.075001,0.869490,1.000000,0.000180,0.000874,0.000010
32,4,655360,20,recep,1,"003_carpet_1","put bread on newspaper",-0.243013,-0.040588,0.870441,0.998858,-0.000631,-0.001079,0.047765
32,4,655360,20,gripper,0,"","put bread on newspaper",-0.177918,-0.012196,0.979437,-0.065473,-0.719545,-0.029812,0.690710
32,4,655360,21,obj,0,"003_bread_1","put bread on newspaper",-0.093847,-0.016792,0.886531,0.998843,0.002610,-0.010558,0.046836
32,4,655360,21,obj,1,"005_7up can_1","put bread on newspaper",0.103220,0.114349,0.017307,-0.021560,-0.682355,0.730563,-0.014270
32,4,655360,21,recep,0,"004_newspaper_1","put bread on newspaper",-0.234999,-0.075001,0.869490,1.000000,0.000180,0.000874,0.000004
32,4,655360,21,recep,1,"003_carpet_1","put bread on newspaper",-0.111231,-0.038662,0.870447,0.999946,-0.000838,-0.000788,0.010275
32,4,655360,21,gripper,0,"","put bread on newspaper",-0.089984,0.023745,0.991659,0.002488,-0.735071,-0.009298,0.677922
32,4,655360,22,obj,0,"003_bread_1","put bread on newspaper",-0.225471,-0.055119,0.886600,0.918591,0.008975,-0.007942,0.395028
32,4,655360,22,obj,1,"005_7up can_1","put bread on newspaper",-0.239017,-0.489388,0.017195,-0.107281,0.691893,0.707282,0.097609
32,4,655360,22,recep,0,"004_newspaper_1","put bread on newspaper",-0.070877,0.089138,0.869490,0.999804,0.000163,0.000878,0.019787
32,4,655360,22,recep,1,"003_carpet_1","put bread on newspaper",-0.235081,-0.074944,0.870460,1.000000,0.000018,-0.000158,-0.000636
32,4,655360,22,gripper,0,"","put bread on newspaper",-0.084768,0.093410,0.988573,0.136306,-0.733926,0.068754,0.661851
32,4,655360,23,obj,0,"003_bread_1","put bread on newspaper",-0.052086,-0.079258,0.886581,0.271470,0.013644,0.000001,0.962350
32,4,655360,23,obj,1,"005_7up can_1","put bread on newspaper",-0.076008,-0.046963,0.888704,0.529858,-0.406619,0.328168,0.667995
32,4,655360,23,recep,0,"004_newspaper_1","put bread on newspaper",-0.235203,0.074970,0.869490,1.000000,0.000180,0.000875,0.000030
32,4,655360,23,recep,1,"003_carpet_1","put bread on newspaper",-0.081207,-0.078526,0.870477,0.999533,-0.003195,-0.002933,-0.030255
32,4,655360,23,gripper,0,"","put bread on newspaper",-0.108259,-0.008961,0.993840,0.158109,-0.690421,0.093353,0.699719
32,4,655360,24,obj,0,"003_bread_1","put bread on carpet",-0.235229,-0.027731,0.886153,0.841931,-0.064019,0.037687,0.534447
32,4,655360,24,obj,1,"005_7up can_1","put bread on carpet",-0.265083,-0.062994,0.922300,0.559947,-0.250641,0.329734,0.717575
32,4,655360,24,recep,0,"004_newspaper_1","put bread on carpet",-0.203888,0.080687,0.869489,0.998998,0.000140,0.000882,0.044754
32,4,655360,24,recep,1,"003_carpet_1","put bread on carpet",-0.235001,-0.074965,0.870456,0.999999,-0.000842,-0.001045,-0.000112
32,4,655360,24,gripper,0,"","put bread on carpet",-0.251160,-0.061663,0.967313,-0.039432,-0.688614,-0.045432,0.722628
32,4,655360,25,obj,0,"003_bread_1","put bread on carpet",-0.119865,-0.028061,0.886610,0.317838,0.012771,-0.000601,0.948059
32,4,655360,25,obj,1,"005_7up can_1","put bread on carpet",-0.177185,-0.181400,0.885855,-0.380717,-0.621534,0.468393,-0.499358
32,4,655360,25,recep,0,"004_newspaper_1","put bread on carpet",-0.235027,-0.075014,0.869490,1.000000,0.000179,0.000874,0.000215
32,4,655360,25,recep,1,"003_carpet_1","put bread on carpet",-0.115005,-0.044958,0.870447,0.999999,-0.000923,-0.000845,-0.000084
32,4,655360,25,gripper,0,"","put bread on carpet",-0.160000,-0.066384,1.006799,0.018194,-0.716489,0.051694,0.695442
32,4,655360,26,obj,0,"003_bread_1","put bread on carpet",-0.156467,-0.053389,0.884809,0.240781,0.062465,0.005020,0.968554
32,4,655360,26,obj,1,"005_7up can_1","put bread on carpet",-0.164204,-0.197195,0.885637,0.654875,0.116061,-0.098986,0.740183
32,4,655360,26,recep,0,"004_newspaper_1","put bread on carpet",-0.199684,-0.081347,0.869490,0.997451,0.000242,0.000859,-0.071344
32,4,655360,26,recep,1,"003_carpet_1","put bread on carpet",-0.082211,-0.075710,0.870351,0.999981,-0.000318,-0.001643,-0.005878
32,4,655360,26,gripper,0,"","put bread on carpet",-0.139160,0.004327,0.965891,-0.080022,-0.703085,-0.036789,0.705630
32,4,655360,27,obj,0,"003_bread_1","put bread on carpet",-0.216177,-0.055212,0.885743,0.275759,0.028702,0.001817,0.960796
32,4,655360,27,obj,1,"005_7up can_1","put bread on carpet",-0.371969,0.075844,0.017055,-0.196445,0.737830,0.247613,0.596409
32,4,655360,27,recep,0,"004_newspaper_1","put bread on carpet",-0.234976,-0.075014,0.869489,1.000000,0.000180,0.000875,-0.000148
32,4,655360,27,recep,1,"003_carpet_1","put bread on carpet",-0.084799,0.075180,0.870461,1.000000,0.000018,-0.000159,-0.000793
32,4,655360,27,gripper,0,"","put bread on carpet",-0.200138,0.009278,0.994124,0.064680,-0.704668,0.013427,0.706455
32,4,655360,28,obj,0,"003_bread_1","put 7up can on newspaper",-0.197201,-0.042408,0.885028,0.998934,0.005488,0.043104,0.015573
32,4,655360,28,obj,1,"005_7up can_1","put 7up can on newspaper",-0.168664,0.011930,0.989724,-0.396901,-0.460596,-0.643395,0.465150
32,4,655360,28,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.234996,-0.075001,0.869489,1.000000,0.000180,0.000873,-0.000006
32,4,655360,28,recep,1,"003_carpet_1","put 7up can on newspaper",-0.083141,-0.071566,0.870418,0.999996,-0.000524,-0.001143,0.002555
32,4,655360,28,gripper,0,"","put 7up can on newspaper",-0.189226,0.012017,1.024257,-0.045953,-0.655651,0.024193,0.753276
32,4,655360,29,obj,0,"003_bread_1","put 7up can on newspaper",-0.059484,-0.100834,0.886341,0.982833,0.006779,-0.008736,0.184163
32,4,655360,29,obj,1,"005_7up can_1","put 7up can on newspaper",0.172136,-0.001554,0.017055,0.582221,-0.287451,-0.723241,-0.235186
32,4,655360,29,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.103312,0.041565,0.869490,0.995663,0.000097,0.000887,0.093035
32,4,655360,29,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085001,-0.074978,0.870462,1.000000,0.000036,-0.000159,-0.000044
32,4,655360,29,gripper,0,"","put 7up can on newspaper",-0.133042,-0.077762,0.965275,-0.124262,-0.630893,-0.163432,0.748214
32,4,655360,30,obj,0,"003_bread_1","put 7up can on newspaper",-0.098579,-0.074722,0.886694,0.480383,0.026677,0.000472,0.876653
32,4,655360,30,obj,1,"005_7up can_1","put 7up can on newspaper",-0.091824,-0.006388,0.886002,0.082013,-0.734238,0.668880,0.082260
32,4,655360,30,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.085835,-0.075130,0.869490,1.000000,0.000180,0.000874,-0.000083
32,4,655360,30,recep,1,"003_carpet_1","put 7up can on newspaper",-0.085003,0.075060,0.870448,0.999999,-0.000923,-0.000845,-0.000112
32,4,655360,30,gripper,0,"","put 7up can on newspaper",-0.201342,0.020318,0.972863,-0.045666,-0.746712,-0.003577,0.663569
32,4,655360,31,obj,0,"003_bread_1","put 7up can on newspaper",-0.216526,0.091263,0.886744,0.884039,0.016048,0.001832,0.467133
32,4,655360,31,obj,1,"005_7up can_1","put 7up can on newspaper",-0.212528,-0.023050,0.888618,0.755042,0.173939,-0.225164,0.590727
32,4,655360,31,recep,0,"004_newspaper_1","put 7up can on newspaper",-0.205093,0.075037,0.869490,1.000000,0.000180,0.000875,0.000198
32,4,655360,31,recep,1,"003_carpet_1","put 7up can on newspaper",-0.235199,-0.044918,0.870461,0.999999,0.000019,-0.000159,0.001388
32,4,655360,31,gripper,0,"","put 7up can on newspaper",-0.127550,0.058357,1.017184,-0.027037,-0.688778,0.020458,0.724179
32,4,655360,32,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.106171,0.126811,0.885932,0.392376,0.366434,0.604752,0.588253
32,4,655360,32,obj,1,"013_banana_1","put banana on flat bowl",-0.234535,-0.074990,0.878547,0.706823,0.007963,0.010874,0.707262
32,4,655360,32,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.204994,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,4,655360,32,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.114998,-0.045000,0.874363,1.000000,0.000001,0.000001,0.000000
32,4,655360,32,gripper,0,"","put banana on flat bowl",-0.166763,-0.043460,0.989922,-0.087572,-0.661826,-0.069811,0.741244
32,4,655360,33,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.138851,0.005917,0.884885,0.408339,-0.358633,-0.599251,0.587826
32,4,655360,33,obj,1,"013_banana_1","put banana on flat bowl",-0.193317,-0.081441,0.878547,0.963511,0.012252,0.005525,0.267330
32,4,655360,33,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.081871,-0.075812,0.871344,0.999972,-0.000166,0.001162,0.007319
32,4,655360,33,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.107067,0.082695,0.874362,0.999683,-0.000000,-0.000001,0.025183
32,4,655360,33,gripper,0,"","put banana on flat bowl",-0.179434,-0.064736,0.955789,-0.241602,-0.696369,-0.018611,0.675539
32,4,655360,34,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.212090,-0.078976,0.887424,0.970595,-0.006458,0.022898,0.239539
32,4,655360,34,obj,1,"013_banana_1","put banana on flat bowl",-0.084686,-0.075309,0.878547,0.923609,0.011475,0.006976,0.383099
32,4,655360,34,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084991,0.074994,0.871344,0.999999,-0.000158,0.001164,-0.000024
32,4,655360,34,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.235001,0.075000,0.874362,1.000000,0.000000,0.000000,0.000000
32,4,655360,34,gripper,0,"","put banana on flat bowl",-0.062138,-0.005794,1.027270,0.058595,-0.743847,0.141267,0.650616
32,4,655360,35,obj,0,"001_carrot_simpler","put banana on flat bowl",-0.235125,-0.035580,0.883267,0.085621,-0.140510,-0.986295,-0.012198
32,4,655360,35,obj,1,"013_banana_1","put banana on flat bowl",-0.083286,0.076991,0.878547,0.369558,0.003007,0.013106,0.929110
32,4,655360,35,recep,0,"005_sheet metal_1","put banana on flat bowl",-0.084993,-0.075005,0.871345,0.999999,-0.000157,0.001164,-0.000010
32,4,655360,35,recep,1,"009_flat bowl_1","put banana on flat bowl",-0.204111,0.029012,0.874363,0.993043,-0.000000,-0.000000,0.117755
32,4,655360,35,gripper,0,"","put banana on flat bowl",-0.190626,0.036419,0.971519,0.368173,-0.717015,0.288375,0.516892
32,4,655360,36,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.136371,0.019633,0.892213,0.973495,0.185887,-0.023410,-0.131169
32,4,655360,36,obj,1,"013_banana_1","put carrot on sheet metal",-0.107312,-0.048775,0.878547,0.990442,0.013439,0.000202,-0.137275
32,4,655360,36,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.205105,0.045104,0.871350,0.999999,-0.000184,0.001203,0.000019
32,4,655360,36,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.083398,0.076846,0.874363,0.999922,0.000000,-0.000001,0.012538
32,4,655360,36,gripper,0,"","put carrot on sheet metal",-0.139900,0.033192,0.948309,0.154461,-0.782540,0.118511,0.591379
32,4,655360,37,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.102510,-0.080499,0.887392,0.727642,-0.023000,0.030142,0.684908
32,4,655360,37,obj,1,"013_banana_1","put carrot on sheet metal",-0.204554,-0.074994,0.878547,0.706803,0.007981,0.010893,0.707282
32,4,655360,37,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234991,0.074915,0.871344,0.999999,-0.000158,0.001163,-0.000020
32,4,655360,37,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.084999,0.075000,0.874363,1.000000,-0.000001,0.000000,0.000001
32,4,655360,37,gripper,0,"","put carrot on sheet metal",-0.061752,-0.041858,1.016353,-0.055035,-0.708263,0.034075,0.702975
32,4,655360,38,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.076698,0.047333,0.895253,0.014735,-0.028538,-0.631669,0.774572
32,4,655360,38,obj,1,"013_banana_1","put carrot on sheet metal",-0.100670,0.079799,0.886945,0.237628,0.028928,-0.514967,0.823107
32,4,655360,38,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.204990,0.075000,0.871344,0.999999,-0.000157,0.001163,-0.000002
32,4,655360,38,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.085007,0.075053,0.874363,1.000000,0.000001,0.000000,-0.000292
32,4,655360,38,gripper,0,"","put carrot on sheet metal",-0.113770,0.038027,1.033539,0.076816,-0.738468,0.141963,0.654683
32,4,655360,39,obj,0,"001_carrot_simpler","put carrot on sheet metal",-0.099152,0.116638,0.885167,0.363685,-0.351108,-0.605284,0.614888
32,4,655360,39,obj,1,"013_banana_1","put carrot on sheet metal",-0.114559,-0.074993,0.878547,0.706952,0.007966,0.010867,0.707133
32,4,655360,39,recep,0,"005_sheet metal_1","put carrot on sheet metal",-0.234989,-0.044999,0.871344,0.999999,-0.000158,0.001164,0.000000
32,4,655360,39,recep,1,"009_flat bowl_1","put carrot on sheet metal",-0.205013,0.074987,0.874362,1.000000,-0.000000,-0.000001,0.000329
32,4,655360,39,gripper,0,"","put carrot on sheet metal",-0.063168,0.070385,0.935836,0.315705,-0.723144,0.397832,0.468106
32,4,655360,40,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.079712,0.083332,0.894494,0.981505,0.038262,-0.013412,-0.187093
32,4,655360,40,obj,1,"013_banana_1","put carrot on flat bowl",-0.114494,-0.045307,0.878547,0.921657,0.011507,0.007070,0.387771
32,4,655360,40,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204994,0.075003,0.871344,0.999999,-0.000158,0.001163,0.000001
32,4,655360,40,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000001,0.000000,0.000442
32,4,655360,40,gripper,0,"","put carrot on flat bowl",-0.200157,0.001320,1.018001,0.016864,-0.612352,0.037844,0.789499
32,4,655360,41,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.083141,0.083426,0.894012,0.997366,0.064573,-0.011707,-0.030886
32,4,655360,41,obj,1,"013_banana_1","put carrot on flat bowl",-0.114658,-0.075306,0.878547,0.924320,0.011489,0.006954,0.381381
32,4,655360,41,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,0.074989,0.871344,0.999999,-0.000157,0.001163,-0.000031
32,4,655360,41,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084984,0.074942,0.874363,0.999999,0.000002,-0.000000,0.001128
32,4,655360,41,gripper,0,"","put carrot on flat bowl",-0.191732,-0.050832,0.979934,-0.103607,-0.714183,-0.067423,0.688958
32,4,655360,42,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.071297,0.082224,0.894889,0.997095,0.049800,-0.045187,-0.035786
32,4,655360,42,obj,1,"013_banana_1","put carrot on flat bowl",-0.203979,0.074236,0.878547,0.999812,0.013351,0.001866,-0.013945
32,4,655360,42,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.204990,-0.075003,0.871344,0.999999,-0.000157,0.001164,0.000099
32,4,655360,42,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.085007,0.074968,0.874362,1.000000,0.000000,-0.000001,0.000688
32,4,655360,42,gripper,0,"","put carrot on flat bowl",-0.144428,0.035531,0.981551,0.011926,-0.703702,-0.028160,0.709836
32,4,655360,43,obj,0,"001_carrot_simpler","put carrot on flat bowl",-0.090208,-0.078846,0.887305,0.242320,-0.030459,0.002157,0.969716
32,4,655360,43,obj,1,"013_banana_1","put carrot on flat bowl",-0.234684,0.075342,0.878547,0.383609,0.003229,0.013136,0.923396
32,4,655360,43,recep,0,"005_sheet metal_1","put carrot on flat bowl",-0.234993,-0.074997,0.871344,0.999999,-0.000157,0.001164,-0.000177
32,4,655360,43,recep,1,"009_flat bowl_1","put carrot on flat bowl",-0.084999,0.075001,0.874363,1.000000,-0.000000,-0.000001,-0.000000
32,4,655360,43,gripper,0,"","put carrot on flat bowl",-0.066287,-0.026217,0.954296,0.176430,-0.767756,0.131000,0.601882
32,4,655360,44,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.071458,-0.058428,0.894657,0.112739,-0.029821,-0.105292,0.987580
32,4,655360,44,obj,1,"013_banana_1","put banana on sheet metal",-0.203593,0.076145,0.878546,0.372104,0.003041,0.013091,0.928094
32,4,655360,44,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084993,0.075001,0.871345,0.999999,-0.000157,0.001164,-0.000028
32,4,655360,44,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.085027,-0.075014,0.874362,1.000000,0.000001,0.000000,0.000177
32,4,655360,44,gripper,0,"","put banana on sheet metal",-0.222729,0.071486,0.986799,0.025359,-0.666955,0.004546,0.744653
32,4,655360,45,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.073668,0.088161,0.887086,0.848604,-0.018010,0.009695,0.528632
32,4,655360,45,obj,1,"013_banana_1","put banana on sheet metal",-0.204554,-0.044981,0.878547,0.707653,0.007973,0.010866,0.706431
32,4,655360,45,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084990,-0.075037,0.871344,0.999999,-0.000157,0.001164,-0.000107
32,4,655360,45,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,0.075001,0.874363,1.000000,0.000001,0.000000,0.000365
32,4,655360,45,gripper,0,"","put banana on sheet metal",-0.159622,-0.018999,0.973880,-0.001217,-0.746254,0.068218,0.662156
32,4,655360,46,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.229954,0.132097,0.885931,0.690326,0.696330,-0.122983,-0.153134
32,4,655360,46,obj,1,"013_banana_1","put banana on sheet metal",-0.201019,-0.044090,0.878547,0.799560,0.009398,0.009616,0.600436
32,4,655360,46,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,-0.075008,0.871345,0.999999,-0.000157,0.001164,-0.000040
32,4,655360,46,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.084927,0.075098,0.874362,0.999998,-0.000000,-0.000000,0.001844
32,4,655360,46,gripper,0,"","put banana on sheet metal",-0.174969,-0.014303,0.943748,-0.019168,-0.707626,0.132402,0.693807
32,4,655360,47,obj,0,"001_carrot_simpler","put banana on sheet metal",-0.208641,0.077217,0.887529,0.986879,-0.006730,0.042698,0.155567
32,4,655360,47,obj,1,"013_banana_1","put banana on sheet metal",-0.084782,-0.075165,0.878547,0.999891,0.013291,0.001966,-0.006077
32,4,655360,47,recep,0,"005_sheet metal_1","put banana on sheet metal",-0.084991,0.074961,0.871344,0.999999,-0.000157,0.001164,-0.000118
32,4,655360,47,recep,1,"009_flat bowl_1","put banana on sheet metal",-0.235001,-0.075001,0.874362,1.000000,0.000000,-0.000001,0.000647
32,4,655360,47,gripper,0,"","put banana on sheet metal",-0.148081,-0.143165,0.982900,-0.076772,-0.683462,-0.013794,0.725807
32,4,655360,48,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.086655,0.061512,0.898693,0.591303,0.462012,0.637962,0.172947
32,4,655360,48,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.199890,-0.039371,0.889699,0.499399,-0.509351,0.496511,0.494609
32,4,655360,48,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.089500,0.070679,0.872199,0.998922,-0.000001,-0.000001,-0.046426
32,4,655360,48,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.204773,-0.044476,0.870870,1.000000,-0.000000,0.000001,-0.000706
32,4,655360,48,gripper,0,"","put plastic bottle on cutting board",-0.184673,0.026569,1.057176,0.139938,-0.732902,0.270034,0.608567
32,4,655360,49,obj,0,"014_hamburger_1","put plastic bottle on cutting board",0.337841,0.496319,0.019312,0.192162,0.009806,0.025736,-0.980977
32,4,655360,49,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.102852,0.097485,0.892345,0.028678,-0.508553,0.860319,0.020072
32,4,655360,49,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.230255,0.049770,0.872199,1.000000,-0.000001,-0.000001,-0.000269
32,4,655360,49,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.118809,0.081745,0.870870,0.999542,0.000001,-0.000004,0.030253
32,4,655360,49,gripper,0,"","put plastic bottle on cutting board",-0.137199,0.153467,1.015903,0.121058,-0.694826,0.175614,0.686820
32,4,655360,50,obj,0,"014_hamburger_1","put plastic bottle on cutting board",-0.095844,0.129700,0.890816,0.994811,-0.024046,0.019062,-0.097007
32,4,655360,50,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.397209,1.177029,0.017292,-0.191322,0.021317,0.007032,-0.981271
32,4,655360,50,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.228199,0.041779,0.872199,0.999605,-0.000000,-0.000001,0.028099
32,4,655360,50,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.064850,0.083561,0.870870,0.997212,-0.000000,-0.000002,-0.074616
32,4,655360,50,gripper,0,"","put plastic bottle on cutting board",-0.092712,0.123697,0.931934,0.106210,-0.749332,0.024695,0.653155
32,4,655360,51,obj,0,"014_hamburger_1","put plastic bottle on cutting board",1.509602,1.745308,0.019312,-0.054756,0.015829,0.022538,-0.998120
32,4,655360,51,obj,1,"004_plastic bottle_1","put plastic bottle on cutting board",-0.214071,-0.037941,0.904285,0.569188,-0.413586,0.599653,0.381296
32,4,655360,51,recep,0,"011_frying pan_1","put plastic bottle on cutting board",-0.196644,-0.044319,0.872199,0.989941,-0.000001,-0.000001,-0.141478
32,4,655360,51,recep,1,"013_cutting board_1","put plastic bottle on cutting board",-0.235033,0.075001,0.870870,1.000000,0.000000,-0.000001,-0.000074
32,4,655360,51,gripper,0,"","put plastic bottle on cutting board",-0.205592,-0.035393,0.949082,0.104375,-0.734665,0.191055,0.642551
32,4,655360,52,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.224981,-0.062771,0.896382,0.910601,-0.039194,-0.173953,0.372840
32,4,655360,52,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.084920,0.044437,0.888286,0.511779,0.495390,-0.470672,0.520709
32,4,655360,52,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.236157,-0.064251,0.872198,0.986937,-0.000000,-0.000001,0.161106
32,4,655360,52,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.076982,0.070126,0.870865,0.997318,0.000442,0.000698,0.073187
32,4,655360,52,gripper,0,"","put hamburger on frying pan",-0.037085,0.020302,0.950415,-0.031265,-0.691957,0.008283,0.721214
32,4,655360,53,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.194269,-0.062092,0.894641,0.814573,-0.002048,-0.044684,0.578334
32,4,655360,53,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.270233,-0.005234,0.889773,0.023414,-0.757802,0.651365,0.030187
32,4,655360,53,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.194534,-0.071472,0.872199,0.985292,-0.000001,-0.000000,-0.170878
32,4,655360,53,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.235079,0.078682,0.870870,0.999868,0.000000,-0.000001,0.016218
32,4,655360,53,gripper,0,"","put hamburger on frying pan",-0.107087,0.072220,1.015161,0.084373,-0.701732,0.075478,0.703389
32,4,655360,54,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.081913,-0.082981,0.894688,0.171470,-0.069648,-0.016334,0.982589
32,4,655360,54,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.416336,0.113594,0.016920,0.194154,-0.664227,-0.192211,-0.695817
32,4,655360,54,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.084999,-0.075001,0.872199,1.000000,-0.000000,-0.000001,-0.000058
32,4,655360,54,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.206902,-0.059128,0.870870,0.999861,0.000000,-0.000000,-0.016678
32,4,655360,54,gripper,0,"","put hamburger on frying pan",-0.092548,-0.060266,0.987615,-0.021588,-0.738761,0.009340,0.673557
32,4,655360,55,obj,0,"014_hamburger_1","put hamburger on frying pan",-0.123878,0.037357,0.894039,0.967238,-0.036677,0.067791,0.241888
32,4,655360,55,obj,1,"004_plastic bottle_1","put hamburger on frying pan",-0.065403,-0.030151,0.889631,0.491348,-0.516990,0.488357,0.502797
32,4,655360,55,recep,0,"011_frying pan_1","put hamburger on frying pan",-0.114613,0.044456,0.872199,0.999986,-0.000001,-0.000000,0.005273
32,4,655360,55,recep,1,"013_cutting board_1","put hamburger on frying pan",-0.059753,-0.064873,0.870870,0.998817,0.000001,0.000001,-0.048623
32,4,655360,55,gripper,0,"","put hamburger on frying pan",-0.110682,-0.023321,1.013414,0.045000,-0.697069,-0.020933,0.715284
32,4,655360,56,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.124634,0.043224,0.894269,0.785913,-0.059849,0.035196,0.614427
32,4,655360,56,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.105118,-0.054333,0.886092,0.668750,-0.021898,0.004933,0.743149
32,4,655360,56,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.118713,0.051254,0.872199,0.999421,-0.000000,-0.000000,-0.034007
32,4,655360,56,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.208450,-0.078049,0.870870,0.999869,-0.000000,-0.000001,0.016208
32,4,655360,56,gripper,0,"","put hamburger on cutting board",-0.162945,-0.029837,1.021675,0.000255,-0.737389,-0.052228,0.673446
32,4,655360,57,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.082214,-0.011654,0.892626,0.218278,-0.026625,0.105714,0.969778
32,4,655360,57,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.106304,0.090683,0.889506,0.569522,-0.427643,0.569012,0.411085
32,4,655360,57,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.060921,-0.070930,0.872199,0.994315,-0.000000,-0.000001,-0.106478
32,4,655360,57,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.114853,0.047443,0.870870,0.999946,0.000000,-0.000003,0.010383
32,4,655360,57,gripper,0,"","put hamburger on cutting board",-0.132420,-0.017736,0.980823,-0.123834,-0.681450,-0.023106,0.720942
32,4,655360,58,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.154507,-0.085133,0.893467,0.126206,-0.296669,-0.079788,0.943236
32,4,655360,58,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.068310,0.002048,0.887981,0.672282,0.259788,-0.655525,0.225463
32,4,655360,58,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.090775,-0.077717,0.872199,0.994573,-0.000001,-0.000001,0.104038
32,4,655360,58,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.059341,0.061867,0.870884,0.999801,0.000735,0.000706,-0.019942
32,4,655360,58,gripper,0,"","put hamburger on cutting board",-0.156096,-0.096136,0.976357,-0.213445,-0.670097,-0.147631,0.695426
32,4,655360,59,obj,0,"014_hamburger_1","put hamburger on cutting board",-0.242069,0.005978,0.892928,-0.359425,-0.849484,0.157169,-0.352830
32,4,655360,59,obj,1,"004_plastic bottle_1","put hamburger on cutting board",-0.258633,0.065456,0.888376,-0.478580,-0.523238,0.452409,-0.540841
32,4,655360,59,recep,0,"011_frying pan_1","put hamburger on cutting board",-0.204926,-0.075081,0.872199,1.000000,0.000000,-0.000001,-0.000488
32,4,655360,59,recep,1,"013_cutting board_1","put hamburger on cutting board",-0.275192,0.067642,0.870883,0.953358,0.000453,0.000889,0.301840
32,4,655360,59,gripper,0,"","put hamburger on cutting board",-0.178894,-0.015779,1.008925,-0.019764,-0.716002,0.062684,0.694998
32,4,655360,60,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.224016,0.069016,0.896492,0.999226,-0.023935,0.013920,0.027954
32,4,655360,60,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.067875,0.076298,0.889732,0.606923,-0.367431,0.612699,0.348195
32,4,655360,60,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.240431,0.043049,0.875253,0.000152,0.978866,-0.204501,0.000032
32,4,655360,60,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.065847,0.077919,0.870838,0.999257,-0.000000,0.000352,-0.038542
32,4,655360,60,gripper,0,"","put plastic bottle on frying pan",-0.059338,0.045826,0.949361,0.129525,-0.761240,0.118851,0.624188
32,4,655360,61,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.184093,0.038212,0.888112,-0.152378,-0.010838,-0.025318,0.987939
32,4,655360,61,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.123066,-0.095806,0.895283,0.425155,-0.574474,0.421198,0.558405
32,4,655360,61,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.084982,-0.074993,0.872199,1.000000,0.000000,-0.000001,-0.000165
32,4,655360,61,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.233891,-0.043671,0.870870,0.999905,0.000001,-0.000000,-0.013752
32,4,655360,61,gripper,0,"","put plastic bottle on frying pan",-0.160464,0.050539,0.992934,-0.121699,-0.781346,-0.028227,0.611467
32,4,655360,62,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.193623,-0.029461,0.896473,0.676846,-0.021664,0.005297,0.735787
32,4,655360,62,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.222137,0.092167,0.892448,0.028050,-0.640706,0.766836,0.025930
32,4,655360,62,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.235016,-0.044994,0.872199,1.000000,-0.000000,-0.000001,0.000355
32,4,655360,62,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.204994,0.075001,0.870870,1.000000,0.000003,-0.000001,-0.000555
32,4,655360,62,gripper,0,"","put plastic bottle on frying pan",-0.195343,0.086451,1.018565,0.144366,-0.725603,0.108950,0.663919
32,4,655360,63,obj,0,"014_hamburger_1","put plastic bottle on frying pan",-0.196018,-0.156719,0.888112,-0.546114,0.024973,0.011617,-0.837258
32,4,655360,63,obj,1,"004_plastic bottle_1","put plastic bottle on frying pan",-0.204464,-0.040489,0.889512,0.574750,-0.420306,0.574501,0.403675
32,4,655360,63,recep,0,"011_frying pan_1","put plastic bottle on frying pan",-0.008121,0.081512,0.872215,0.992367,0.000057,-0.000176,-0.123322
32,4,655360,63,recep,1,"013_cutting board_1","put plastic bottle on frying pan",-0.230812,-0.063999,0.870871,0.999991,-0.000003,-0.000014,0.004121
32,4,655360,63,gripper,0,"","put plastic bottle on frying pan",-0.153168,0.045176,1.010173,0.124982,-0.675962,0.124466,0.715516